librealsense Namespace Reference

Namespaces
	device_serializer
	ds
	ivcam
	legacy_file_format
	platform
	util

Classes
class	actual_fps_calculator
class	advanced_mode_preset_option
struct	advanced_mode_traits
class	align
class	archive_interface
struct	arg_streamer
struct	arg_streamer< T *, false >
struct	arg_streamer< T *, true >
class	arithmetic_wraparound
class	asic_and_projector_temperature_options
class	auto_disabling_control
	auto_disabling_control class provided a control that disable auto-control when changing the auto disabling control value More...
class	auto_exposure_algorithm
class	auto_exposure_antiflicker_rate_option
struct	auto_exposure_control
class	auto_exposure_mechanism
class	auto_exposure_mode_option
class	auto_exposure_state
struct	auto_white_balance_control
class	backend_exception
class	backend_stream_profile
struct	backlight_compensation_control
class	big_endian
struct	brightness_control
class	calibration_validator
struct	callback_invocation
struct	callback_invocation_holder
class	camera_disconnected_exception
class	color_map
class	colorizer
struct	command
class	command_transfer_over_xu
class	composite_frame
class	composite_matcher
class	const_value_option
class	context
struct	contrast_control
class	controller_event_serializer
class	debug_interface
class	debug_snapshot
class	decimation_filter
class	depth_frame
class	depth_scale_option
class	depth_sensor
class	depth_sensor_snapshot
class	depth_stereo_sensor
class	depth_stereo_sensor_snapshot
class	device
class	device_hub
class	device_info
class	device_interface
class	devices_changed_callback
class	devices_changed_callback_internal
struct	devices_data
class	disparity_frame
class	disparity_transform
class	ds5_active
class	ds5_advanced_mode_base
class	ds5_advanced_mode_interface
class	ds5_color
class	ds5_color_sensor
class	ds5_custom_hid_timestamp_reader
class	ds5_device
class	ds5_iio_hid_timestamp_reader
class	ds5_info
class	ds5_md_attribute_actual_fps
class	ds5_motion
class	ds5_notification_decoder
class	ds5_rolling_shutter
class	ds5_timestamp_reader
class	ds5_timestamp_reader_from_metadata
class	ds5u_device
class	emitter_option
class	enable_auto_exposure_option
class	enable_motion_correction
class	environment
struct	exposure_control
class	extendable_interface
class	extension_snapshot
struct	ExtensionToType
class	extrinsics_graph
class	ExtrinsicsQuery
class	FalseQuery
class	firmware_version
struct	float2
struct	float3
struct	float3x3
struct	float4
class	frame
struct	frame_and_callback
class	frame_callback
class	frame_continuation
struct	frame_holder
class	frame_holder_callback
class	frame_interface
class	frame_number_composite_matcher
class	frame_source
struct	frame_timestamp_reader
class	FrameQuery
struct	gain_control
struct	gamma_control
struct	hid_device_info
class	hid_sensor
struct	hue_control
class	hw_monitor
class	identity_matcher
class	info_container
class	info_interface
struct	int2
class	internal_frame_callback
class	internal_frame_processor_callback
class	invalid_value_exception
class	io_exception
class	is_streamable
struct	json_field
struct	json_ignored_field
struct	json_invert_struct_field
struct	json_string_struct_field
struct	json_struct_field
struct	laser_power_control
struct	laser_state_control
class	lazy
class	librealsense_exception
class	linux_backend_exception
class	locked_transfer
class	matcher
class	matcher_factory
class	matcher_interface
class	md_additional_parser
	provide attributes generated and stored internally by the library More...
class	md_attribute_parser
	The metadata parser class directly access the metadata attribute in the blob received from HW. Given the metadata-nested construct, and the c++ lack of pointers to the inner struct, we pre-calculate and store the attribute offset internally http://stackoverflow.com/questions/1929887/is-pointer-to-inner-struct-member-forbidden. More...
class	md_attribute_parser_base
	Base class that establishes the interface for retrieving metadata attributes. More...
struct	md_calibration_mode
struct	md_camera_extrinsic
struct	md_camera_intrinsic
struct	md_capture_stats
	md_capture_stats - properties associated with optical sensor during video streaming. Corresponds to FW STMetaDataCaptureStats object More...
struct	md_capture_timing
	md_capture_timing - properties associated with sensor configuration during video streaming. Corresponds to FW STMetaDataIntelCaptureTiming object More...
struct	md_configuration
	md_configuration - device/stream configuration. Corresponds to FW's STMetaDataIntelConfiguration object More...
class	md_constant_parser
struct	md_depth_control
	md_depth_control - depth data-related parameters. Corresponds to FW's STMetaDataIntelDepthControl object More...
union	md_depth_mode
struct	md_depth_y_normal_mode
struct	md_extrinsic_calibrated_transform
struct	md_fisheye_control
	md_fisheye_control - fisheye-related parameters. Corresponds to FW's STMetaDataIntelFishEyeControl object More...
union	md_fisheye_mode
struct	md_fisheye_normal_mode
struct	md_header
	md_header - metadata header is a integral part of all rs4XX metadata objects More...
struct	md_intel_stat
	md_intel_stat Corresponds to FW's STMetaDataIntelStat object More...
struct	md_intrinsic_distortion_model
	md_intrinsic_distortion_model - Distortion coefficients of sensor instrinsic More...
struct	md_intrinsic_pinhole_cam_model
union	md_modes
	metadata_raw - aggrevative structure that represents all the possible metadata struct types to be handled More...
struct	md_pinhole_cam_intrinsic_model
	md_pinhole_cam_intrinsic_model - Pinhole sensor's characteristics More...
struct	md_pinhole_camera_intrinsics
struct	md_rgb_control
	md_rgb_control - Realtec RGB sensor attributes. More...
union	md_rgb_mode
struct	md_rgb_normal_mode
class	md_rs400_sensor_timestamp
	Optical timestamp for RS4xx devices is calculated internally. More...
class	md_sr300_attribute_parser
	The SR300 metadata parser class. More...
struct	md_sr300_depth
struct	md_sr300_rgb
struct	md_stat_mode
class	md_time_of_arrival_parser
struct	md_type_trait
class	md_uvc_header_parser
	A UVC-Header parser class. More...
struct	metadata_intel_basic
	metadata_intel_basic - a subset of the full metadata required to provide the essential sensor attributes only More...
struct	metadata_raw
	metadata_raw - metadata structure layout as transmitted and received by backend More...
struct	mf_camera_extrinsic
class	motion_frame
class	motion_module_temperature_option
class	motion_stream_profile
class	motion_stream_profile_interface
class	MultipleRegexTopicQuery
struct	native_pixel_format
class	not_implemented_exception
struct	notification
class	notification_callback
class	notification_decoder
class	notifications_callback
class	notifications_processor
class	NotificationsQuery
class	occlusion_filter
class	option
class	option_base
struct	option_range
class	optional_value
class	options_container
class	options_interface
class	OptionsQuery
struct	param_group
class	pipeline
class	pipeline_config
class	pipeline_processing_block
class	pipeline_profile
struct	pixel_format_unpacker
class	playback_device
class	playback_device_info
class	playback_sensor
class	pointcloud
class	points
class	polling_device_watcher
class	polling_error_handler
class	polling_errors_disable
struct	pose
class	pose_frame
class	pose_stream_profile
class	pose_stream_profile_interface
struct	power_line_frequency_control
struct	preset
struct	preset_param_group
class	processing_block
class	processing_block_interface
class	ptr_option
class	readonly_device_info
class	readonly_option
class	record_device
class	record_sensor
class	recordable
class	recoverable_exception
class	RegexTopicQuery
struct	region_of_interest
class	region_of_interest_method
struct	request_mapping
class	roi_sensor_interface
class	ros_reader
class	ros_topic
class	ros_writer
struct	saturation_control
class	sensor_base
class	sensor_interface
class	sensor_part
class	SensorInfoQuery
struct	sharpness_control
class	signal
class	small_heap
class	software_device
class	software_sensor
class	spatial_filter
class	sr300_camera
class	sr300_info
class	sr300_timestamp_reader
class	sr300_timestamp_reader_from_metadata
class	stream
struct	stream_descriptor
class	stream_interface
struct	stream_profile
class	stream_profile_base
class	stream_profile_interface
class	StreamQuery
class	struct_field_option
struct	struct_interface
class	sync_lock
class	syncer_process_unit
struct	syncronization_environment
class	synthetic_source
class	synthetic_source_interface
class	temporal_filter
class	timestamp_composite_matcher
class	tm2_context
class	tm2_device
class	tm2_extensions
class	tm2_info
class	tm2_sensor
struct	to_string
struct	TypeToExtension
class	unique_id
class	unrecoverable_exception
struct	usb_device_info
struct	uvc_device_info
class	uvc_pu_option
class	uvc_sensor
class	uvc_xu_option
class	video_frame
class	video_sensor_interface
class	video_stream_profile
class	video_stream_profile_interface
struct	white_balance_control
class	windows_backend_exception
class	wrong_api_call_sequence_exception

