Intel® RealSense™ Cross Platform API
Intel Realsense Cross-platform API
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Classes | |
struct | float2 |
struct | float3 |
struct | intrinsics |
Video stream intrinsics. More... | |
struct | motion_intrinsics |
Motion device intrinsics: scale, bias, and variances. More... | |
struct | extrinsics |
Cross-stream extrinsics: encode the topology describing how the different devices are connected. More... | |
struct | timestamp_data |
Timestamp data from the motion microcontroller. More... | |
struct | motion_data |
Motion data from gyroscope and accelerometer from the microcontroller. More... | |
class | error |
class | context |
Context. More... | |
class | motion_callback |
class | timestamp_callback |
class | frame |
Frame. More... | |
class | frame_callback |
class | device |
Provides convenience methods relating to devices. More... | |
class | log_callback |
Functions | |
std::ostream & | operator<< (std::ostream &o, stream stream) |
std::ostream & | operator<< (std::ostream &o, format format) |
std::ostream & | operator<< (std::ostream &o, preset preset) |
std::ostream & | operator<< (std::ostream &o, distortion distortion) |
std::ostream & | operator<< (std::ostream &o, option option) |
std::ostream & | operator<< (std::ostream &o, capabilities capability) |
std::ostream & | operator<< (std::ostream &o, source src) |
std::ostream & | operator<< (std::ostream &o, event evt) |
void | log_to_console (log_severity min_severity) |
void | log_to_file (log_severity min_severity, const char *file_path) |
void | log_to_callback (log_severity min_severity, std::function< void(log_severity, const char *)> callback) |
void | apply_depth_control_preset (device *device, int preset) |
void | apply_ivcam_preset (device *device, rs_ivcam_preset preset) |
void | apply_ivcam_preset (device *device, int preset) |
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Read-only strings that can be queried from the device.
Not all information fields are available on all camera types. This information is mainly available for camera debug and troubleshooting and should not be used in applications.
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Specifies various capabilities of a RealSense device.
To check if a certain capability is supported by a particular device, at runtime call dev->supports(capability)
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Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
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Source device that triggered specific timestamp event from the motion module.
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Formats: defines how each stream can be encoded. rs_format
specifies how a frame is represented in memory (similar to the V4L pixel format).
Enumerator | |
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any | When passed to enable stream, librealsense will try to provide best suited format |
z16 | 16 bit linear depth values. The depth is meters is equal to depth scale * pixel value. |
disparity16 | 16 bit linear disparity values. The depth in meters is equal to depth scale / pixel value. |
xyz32f | 32 bit floating point 3D coordinates. |
yuyv | Standard YUV pixel format as described in https://en.wikipedia.org/wiki/YUV |
rgb8 | 8-bit red, green, and blue channels |
bgr8 | 8-bit blue, green, and red channels channels – suitable for OpenCV |
rgba8 | 8-bit red, green, and blue channels + constant alpha channel equal to FF |
bgra8 | 8-bit blue, green, and red channels + constant alpha channel equal to FF |
y8 | 8-bit per-pixel grayscale image |
y16 | 16-bit per-pixel grayscale image |
raw10 | Four 10-bit luminance values encoded into a 5-byte macropixel |
raw16 | 16-bit raw image |
raw8 | 8-bit raw image |
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Defines general configuration controls.
These can generally be mapped to camera UVC controls, and unless stated otherwise, can be set/queried at any time.
Enumerator | |
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color_backlight_compensation | Enable/disable color backlight compensation |
color_brightness | Color image brightness |
color_contrast | Color image contrast |
color_exposure | Controls exposure time of color camera. Setting any value will disable auto exposure. |
color_gain | Color image gain |
color_gamma | Color image gamma setting |
color_hue | Color image hue |
color_saturation | Color image saturation setting |
color_sharpness | Color image sharpness setting |
color_white_balance | Controls white balance of color image. Setting any value will disable auto white balance. |
color_enable_auto_exposure | Enable/disable color image auto-exposure |
color_enable_auto_white_balance | Enable/disable color image auto-white-balance |
f200_laser_power | Power of the F200/SR300 projector, with 0 meaning projector off |
f200_accuracy | Set the number of patterns projected per frame. The higher the accuracy value, the more patterns projected. Increasing the number of patterns helps to achieve better accuracy. Note that this control affects the depth FPS. |
f200_motion_range | Motion vs. range trade-off, with lower values allowing for better motion sensitivity and higher values allowing for better depth range |
f200_filter_option | Set the filter to apply to each depth frame. Each one of the filters is optimized per the application requirements. |
f200_confidence_threshold | Confidence level threshold used by the depth algorithm pipe to set whether a pixel will get a valid range or will be marked with invalid range |
f200_dynamic_fps | (F200-only) Allows to reduce FPS without restarting streaming. Valid values are {2, 5, 15, 30, 60}. |
