RealSense source of camera and IMU data. More...

Inheritance diagram for rs_source:

[legend]

Collaboration diagram for rs_source:

[legend]

Data Fields
struct xrt_fs	xfs

struct xrt_frame_node	node

enum u_logging_level	log_level
	Log level.

struct xrt_frame_sink	left_sink
	Intermediate sink for left camera frames.

struct xrt_frame_sink	right_sink
	Intermediate sink for right camera frames.

struct xrt_imu_sink	imu_sink
	Intermediate sink for IMU samples.

struct xrt_slam_sinks	in_sinks
	Pointers to intermediate sinks.

struct xrt_slam_sinks	out_sinks
	Pointers to downstream sinks.

struct u_sink_debug	ui_left_sink
	Sink to display left frames in UI.

struct u_sink_debug	ui_right_sink
	Sink to display right frames in UI.

struct m_ff_vec3_f32 *	gyro_ff
	Queue of gyroscope data to display in UI.

struct m_ff_vec3_f32 *	accel_ff
	Queue of accelerometer data to display in UI.

bool	ui_autoexposure
	Autoexposure value to set.

struct u_var_draggable_f32	ui_exposure
	Exposure value to set.

struct u_var_draggable_f32	ui_gain
	Gain value to set.

struct u_var_button	ui_btn_apply
	Apply changes button.

struct rs_container	rsc
	Container of RealSense API objects.

bool	stereo
	Indicates whether to use one or two cameras.

rs2_format	video_format
	Indicates desired frame color format.

enum xrt_format	xrt_video_format
	corresponding format for video_format

int	video_width
	Indicates desired frame width.

int	video_height
	Indicates desired frame height.

int	video_fps
	Indicates desired fps.

bool	video_change_exposure
	Indicates whether to overwrite external device exposure settings.

bool	video_autoexposure
	Indicates whether to enable autoexposure or use provided values.

int	video_exposure
	Indicates desired exposure time in microseconds.

int	video_gain
	Indicates desired gain (16-248)

int	gyro_fps
	Indicates desired gyroscope samples per second.

int	accel_fps
	Indicates desired accelerometer samples per second.

rs2_stream	stream_type
	Indicates desired stream type for the cameras.

int	stream1_index
	Indicates desired stream index for first stream.

int	stream2_index
	Indicates desired stream index for second stream.

bool	is_running
	Whether the device is streaming.

struct {

struct os_mutex mutex
	Gyro and accel come from separate threads. More...

struct xrt_vec3 accel
	Last received accelerometer values. More...

struct xrt_vec3 gyro
	Last received gyroscope values. More...

}	partial_imu_sample
	Very simple struct to merge the two acc/gyr streams into one IMU stream.

Data Fields inherited from xrt_fs
char	name [512]
	Name of the frame server source, from the subsystem.

char	product [32]
	Frame server product identifier, matches the prober device.

char	manufacturer [32]
	Frame server manufacturer, matches the prober device.

char	serial [32]
	Frame server serial number, matches the prober device.

uint64_t	source_id
	All frames produced by this frameserver are tagged with this id.

bool(*	enumerate_modes )(struct xrt_fs xfs, struct xrt_fs_mode out_modes, uint32_t out_count)
	Enumerate all available modes that this frameserver supports.

bool(*	configure_capture )(struct xrt_fs xfs, struct xrt_fs_capture_parameters cp)
	Set the capture parameters, may not be supported on all capture devices.

bool(*	stream_start )(struct xrt_fs xfs, struct xrt_frame_sink xs, enum xrt_fs_capture_type capture_type, uint32_t descriptor_index)
	Start the capture stream.

bool(*	slam_stream_start )(struct xrt_fs xfs, struct xrt_slam_sinks sinks)
	Setup SLAM sinks for all the sensors a SLAM implementation may supports and start the frame server stream.

bool(*	stream_stop )(struct xrt_fs *xfs)
	Stop the capture stream.

bool(*	is_running )(struct xrt_fs *xfs)
	Is the capture stream running.

Data Fields inherited from xrt_frame_node
struct xrt_frame_node *	next

void(*	break_apart )(struct xrt_frame_node *node)
	Called first in when the graph is being destroyed, remove any references frames and other objects and stop threads.

void(*	destroy )(struct xrt_frame_node *node)
	Do the actual freeing of the objects.

Additional Inherited Members
Static Public Member Functions inherited from xrt_fs
static bool	xrt_fs_enumerate_modes (struct xrt_fs xfs, struct xrt_fs_mode out_modes, uint32_t out_count)
	Enumerate all available modes that this frameserver supports.

static bool	xrt_fs_configure_capture (struct xrt_fs xfs, struct xrt_fs_capture_parameters cp)
	Set the capture parameters, may not be supported on all capture devices.

static bool	xrt_fs_stream_start (struct xrt_fs xfs, struct xrt_frame_sink xs, enum xrt_fs_capture_type capture_type, uint32_t descriptor_index)
	Start the capture stream.

static bool	xrt_fs_slam_stream_start (struct xrt_fs xfs, struct xrt_slam_sinks sinks)
	Setup SLAM sinks for all the sensors a SLAM implementation may supports and start the frame server stream.

static bool	xrt_fs_stream_stop (struct xrt_fs *xfs)
	Stop the capture stream.

static bool	xrt_fs_is_running (struct xrt_fs *xfs)
	Is the capture stream running.