Typedefs
typedef std::map< rs2_frame_metadata_value, std::shared_ptr< md_attribute_parser_base > >	metadata_parser_map
typedef std::vector< std::shared_ptr< device_info > >	devices_info
using	on_frame = std::function< void(frame_interface *)>
using	stream_profiles = std::vector< std::shared_ptr< stream_profile_interface > >
using	json = nlohmann::json
typedef std::map< std::string, std::shared_ptr< json_field > >	parsers_map
typedef std::function< rs2_metadata_type(const rs2_metadata_type &param)>	attrib_modifyer
	Post-processing adjustment of the metadata attribute e.g change auto_exposure enum to boolean, change units from nano->ms,etc'. More...
typedef std::function< void(rs2_stream, frame_interface *, callback_invocation_holder)>	on_before_frame_callback
typedef std::function< void(std::vector< platform::stream_profile >)>	on_open
typedef int	stream_id
typedef std::function< void(frame_holder, syncronization_environment)>	sync_callback
typedef float	float_4[4]
typedef std::tuple< uint32_t, int, size_t >	native_pixel_format_tuple
typedef std::tuple< rs2_stream, int, rs2_format >	output_tuple
typedef std::tuple< platform::stream_profile_tuple, native_pixel_format_tuple, std::vector< output_tuple > >	request_mapping_tuple
typedef void(*	frame_callback_function_ptr) (rs2_frame *frame, void *user)
typedef void(*	notifications_callback_function_ptr) (rs2_notification *notification, void *user)
typedef void(*	devices_changed_function_ptr) (rs2_device_list *removed, rs2_device_list *added, void *user)
typedef std::unique_ptr< rs2_log_callback, void(*)(rs2_log_callback *)>	log_callback_ptr
typedef std::shared_ptr< rs2_frame_callback >	frame_callback_ptr
typedef std::shared_ptr< rs2_frame_processor_callback >	frame_processor_callback_ptr
typedef std::shared_ptr< rs2_notifications_callback >	notifications_callback_ptr
typedef std::shared_ptr< rs2_devices_changed_callback >	devices_changed_callback_ptr
using	internal_callback = std::function< void(rs2_device_list *removed, rs2_device_list *added)>
typedef std::function< void(devices_data old, devices_data curr)>	device_changed_callback
typedef librealsense::small_heap< callback_invocation, 1 >	callbacks_heap