sr300_auto_range_enable_motion_versus_range | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_enable_laser | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_min_motion_versus_range | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_max_motion_versus_range | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_start_motion_versus_range | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_min_laser | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_max_laser | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_start_laser | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_upper_threshold | Configures SR300 depth auto-range setting. Should not be used directly but through the |
sr300_auto_range_lower_threshold | Configures SR300 depth auto-range setting. Should not be used directly but through the |
r200_lr_auto_exposure_enabled | Enable/disable R200 auto-exposure. This will affect both IR and depth images. |
r200_lr_gain | IR image gain |
r200_lr_exposure | This control allows manual adjustment of the exposure time value for the L/R imagers. |
r200_emitter_enabled | Enables/disables R200 emitter |
r200_depth_units | Micrometers per increment in integer depth values. 1000 is default (mm scale). Set before streaming. |
r200_depth_clamp_min | Minimum depth in current depth units that will be output. Any values less than "Min Depth" will be mapped to 0 during the conversion between disparity and depth. Set before streaming. |
r200_depth_clamp_max | Minimum depth in current depth units that will be output. Any values less than "Max Depth" will be mapped to 0 during the conversion between disparity and depth. Set before streaming. |
r200_disparity_multiplier | Disparity scale factor used when in disparity output mode. Can only be set before streaming. |
r200_disparity_shift | {0 - 512}. Can only be set before streaming starts. |
r200_auto_exposure_mean_intensity_set_point | Mean intensity set point. Requires the |
r200_auto_exposure_bright_ratio_set_point | Bright ratio set point. Requires the |
r200_auto_exposure_kp_gain | Kp gain. Requires the |
r200_auto_exposure_kp_exposure | Kp exposure. Requires the |
r200_auto_exposure_kp_dark_threshold | Kp dark threshold. Requires the |
r200_auto_exposure_top_edge | Auto-exposure region-of-interest top edge (in pixels). Requires the |
r200_auto_exposure_bottom_edge | Auto-exposure region-of-interest bottom edge (in pixels). Requires the |
r200_auto_exposure_left_edge | Auto-exposure region-of-interest left edge (in pixels). Requires the |
r200_auto_exposure_right_edge | Auto-exposure region-of-interest right edge (in pixels). Requires the |
r200_depth_control_estimate_median_decrement | Value to subtract when estimating the median of the correlation surface |
r200_depth_control_estimate_median_increment | Value to add when estimating the median of the correlation surface |
r200_depth_control_median_threshold | Threshold: by how much the winning score exceeds the median. |
r200_depth_control_score_minimum_threshold | Minimum correlation score that is considered acceptable |
r200_depth_control_score_maximum_threshold | Maximum correlation score that is considered acceptable |
r200_depth_control_texture_count_threshold | Parameter for determining whether the texture in the region is sufficient to justify a depth result |
r200_depth_control_texture_difference_threshold | Parameter for determining whether the texture in the region is sufficient to justify a depth result |
r200_depth_control_second_peak_threshold | Threshold: how much the minimum correlation score must differ from the next best score. |
r200_depth_control_neighbor_threshold | Neighbor threshold value for depth calculation |
r200_depth_control_lr_threshold | Left-right threshold value for depth calculation |
fisheye_exposure | Fisheye image exposure time in msec |
fisheye_gain | Fisheye image gain |
fisheye_strobe | Enable/disable fisheye strobe. When enabled, aligns timestamps to common clock-domain with the motion events. |
fisheye_external_trigger | Enable/disable fisheye external trigger mode. When enabled, fisheye image will be aquired in-sync with the depth image. |
fisheye_color_auto_exposure | Enable / disable fisheye auto-exposure |
fisheye_color_auto_exposure_mode | 0 - static auto-exposure, 1 - anti-flicker auto-exposure, 2 - hybrid |
fisheye_color_auto_exposure_rate | Fisheye auto-exposure anti-flicker rate. Can be 50 or 60 Hz. |
fisheye_color_auto_exposure_sample_rate | In fisheye auto-exposure sample frame, every given number of pixels |
fisheye_color_auto_exposure_skip_frames | In fisheye auto-exposure sample, every given number of frames. |
frames_queue_size | Number of frames the user is allowed to keep per stream. Trying to hold on to more frames will cause frame-drops. |
hardware_logger_enabled | Enable/disable fetching log data from the device |
total_frame_drops | Total number of detected frame drops from all streams |
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Streams are different types of data provided by RealSense devices.
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Specifies the clock in relation to which the frame timestamp was measured.
When working with a motion microcontroller, motion data timestamps are always in the microcontroller timestamp domain. Some frames, however, might not succesfully receive microcontroller timestamp and will be marked as camera domain.
Enumerator | |
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camera | Frame timestamp was measured in relation to the camera clock |
microcontroller | Frame timestamp was measured in relation to the microcontroller clock |
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