rs_interface.h File Reference

Interface to RealSense devices. More...

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Macros
#define	REALSENSE_MOVIDIUS_VID   0x03E7
#define	REALSENSE_MOVIDIUS_PID   0x2150
#define	REALSENSE_TM2_VID   0x8087
#define	REALSENSE_TM2_PID   0x0B37
#define	RS_TRACKING_DISABLED   -1
#define	RS_TRACKING_UNSPECIFIED   0
#define	RS_TRACKING_DEVICE_SLAM   1
#define	RS_TRACKING_HOST_SLAM   2

Functions
struct xrt_auto_prober *	rs_create_auto_prober (void)
	Create a auto prober for rs devices.
struct xrt_fs *	rs_source_create (struct xrt_frame_context *xfctx, int device_idx)
	Creates a RealSense SLAM source from the appropriate device_idx.
struct xrt_device *	rs_create_tracked_device_internal_slam (void)
	Creates an xrt_device that exposes the onboard tracking of a Realsense device (ie.

Detailed Description

Interface to RealSense devices.

Author

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Function Documentation

rs_create_tracked_device_internal_slam()

struct xrt_device * rs_create_tracked_device_internal_slam

(

void

)

Creates an xrt_device that exposes the onboard tracking of a Realsense device (ie.

probably a T265)

Returns

An xrt_device that you can call get_tracked_pose on with XRT_INPUT_GENERIC_TRACKER_POSE

Creates an xrt_device that exposes the onboard tracking of a Realsense device (ie.

References rs_container::context, rs_container::device_count, rs_container::device_list, DO, find_capable_device(), rs_container_cleanup(), and rs_ddev_create().

rs_source_create()

struct xrt_fs * rs_source_create	(	struct xrt_frame_context *	xfctx,
		int	device_idx
	)

Creates a RealSense SLAM source from the appropriate device_idx.

The streaming configuration is loaded from the global config file.

Parameters

xfctx	Frame context this frameserver lifetime is tied to.
device_idx	Index of the realsense device to use. Usually 0 if you only have one RealSense device.

Returns

Frameserver with SLAM streaming capabilities.

Creates a RealSense SLAM source from the appropriate device_idx.

References rs_source::accel_ff, rs_source::accel_fps, xrt_frame_node::break_apart, u_var_button::cb, rs_container::config, xrt_fs::configure_capture, rs_container::context, xrt_frame_node::destroy, rs_container::device, rs_container::device_count, rs_container::device_idx, rs_container::device_list, DO, DO_, xrt_fs::enumerate_modes, rs_source::gyro_ff, rs_source::gyro_fps, rs_source::imu_sink, rs_source::in_sinks, xrt_fs::is_running, rs_source::left_sink, rs_source::log_level, m_ff_vec3_f32_alloc(), xrt_fs::manufacturer, rs_source::mutex, xrt_fs::name, rs_source::partial_imu_sample, rs_container::pipeline, xrt_fs::product, xrt_frame_sink::push_frame, xrt_imu_sink::push_imu, receive_left_frame(), rs_source::right_sink, rs_source_configure_capture(), rs_source_enumerate_modes(), rs_source::rsc, xrt_fs::serial, xrt_fs::slam_stream_start, xrt_fs::source_id, rs_source::stereo, rs_source::stream1_index, rs_source::stream2_index, xrt_fs::stream_start, xrt_fs::stream_stop, rs_source::stream_type, U_TYPED_CALLOC, u_var_add_root(), rs_source::ui_autoexposure, rs_source::ui_btn_apply, rs_source::ui_exposure, rs_source::ui_gain, rs_source::ui_left_sink, rs_source::ui_right_sink, rs_source::video_autoexposure, rs_source::video_change_exposure, rs_source::video_exposure, rs_source::video_format, rs_source::video_fps, rs_source::video_gain, rs_source::video_height, and rs_source::video_width.