Enumerations
enum	auto_exposure_modes { auto_exposure_modes::static_auto_exposure = 0, auto_exposure_modes::auto_exposure_anti_flicker, auto_exposure_modes::auto_exposure_hybrid }
enum	backend_type { backend_type::standard, backend_type::record, backend_type::playback }
enum	frame_metadata_internal {   RS2_FRAME_METADATA_HW_TYPE = RS2_FRAME_METADATA_COUNT +1, RS2_FRAME_METADATA_SKU_ID, RS2_FRAME_METADATA_FORMAT, RS2_FRAME_METADATA_WIDTH,   RS2_FRAME_METADATA_HEIGHT, RS2_FRAME_METADATA_COUNT }
	Metadata fields that are utilized internally by librealsense Provides extention to the r2_frame_metadata list of attributes. More...
enum	md_type : uint32_t {   md_type::META_DATA_INTEL_DEPTH_CONTROL_ID = 0x80000000, md_type::META_DATA_INTEL_CAPTURE_TIMING_ID = 0x80000001, md_type::META_DATA_INTEL_CONFIGURATION_ID = 0x80000002, md_type::META_DATA_INTEL_STAT_ID = 0x80000003,   md_type::META_DATA_INTEL_FISH_EYE_CONTROL_ID = 0x80000004, md_type::META_DATA_INTEL_RGB_CONTROL_ID = 0x80000005, md_type::META_DATA_INTEl_FE_FOV_MODEL_ID = 0x80000006, md_type::META_DATA_INTEl_FE_CAMERA_EXTRINSICS_ID = 0x80000007,   md_type::META_DATA_CAPTURE_STATS_ID = 0x00000003, md_type::META_DATA_CAMERA_EXTRINSICS_ID = 0x00000004, md_type::META_DATA_CAMERA_INTRINSICS_ID = 0x00000005, md_type::META_DATA_CAMERA_DEBUG_ID = 0x800000FF }
	md_mode - enumerates the types of metadata modes(structs) supported More...
enum	md_capture_timing_attributes : uint32_t {   md_capture_timing_attributes::frame_counter_attribute = (1u << 0), md_capture_timing_attributes::sensor_timestamp_attribute = (1u << 1), md_capture_timing_attributes::readout_time_attribute = (1u << 2), md_capture_timing_attributes::exposure_attribute = (1u << 3),   md_capture_timing_attributes::frame_interval_attribute = (1u << 4), md_capture_timing_attributes::pipe_latency_attribute = (1u << 5) }
	md_capture_timing_attributes - enumerate the bit offset to check a specific attribute of md_capture_timing struct for validity. The enumeration includes up to 32 attributes, according to the size of flags parameter in all the defined structs More...
enum	md_capture_stat_attributes : uint32_t {   md_capture_stat_attributes::exposure_time_attribute = (1u << 0), md_capture_stat_attributes::exposure_compensation_attribute = (1u << 1), md_capture_stat_attributes::iso_speed_attribute = (1u << 2), md_capture_stat_attributes::focus_state_attribute = (1u << 3),   md_capture_stat_attributes::lens_posiiton_attribute = (1u << 4), md_capture_stat_attributes::white_balance_attribute = (1u << 5), md_capture_stat_attributes::flash_attribute = (1u << 6), md_capture_stat_attributes::flash_power_attribute = (1u << 7),   md_capture_stat_attributes::zoom_factor_attribute = (1u << 8), md_capture_stat_attributes::scene_mode_attribute = (1u << 9), md_capture_stat_attributes::sensor_framerate_attribute = (1u << 10) }
	md_capture_stat_attributes - bit mask to find enabled attributes in md_capture_stats More...
enum	md_depth_control_attributes : uint32_t {   md_depth_control_attributes::gain_attribute = (1u << 0), md_depth_control_attributes::exposure_attribute = (1u << 1), md_depth_control_attributes::laser_pwr_attribute = (1u << 2), md_depth_control_attributes::ae_mode_attribute = (1u << 3),   md_depth_control_attributes::exposure_priority_attribute = (1u << 4), md_depth_control_attributes::roi_attribute = (1u << 5), md_depth_control_attributes::preset_attribute = (1u << 6) }
	md_depth_control_attributes - bit mask to find active attributes, md_depth_control struct More...
enum	md_fisheye_control_attributes : uint32_t { md_fisheye_control_attributes::gain_attribute = (1u << 0), md_fisheye_control_attributes::exposure_attribute = (1u << 1) }
	md_fisheye_control_attributes - bit mask to find active attributes, md_fisheye_control struct More...
enum	md_rgb_control_attributes : uint32_t {   md_rgb_control_attributes::brightness_attribute = (1u << 0), md_rgb_control_attributes::contrast_attribute = (1u << 1), md_rgb_control_attributes::saturation_attribute = (1u << 2), md_rgb_control_attributes::sharpness_attribute = (1u << 3),   md_rgb_control_attributes::ae_mode_attribute = (1u << 4), md_rgb_control_attributes::awb_temp_attribute = (1u << 5), md_rgb_control_attributes::gain_attribute = (1u << 6), md_rgb_control_attributes::backlight_comp_attribute = (1u << 7),   md_rgb_control_attributes::gamma_attribute = (1u << 8), md_rgb_control_attributes::hue_attribute = (1u << 9), md_rgb_control_attributes::manual_exp_attribute = (1u << 10), md_rgb_control_attributes::manual_wb_attribute = (1u << 11),   md_rgb_control_attributes::power_line_frequency_attribute = (1u << 12), md_rgb_control_attributes::low_light_comp_attribute = (1u << 13) }
	md_rgb_control_attributes - bit mask to find active attributes, md_rgb_control struct More...
enum	md_configuration_attributes : uint32_t {   md_configuration_attributes::hw_type_attribute = (1u << 0), md_configuration_attributes::sku_id_attribute = (1u << 1), md_configuration_attributes::cookie_attribute = (1u << 2), md_configuration_attributes::format_attribute = (1u << 3),   md_configuration_attributes::width_attribute = (1u << 4), md_configuration_attributes::height_attribute = (1u << 5), md_configuration_attributes::fps_attribute = (1u << 6), md_configuration_attributes::trigger_attribute = (1u << 7),   md_configuration_attributes::calibration_count_attribute = (1u << 8) }
	md_configuration_attributes - bit mask to find active attributes, md_configuration struct More...
enum	md_stat_attributes : uint32_t {   md_stat_attributes::left_sum_attribute = (1u << 0), md_stat_attributes::left_dark_count_attribute = (1u << 1), md_stat_attributes::left_bright_count_attribute = (1u << 2), md_stat_attributes::right_sum_attribute = (1u << 3),   md_stat_attributes::right_dark_count_attribute = (1u << 4), md_stat_attributes::right_bright_count_attribute = (1u << 5), md_stat_attributes::red_frame_count_attribute = (1u << 6), md_stat_attributes::left_red_sum_attribute = (1u << 7),   md_stat_attributes::left_greeen1_attribute = (1u << 8), md_stat_attributes::left_greeen2_attribute = (1u << 9), md_stat_attributes::left_blue_sum_attribute = (1u << 10), md_stat_attributes::right_red_sum_attribute = (1u << 11),   md_stat_attributes::right_greeen1_attribute = (1u << 12), md_stat_attributes::right_greeen2_attribute = (1u << 13), md_stat_attributes::right_blue_sum_attribute = (1u << 14) }
	md_stat_attributes - bit mask to find active attributes, md_stat struct More...
enum	occlusion_rect_type : uint8_t { occlusion_none, occlusion_monotonic_scan, occlusion_exhaustic_search, occlusion_max }

