/* License: Apache 2.0. See LICENSE file in root directory. Copyright(c) 2017 Intel Corporation. All Rights Reserved. */ /** \file rs.h * \brief * Exposes librealsense functionality for C compilers */ #ifndef LIBREALSENSE_RS2_H #define LIBREALSENSE_RS2_H #ifdef __cplusplus extern "C" { #endif #include "rsutil.h" #include "h/rs_types.h" #include "h/rs_context.h" #include "h/rs_device.h" #include "h/rs_frame.h" #include "h/rs_option.h" #include "h/rs_processing.h" #include "h/rs_record_playback.h" #include "h/rs_sensor.h" #define RS2_API_MAJOR_VERSION 2 #define RS2_API_MINOR_VERSION 55 #define RS2_API_PATCH_VERSION 1 #define RS2_API_BUILD_VERSION 0 #ifndef STRINGIFY #define STRINGIFY(arg) #arg #endif #ifndef VAR_ARG_STRING #define VAR_ARG_STRING(arg) STRINGIFY(arg) #endif /* Versioning rules : For each release at least one of [MJR/MNR/PTCH] triple is promoted */ /* : Versions that differ by RS2_API_PATCH_VERSION only are interface-compatible, i.e. no user-code changes required */ /* : Versions that differ by MAJOR/MINOR VERSION component can introduce API changes */ /* Version in encoded integer format (1,9,x) -> 01090x. note that each component is limited into [0-99] range by design */ #define RS2_API_VERSION (((RS2_API_MAJOR_VERSION) * 10000) + ((RS2_API_MINOR_VERSION) * 100) + (RS2_API_PATCH_VERSION)) /* Return version in "X.Y.Z" format */ #define RS2_API_VERSION_STR (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION)) #define RS2_API_FULL_VERSION_STR (VAR_ARG_STRING(RS2_API_MAJOR_VERSION.RS2_API_MINOR_VERSION.RS2_API_PATCH_VERSION.RS2_API_BUILD_VERSION)) /** * The library keeps persistent global settings in a per-user configuration file. These settings can relate to tool * behavior (e.g., realsense-viewer) or library functionality (context creation, etc.) where settings are accepted * (e.g., rs2_create_context_ex). * * The filename is appended to the user's AppData folder on Windows (/) and home directory as a * hidden file on Linux (~/.). * * The content is a JSON file and by default contains an empty object so default values are used. JSON ordering may * shift when written to by the various tools but the contents should stay the same. Any values that do not match the * expected type may be ignored. */ #define RS2_CONFIG_FILENAME "realsense-config.json" /** * get the size of rs2_raw_data_buffer * \param[in] buffer pointer to rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored * \return size of rs2_raw_data_buffer */ int rs2_get_raw_data_size(const rs2_raw_data_buffer* buffer, rs2_error** error); /** * Delete rs2_raw_data_buffer * \param[in] buffer rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data */ void rs2_delete_raw_data(const rs2_raw_data_buffer* buffer); /** * Retrieve char array from rs2_raw_data_buffer * \param[in] buffer rs2_raw_data_buffer returned by rs2_send_and_receive_raw_data * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored * \return raw data */ const unsigned char* rs2_get_raw_data(const rs2_raw_data_buffer* buffer, rs2_error** error); /** * Retrieve the API version from the source code. Evaluate that the value is conformant to the established policies * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored * \return the version API encoded into integer value "1.9.3" -> 10903 */ int rs2_get_api_version(rs2_error** error); void rs2_log_to_console(rs2_log_severity min_severity, rs2_error ** error); void rs2_log_to_file(rs2_log_severity min_severity, const char * file_path, rs2_error ** error); void rs2_log_to_callback_cpp( rs2_log_severity min_severity, rs2_log_callback * callback, rs2_error ** error ); void rs2_log_to_callback( rs2_log_severity min_severity, rs2_log_callback_ptr callback, void * arg, rs2_error** error ); void rs2_reset_logger( rs2_error ** error); /** * Enable rolling log file when used with rs2_log_to_file: * Upon reaching (max_size/2) bytes, the log will be renamed with an ".old" suffix and a new log created. Any * previous .old file will be erased. * Must have permissions to remove/rename files in log file directory. * \param[in] max_size max file size in megabytes * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored */ void rs2_enable_rolling_log_file( unsigned max_size, rs2_error ** error ); unsigned rs2_get_log_message_line_number( rs2_log_message const * msg, rs2_error** error ); const char * rs2_get_log_message_filename( rs2_log_message const * msg, rs2_error** error ); const char * rs2_get_raw_log_message( rs2_log_message const * msg, rs2_error** error ); const char * rs2_get_full_log_message( rs2_log_message const * msg, rs2_error** error ); /** * Add custom message into librealsense log * \param[in] severity The log level for the message to be written under * \param[in] message Message to be logged * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored */ void rs2_log(rs2_log_severity severity, const char * message, rs2_error ** error); /** * Given the 2D depth coordinate (x,y) provide the corresponding depth in metric units * \param[in] frame_ref 2D depth pixel coordinates (Left-Upper corner origin) * \param[in] x,y 2D depth pixel coordinates (Left-Upper corner origin) * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored */ float rs2_depth_frame_get_distance(const rs2_frame* frame_ref, int x, int y, rs2_error** error); /** * return the time at specific time point * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored * \return the time at specific time point, in live and record mode it will return the system time and in playback mode it will return the recorded time */ rs2_time_t rs2_get_time( rs2_error** error); #ifdef __cplusplus } #endif #endif