Intel RealSense driver

Driver for the SLAM-capable Intel Realsense devices. More...

Collaboration diagram for Intel RealSense driver:

Files
file	rs_ddev.c
	RealSense helper driver for in-device SLAM 6DOF tracking.
file	rs_driver.h
	Internal header for the RealSense driver.
file	rs_hdev.c
	RealSense device tracked with host-SLAM.
file	rs_interface.h
	Interface to RealSense devices.
file	rs_prober.c
	Realsense prober code.

Data Structures
struct	rs_container
	Container to store and manage useful objects from the RealSense API. More...

Functions
static void	rs_container_cleanup (struct rs_container *rsc)
	Cleans up an rs_container and resets its fields to NULL;.
struct xrt_device *	rs_ddev_create (int device_idx)
	Create a RealSense device tracked with device-SLAM (T26x).
struct xrt_device *	rs_hdev_create (struct xrt_prober *xp, int device_idx)
	Create RealSense device tracked with host-SLAM (one with camera and IMU streams)
struct xrt_auto_prober *	rs_create_auto_prober (void)
	Create a auto prober for rs devices.

Detailed Description

Driver for the SLAM-capable Intel Realsense devices.

Function Documentation

rs_container_cleanup()

static void rs_container_cleanup ( struct rs_container *  rsc )

static

#include <drivers/realsense/rs_driver.h>

Cleans up an rs_container and resets its fields to NULL;.

References rs_container::config, rs_container::context, rs_container::device, rs_container::device_count, rs_container::device_idx, rs_container::device_list, rs_container::pipeline, and rs_container::profile.

Referenced by close_ddev(), create_tracked_rs_device(), and rs_create_tracked_device_internal_slam().

rs_create_auto_prober()

struct xrt_auto_prober * rs_create_auto_prober

(

void

)

#include <drivers/realsense/rs_interface.h>

Create a auto prober for rs devices.

References xrt_auto_prober::destroy, xrt_auto_prober::lelo_dallas_autoprobe, and U_TYPED_CALLOC.

rs_ddev_create()

struct xrt_device * rs_ddev_create

(

int

device_idx

)

#include <drivers/realsense/rs_driver.h>

Create a RealSense device tracked with device-SLAM (T26x).

References create_ddev(), rs_ddev::enable_pose_filtering, xrt_device::inputs, xrt_device::name, xrt_device::serial, xrt_device::str, xrt_device::supported, xrt_device::tracking_origin, xrt_tracking_origin::type, u_device_populate_function_pointers(), U_LOG_D, U_LOG_E, and XRT_TRACKING_TYPE_EXTERNAL_SLAM.

Referenced by create_tracked_rs_device(), and rs_create_tracked_device_internal_slam().

rs_hdev_create()

struct xrt_device * rs_hdev_create	(	struct xrt_prober *	xp,
		int	device_idx
	)

#include <drivers/realsense/rs_driver.h>

Create RealSense device tracked with host-SLAM (one with camera and IMU streams)

References xrt_tracking_factory::create_tracked_slam, xrt_device::destroy, xrt_device::get_tracked_pose, xrt_device::inputs, rs_hdev::log_level, xrt_device::name, xrt_tracking_origin::name, rs_hdev::offset, rs_hdev::pose, xrt_device::serial, xrt_device::str, xrt_device::supported, xrt_prober::tracking, xrt_device::tracking_origin, xrt_tracking_origin::type, u_device_noop_update_inputs(), u_var_add_root(), xrt_device::update_inputs, and XRT_TRACKING_TYPE_EXTERNAL_SLAM.

Referenced by create_tracked_rs_device().