Functions
template<class T >
void	stream_args (std::ostream &out, const char *names, const T &last)
template<class T , class... U>
void	stream_args (std::ostream &out, const char *names, const T &first, const U &... rest)
	MAP_EXTENSION (RS2_EXTENSION_POINTS, librealsense::points)
	MAP_EXTENSION (RS2_EXTENSION_COMPOSITE_FRAME, librealsense::composite_frame)
	MAP_EXTENSION (RS2_EXTENSION_VIDEO_FRAME, librealsense::video_frame)
	MAP_EXTENSION (RS2_EXTENSION_DEPTH_FRAME, librealsense::depth_frame)
	MAP_EXTENSION (RS2_EXTENSION_DISPARITY_FRAME, librealsense::disparity_frame)
	MAP_EXTENSION (RS2_EXTENSION_MOTION_FRAME, librealsense::motion_frame)
	MAP_EXTENSION (RS2_EXTENSION_POSE_FRAME, librealsense::pose_frame)
std::shared_ptr< archive_interface >	make_archive (rs2_extension type, std::atomic< uint32_t > *in_max_frame_queue_size, std::shared_ptr< platform::time_service > ts, std::shared_ptr< metadata_parser_map > parsers)
template<class T >
bool	list_changed (const std::vector< T > &list1, const std::vector< T > &list2, std::function< bool(T, T)> equal=[](T first, T second) { return first==second;})
double	monotonic_to_realtime (double monotonic)
std::vector< platform::uvc_device_info >	filter_by_product (const std::vector< platform::uvc_device_info > &devices, const std::set< uint16_t > &pid_list)
std::vector< std::pair< std::vector< platform::uvc_device_info >, std::vector< platform::hid_device_info > > >	group_devices_and_hids_by_unique_id (const std::vector< std::vector< platform::uvc_device_info >> &devices, const std::vector< platform::hid_device_info > &hids)
std::vector< std::vector< platform::uvc_device_info > >	group_devices_by_unique_id (const std::vector< platform::uvc_device_info > &devices)
void	trim_device_list (std::vector< platform::uvc_device_info > &devices, const std::vector< platform::uvc_device_info > &chosen)
bool	mi_present (const std::vector< platform::uvc_device_info > &devices, uint32_t mi)
platform::uvc_device_info	get_mi (const std::vector< platform::uvc_device_info > &devices, uint32_t mi)
std::vector< platform::uvc_device_info >	filter_by_mi (const std::vector< platform::uvc_device_info > &devices, uint32_t mi)
std::vector< platform::usb_device_info >	filter_by_product (const std::vector< platform::usb_device_info > &devices, const std::set< uint16_t > &pid_list)
void	trim_device_list (std::vector< platform::usb_device_info > &devices, const std::vector< platform::usb_device_info > &chosen)
	MAP_ADVANCED_MODE (STDepthControlGroup, etDepthControl)
	MAP_ADVANCED_MODE (STRsm, etRsm)
	MAP_ADVANCED_MODE (STRauSupportVectorControl, etRauSupportVectorControl)
	MAP_ADVANCED_MODE (STColorControl, etColorControl)
	MAP_ADVANCED_MODE (STRauColorThresholdsControl, etRauColorThresholdsControl)
	MAP_ADVANCED_MODE (STSloColorThresholdsControl, etSloColorThresholdsControl)
	MAP_ADVANCED_MODE (STSloPenaltyControl, etSloPenaltyControl)
	MAP_ADVANCED_MODE (STHdad, etHdad)
	MAP_ADVANCED_MODE (STColorCorrection, etColorCorrection)
	MAP_ADVANCED_MODE (STDepthTableControl, etDepthTableControl)
	MAP_ADVANCED_MODE (STAEControl, etAEControl)
	MAP_ADVANCED_MODE (STCensusRadius, etCencusRadius9)
	MAP_EXTENSION (RS2_EXTENSION_ADVANCED_MODE, librealsense::ds5_advanced_mode_interface)
	MAP_EXTENSION (RS2_EXTENSION_DEBUG, librealsense::debug_interface)
template<typename To >
bool	try_extend (std::shared_ptr< extension_snapshot > from, void **ext)
template<typename T , typename P >
std::shared_ptr< T >	As (std::shared_ptr< P > ptr)
template<typename T , typename P >
T *	As (P *ptr)
template<typename T , typename P >
bool	Is (std::shared_ptr< P > ptr)
template<typename T , typename P >
bool	Is (P *ptr)
	MAP_EXTENSION (RS2_EXTENSION_INFO, librealsense::info_interface)
	MAP_EXTENSION (RS2_EXTENSION_MOTION_PROFILE, librealsense::motion_stream_profile_interface)
	MAP_EXTENSION (RS2_EXTENSION_POSE_PROFILE, librealsense::pose_stream_profile_interface)
	MAP_EXTENSION (RS2_EXTENSION_TM2, librealsense::tm2_extensions)
	MAP_EXTENSION (RS2_EXTENSION_OPTIONS, librealsense::options_interface)
	MAP_EXTENSION (RS2_EXTENSION_ROI, librealsense::roi_sensor_interface)
	MAP_EXTENSION (RS2_EXTENSION_DEPTH_SENSOR, librealsense::depth_sensor)
	MAP_EXTENSION (RS2_EXTENSION_DEPTH_STEREO_SENSOR, librealsense::depth_stereo_sensor)
	MAP_EXTENSION (RS2_EXTENSION_VIDEO, librealsense::video_sensor_interface)
	MAP_EXTENSION (RS2_EXTENSION_VIDEO_PROFILE, librealsense::video_stream_profile_interface)
stream_interface *	find_profile (rs2_stream stream, int index, std::vector< stream_interface *> profiles)
template<class T , class S >
std::shared_ptr< json_field >	make_field (T &strct, S T::group_type::*field, float scale=1.0f, bool is_duplicated_field=false)
template<class T , class S >
std::shared_ptr< json_field >	make_string_field (T &strct, S T::group_type::*field, const std::map< std::string, float > &values, bool is_duplicated_field=false)
