Under librealsense2 folder you will find two subfolers:
- h - Contains headers for the C language
- hpp - Contains headers for the C++ language, depends on C headers
In addition, you can include <librealsense2/rs.h> and <librealsense2/rs.hpp> to get most of SDK functionality in C and C++ respectively.
<librealsense2/rs_advanced_mode.h> and <librealsense2/rs_advanced_mode.hpp> can be included to get the extra Advanced Mode functionality (in C and C++ respectively).
<librealsense2/rsutil.h> contains mathematical helper functions for projection of 2D points into 3D space and back.
For full up-to-date class documentation see Doxygen class-list
This file contains common functionality like the exception types. See Error Handling
| Class | Description |
|---|---|
| error | Common base-class for all exceptions thrown from the SDK |
| recoverable_error | Base class for all recorverable (in software) errors |
| unrecoverable_error | Base class for non-recoverable errors |
| camera_disconnected_error | Camera Disconnected error |
| backend_error | Error from the underlying OS-specific driver |
| device_in_recovery_mode_error | Device requires firmware update |
| invalid_value_error | Invalid input was passed to a function |
| wrong_api_call_sequence_error | Methods were called in wrong order |
| not_implemented_error | Functionality is not available error |
Context can be used to enumerate and iterate over connected device, and also get notifications of device events.
| Class | Description |
|---|---|
| context | Context serve as a factory for all SDK devices |
| device_hub | Helper class that simplifies handling device change events |
| event_information | Information about device change |
This file defines the concept of RealSense device.
| Class | Description |
|---|---|
| device | Encapsulates Intel RealSense device |
| device_list | Wrapper around list of devices |
| debug_protocol | Debug-extension that allows to send data directly to the firmware |
The SDK offers many types of post-processing in form of the Processing Blocks. These primitives can be pipelined using queues and configured using options.
| Class | Description |
|---|---|
| syncer | Processing block that accepts frames one-by-one and outputs coherent framesets |
| frame_queue | Basic primitive abstracting a concurrent queue of frames |
| processing_block | Base class for frame processing functions |
| pointcloud | Processing block that accepts depth and texture frames and outputs 3D points with texture coordinates |
| asynchronous_syncer | Non-blocking version of the syncher processing block |
| align | Processing block that accepts frames from different viewports and generates new synthetic frames from a single given viewport |
| colorizer | Processing block that accepts depth frames in Z16 format and outputs depth frames in RGB format, applying some depth coloring |
| decimation_filter | Processing block that intelligently reduces the resolution of a depth frame |
| temporal_filter | Processing block that filters depth data by looking into previous frames |
| spatial_filter | Processing block that applies edge-preserving smoothing of depth data |
RealSense devices contain sensors. Sensors are units of streaming, each sensor can be controlled individually.
| Class | Description |
|---|---|
| sensor | Base class for all supported sensors |
| roi_sensor | Sensor that has the ability to focus on a given ROI |
| notification | Asynchronious message that can be passed to the application |
| depth_sensor | Sensor that can provide depth frames |
The output of sensors are frames. There are different kinds of frames, not all video frames.
| Class | Description |
|---|---|
| frame | Base class for all frames |
| points | Set of 3D points with texture coordinates |
| video_frame | 2D image (with width, height and bpp) |
| depth_frame | Depth frame |
| frameset | A set of frames |
| stream_profile | Base class for sensor configuration |
| video_stream_profile | Video stream configuration |
Pipeline is a high-level primitive combining several sensors and processing steps into one simple API.
| Class | Description |
|---|---|
| pipeline | High level data-processor combining several sensors, queues and processing blocks |
| pipeline_profile | Selected pipeline configuration |
| config | Desired pipeline configuration |
This file adds playback and record capability using ROS-bag files. See src/media
| Class | Description |
|---|---|
| playback | Device that mimiks live device from given input file |
| recorder | Device that records live device into an output file |
This file is not intented to be included by SDK users, but rather is used in SDK unit-tests. It allows to record everything that will happen in a specific test into a file and later use that file for dependency injection.
| Class | Description |
|---|---|
| recording_context | Context that records all backend activity to file |
| mock_context | Context that replays all activity from file |