std::shared_ptr< json_field >	make_ignored_field ()
template<class T , class S >
std::shared_ptr< json_field >	make_invert_field (T &strct, S T::group_type::*field, bool is_duplicated_field=false)
template<class T , typename S >
void	insert_control_to_map (parsers_map &map, bool was_set, const std::string &name, param_group< T > &control, S field)
template<class T , typename S >
void	insert_string_control_to_map (parsers_map &map, bool was_set, const std::string &name, param_group< T > &control, S field, const std::map< std::string, float > &values)
template<typename T >
void	update_preset_control (T &preset_control, const param_group< T > &param)
template<typename T >
void	update_preset_camera_control (T &camera_control, const param_group< T > &param)
parsers_map	initialize_field_parsers (preset_param_group &p)
std::vector< uint8_t >	generate_json (const preset &in_preset)
void	update_structs (const std::string &content, preset &in_preset)
void	default_400 (preset &p)
void	default_405 (preset &p)
void	default_410 (preset &p)
void	default_420 (preset &p)
void	default_430 (preset &p)
void	high_res_high_accuracy (preset &p)
void	high_res_high_density (preset &p)
void	high_res_mid_density (preset &p)
void	low_res_high_accuracy (preset &p)
void	low_res_high_density (preset &p)
void	low_res_mid_density (preset &p)
void	mid_res_high_accuracy (preset &p)
void	mid_res_high_density (preset &p)
void	mid_res_mid_density (preset &p)
void	hand_gesture (preset &p)
size_t	get_image_size (int width, int height, rs2_format format)
int	get_image_bpp (rs2_format format)
void	deproject_z (float *points, const rs2_intrinsics &z_intrin, const uint16_t *z_pixels, float z_scale)
void	deproject_disparity (float *points, const rs2_intrinsics &disparity_intrin, const uint16_t *disparity_pixels, float disparity_scale)
void	align_z_to_other (byte *z_aligned_to_other, const uint16_t *z_pixels, float z_scale, const rs2_intrinsics &z_intrin, const rs2_extrinsics &z_to_other, const rs2_intrinsics &other_intrin)
void	align_disparity_to_other (byte *disparity_aligned_to_other, const uint16_t *disparity_pixels, float disparity_scale, const rs2_intrinsics &disparity_intrin, const rs2_extrinsics &disparity_to_other, const rs2_intrinsics &other_intrin)
void	align_other_to_z (byte *other_aligned_to_z, const uint16_t *z_pixels, float z_scale, const rs2_intrinsics &z_intrin, const rs2_extrinsics &z_to_other, const rs2_intrinsics &other_intrin, const byte *other_pixels, rs2_format other_format)
void	align_other_to_disparity (byte *other_aligned_to_disparity, const uint16_t *disparity_pixels, float disparity_scale, const rs2_intrinsics &disparity_intrin, const rs2_extrinsics &disparity_to_other, const rs2_intrinsics &other_intrin, const byte *other_pixels, rs2_format other_format)
std::vector< int >	compute_rectification_table (const rs2_intrinsics &rect_intrin, const rs2_extrinsics &rect_to_unrect, const rs2_intrinsics &unrect_intrin)
void	rectify_image (uint8_t *rect_pixels, const std::vector< int > &rectification_table, const uint8_t *unrect_pixels, rs2_format format)
	MAP_EXTENSION (RS2_EXTENSION_PLAYBACK, playback_device)
	MAP_EXTENSION (RS2_EXTENSION_RECORD, record_device)
void	convert (rs2_format source, std::string &target)
void	convert (const std::string &source, rs2_format &target)
void	convert (const std::string &source, rs2_stream &target)
void	convert (const std::string &source, rs2_distortion &target)
void	convert (const std::string &source, rs2_option &target)
void	convert (const std::string &source, rs2_frame_metadata_value &target)
void	convert (const std::string &source, rs2_camera_info &target)
void	convert (const std::string &source, rs2_timestamp_domain &target)
void	convert (const std::string &source, rs2_notification_category &target)
void	convert (const std::string &source, rs2_log_severity &target)
void	convert (const std::string &source, double &target)
void	convert (const std::string &source, long long &target)
void	quat2rot (const geometry_msgs::Transform::_rotation_type &q, float(&r)[9])
void	rot2quat (const float(&r)[9], geometry_msgs::Transform::_rotation_type &q)
void	convert (const geometry_msgs::Transform &source, rs2_extrinsics &target)
void	convert (const rs2_extrinsics &source, geometry_msgs::Transform &target)
constexpr uint32_t	get_file_version ()
constexpr uint32_t	get_minimum_supported_file_version ()
constexpr uint32_t	get_device_index ()
constexpr device_serializer::nanoseconds	get_static_file_info_timestamp ()
device_serializer::nanoseconds	to_nanoseconds (const ros::Time &t)
ros::Time	to_rostime (const device_serializer::nanoseconds &t)
template<class S , class Attribute , typename Flag >
std::shared_ptr< md_attribute_parser_base >	make_attribute_parser (Attribute S::*attribute, Flag flag, unsigned long long offset, attrib_modifyer mod=nullptr)
	A helper function to create a specialized attribute parser. Return it as a pointer to a base-class. More...
template<class St , class Attribute >
std::shared_ptr< md_attribute_parser_base >	make_uvc_header_parser (Attribute St::*attribute, attrib_modifyer mod=nullptr)
	A utility function to create UVC metadata header parser. More...
template<class St , class Attribute >
std::shared_ptr< md_attribute_parser_base >	make_additional_data_parser (Attribute St::*attribute)
	A utility function to create additional_data parser. More...
std::shared_ptr< md_attribute_parser_base >	make_rs400_sensor_ts_parser (std::shared_ptr< md_attribute_parser_base > frame_ts_parser, std::shared_ptr< md_attribute_parser_base > sensor_ts_parser)
	A helper function to create a specialized parser for RS4xx sensor timestamp. More...
template<class S , class Attribute >
std::shared_ptr< md_attribute_parser_base >	make_sr300_attribute_parser (Attribute S::*attribute, unsigned long long offset, attrib_modifyer mod=nullptr)
	A helper function to create a specialized attribute parser. Return it as a pointer to a base-class. More...
std::string	hexify (unsigned char n)
template<class T , class R , class W , class U >
std::shared_ptr< struct_field_option< T, R, W, U > >	make_field_option (std::shared_ptr< struct_interface< T, R, W >> struct_interface, U T::*field, const option_range &range)
	MAP_EXTENSION (RS2_EXTENSION_SOFTWARE_SENSOR, software_sensor)
	MAP_EXTENSION (RS2_EXTENSION_SOFTWARE_DEVICE, software_device)
stream_profile	to_profile (const stream_profile_interface *sp)
std::vector< stream_profile >	to_profiles (const std::vector< std::shared_ptr< stream_profile_interface >> &vec)
template<size_t SIZE>
std::string	buffer_to_string (const uint8_t(&buff)[SIZE], char separator=',', bool as_hex=false)
std::string	get_string (perc::Status value)
std::ostream &	operator<< (std::ostream &os, const perc::TrackingData::Version &v)
rs2_format	convertTm2PixelFormat (perc::PixelFormat format)
perc::PixelFormat	convertToTm2PixelFormat (rs2_format format)
bool	try_convert (rs2_stream stream, perc::SensorType &out)
rs2_distortion	convertTm2CameraModel (int model)
uint32_t	convertTm2InterruptRate (perc::SIXDOF_INTERRUPT_RATE rate)
float3	toFloat3 (perc::TrackingData::Axis a)
float3	toFloat3 (perc::TrackingData::EulerAngles a)
float4	toFloat4 (perc::TrackingData::Quaternion q)
template<typename T , size_t size>
size_t	copy_array (T(&dst)[size], const T(&src)[size])
template<typename T , size_t sizem, size_t sizen>
size_t	copy_2darray (T(&dst)[sizem][sizen], const T(&src)[sizem][sizen])
void	copy (void *dst, void const *src, size_t size)
std::string	make_less_screamy (const char *str)
void	log_to_console (rs2_log_severity min_severity)
void	log_to_file (rs2_log_severity min_severity, const char *file_path)
template<typename T >
T	clamp_val (T val, const T &min, const T &max)
template<typename T , int sz>
int	arr_size (T(&)[sz])
template<typename T >
std::string	array2str (T &data)
bool	operator== (const float3 &a, const float3 &b)
float3	operator+ (const float3 &a, const float3 &b)
float3	operator* (const float3 &a, float b)
bool	operator== (const float4 &a, const float4 &b)
float4	operator+ (const float4 &a, const float4 &b)
bool	operator== (const float3x3 &a, const float3x3 &b)
float3	operator* (const float3x3 &a, const float3 &b)
float3x3	operator* (const float3x3 &a, const float3x3 &b)
float3x3	transpose (const float3x3 &a)
bool	operator== (const pose &a, const pose &b)
float3	operator* (const pose &a, const float3 &b)
pose	operator* (const pose &a, const pose &b)
pose	inverse (const pose &a)
pose	to_pose (const rs2_extrinsics &a)
rs2_extrinsics	from_pose (pose a)
rs2_extrinsics	identity_matrix ()
rs2_extrinsics	inverse (const rs2_extrinsics &a)
bool	operator== (const stream_profile &a, const stream_profile &b)
bool	operator< (const request_mapping &first, const request_mapping &second)
bool	operator== (const request_mapping &a, const request_mapping &b)
template<class T , class R , class W >
std::shared_ptr< struct_interface< T, R, W > >	make_struct_interface (R r, W w)
rs2_intrinsics	pad_crop_intrinsics (const rs2_intrinsics &i, int pad_crop)
rs2_intrinsics	scale_intrinsics (const rs2_intrinsics &i, int width, int height)
bool	operator== (const rs2_intrinsics &a, const rs2_intrinsics &b)
uint32_t	pack (uint8_t c0, uint8_t c1, uint8_t c2, uint8_t c3)
bool	operator== (const uvc_device_info &a, const uvc_device_info &b)
bool	operator== (const usb_device_info &a, const usb_device_info &b)
bool	operator== (const hid_device_info &a, const hid_device_info &b)
bool	check_not_all_zeros (std::vector< byte > data)
std::string	datetime_string ()
bool	file_exists (const char *filename)
float3x3	calc_rotation_from_rodrigues_angles (const std::vector< double > rot)
uint32_t	calc_crc32 (const uint8_t *buf, size_t bufsize)

Variables
const native_pixel_format	pf_fe_raw8_unpatched_kernel
const native_pixel_format	pf_raw8
const native_pixel_format	pf_rw10
const native_pixel_format	pf_w10
const native_pixel_format	pf_rw16
const native_pixel_format	pf_bayer16
const native_pixel_format	pf_yuy2
const native_pixel_format	pf_yuyv
const native_pixel_format	pf_y8
const native_pixel_format	pf_y8i
const native_pixel_format	pf_y16
const native_pixel_format	pf_y12i
const native_pixel_format	pf_z16
const native_pixel_format	pf_invz
const native_pixel_format	pf_f200_invi
const native_pixel_format	pf_f200_inzi
const native_pixel_format	pf_sr300_invi
const native_pixel_format	pf_sr300_inzi
const native_pixel_format	pf_uyvyl
const native_pixel_format	pf_accel_axes
const native_pixel_format	pf_gyro_axes
const native_pixel_format	pf_rgb888
const native_pixel_format	pf_gpio_timestamp
const uint16_t	SR300_PID = 0x0aa5
const double	TIMESTAMP_10NSEC_TO_MSEC = 0.00001
constexpr const char *	TIMESTAMP_DOMAIN_MD_STR = "timestamp_domain"
constexpr const char *	SYSTEM_TIME_MD_STR = "system_time"
constexpr const char *	MAPPER_CONFIDENCE_MD_STR = "Mapper Confidence"
constexpr const char *	FRAME_TIMESTAMP_MD_STR = "frame_timestamp"
constexpr const char *	TRACKER_CONFIDENCE_MD_STR = "Tracker Confidence"
const int	META_DATA_INTEL_DEPTH_CONTROL_VERSION = 0x1
const int	META_DATA_INTEL_CONFIGURATION_VERSION = 0x1
const int	META_DATA_INTEL_STAT_VERSION = 0x1
const int	META_DATA_INTEL_CAPTURE_TIMING_VERSION = 0x1
constexpr uint8_t	md_capture_timing_size = sizeof(md_capture_timing)
const uint8_t	INTRINSICS_MODEL_COUNT = 1
const uint8_t	UVC_GUID_SIZE = 16
const uint8_t	TRANSFORM_COUNT = 1
constexpr uint8_t	metadata_raw_size = sizeof(metadata_raw)
const size_t	PRESISTENCY_LUT_SIZE = 256
const std::map< perc::PixelFormat, rs2_format >	tm2_formats_map

Typedef Documentation

attrib_modifyer

typedef std::function<rs2_metadata_type(const rs2_metadata_type& param)> librealsense::attrib_modifyer

Post-processing adjustment of the metadata attribute e.g change auto_exposure enum to boolean, change units from nano->ms,etc'.

callbacks_heap

typedef librealsense::small_heap<callback_invocation, 1> librealsense::callbacks_heap

device_changed_callback

typedef std::function<void(devices_data old, devices_data curr)> librealsense::device_changed_callback

devices_changed_callback_ptr

typedef std::shared_ptr<rs2_devices_changed_callback> librealsense::devices_changed_callback_ptr

devices_changed_function_ptr

typedef void(* librealsense::devices_changed_function_ptr) (rs2_device_list *removed, rs2_device_list *added, void *user)

devices_info

typedef std::vector<std::shared_ptr<device_info> > librealsense::devices_info

float_4

typedef float librealsense::float_4[4]

frame_callback_function_ptr

typedef void(* librealsense::frame_callback_function_ptr) (rs2_frame *frame, void *user)

frame_callback_ptr

typedef std::shared_ptr<rs2_frame_callback> librealsense::frame_callback_ptr

frame_processor_callback_ptr

typedef std::shared_ptr<rs2_frame_processor_callback> librealsense::frame_processor_callback_ptr

internal_callback

using librealsense::internal_callback = typedef std::function<void(rs2_device_list* removed, rs2_device_list* added)>

json

using librealsense::json = typedef nlohmann::json

log_callback_ptr

typedef std::unique_ptr<rs2_log_callback, void(*)(rs2_log_callback*)> librealsense::log_callback_ptr

metadata_parser_map

typedef std::map<rs2_frame_metadata_value, std::shared_ptr<md_attribute_parser_base> > librealsense::metadata_parser_map

native_pixel_format_tuple

typedef std::tuple<uint32_t, int, size_t> librealsense::native_pixel_format_tuple

notifications_callback_function_ptr

typedef void(* librealsense::notifications_callback_function_ptr) (rs2_notification *notification, void *user)

notifications_callback_ptr

typedef std::shared_ptr<rs2_notifications_callback> librealsense::notifications_callback_ptr

on_before_frame_callback

typedef std::function<void(rs2_stream, frame_interface*, callback_invocation_holder)> librealsense::on_before_frame_callback

on_frame

using librealsense::on_frame = typedef std::function<void(frame_interface*)>

on_open

typedef std::function<void(std::vector<platform::stream_profile>)> librealsense::on_open

output_tuple

typedef std::tuple<rs2_stream, int, rs2_format> librealsense::output_tuple

parsers_map

typedef std::map<std::string, std::shared_ptr<json_field> > librealsense::parsers_map

request_mapping_tuple

typedef std::tuple<platform::stream_profile_tuple, native_pixel_format_tuple, std::vector<output_tuple> > librealsense::request_mapping_tuple

stream_id

typedef int librealsense::stream_id

stream_profiles

using librealsense::stream_profiles = typedef std::vector<std::shared_ptr<stream_profile_interface> >

sync_callback

typedef std::function<void(frame_holder, syncronization_environment)> librealsense::sync_callback

Enumeration Type Documentation

auto_exposure_modes

enum librealsense::auto_exposure_modes

strong

Enumerator
static_auto_exposure
auto_exposure_anti_flicker
auto_exposure_hybrid

backend_type

enum librealsense::backend_type

strong

Enumerator
standard
record
playback

frame_metadata_internal

enum librealsense::frame_metadata_internal

Metadata fields that are utilized internally by librealsense Provides extention to the r2_frame_metadata list of attributes.

Enumerator
RS2_FRAME_METADATA_HW_TYPE	8-bit Module type: RS4xx, IVCAM
RS2_FRAME_METADATA_SKU_ID	8-bit SKU Id
RS2_FRAME_METADATA_FORMAT	16-bit Frame format
RS2_FRAME_METADATA_WIDTH	16-bit Frame width. pixels
RS2_FRAME_METADATA_HEIGHT	16-bit Frame height. pixels
RS2_FRAME_METADATA_COUNT

md_capture_stat_attributes

enum librealsense::md_capture_stat_attributes : uint32_t

strong

md_capture_stat_attributes - bit mask to find enabled attributes in md_capture_stats

Enumerator
exposure_time_attribute
exposure_compensation_attribute
iso_speed_attribute
focus_state_attribute
lens_posiiton_attribute
white_balance_attribute
flash_attribute
flash_power_attribute
zoom_factor_attribute
scene_mode_attribute
sensor_framerate_attribute

md_capture_timing_attributes

enum librealsense::md_capture_timing_attributes : uint32_t

strong

md_capture_timing_attributes - enumerate the bit offset to check a specific attribute of md_capture_timing struct for validity. The enumeration includes up to 32 attributes, according to the size of flags parameter in all the defined structs

Enumerator
frame_counter_attribute
sensor_timestamp_attribute
readout_time_attribute
exposure_attribute
frame_interval_attribute
pipe_latency_attribute

md_configuration_attributes

enum librealsense::md_configuration_attributes : uint32_t

strong

md_configuration_attributes - bit mask to find active attributes, md_configuration struct

Enumerator
hw_type_attribute
sku_id_attribute
cookie_attribute
format_attribute
width_attribute
height_attribute
fps_attribute
trigger_attribute
calibration_count_attribute

md_depth_control_attributes

enum librealsense::md_depth_control_attributes : uint32_t

strong

md_depth_control_attributes - bit mask to find active attributes, md_depth_control struct

Enumerator
gain_attribute
exposure_attribute
laser_pwr_attribute
ae_mode_attribute
exposure_priority_attribute
roi_attribute
preset_attribute

md_fisheye_control_attributes

enum librealsense::md_fisheye_control_attributes : uint32_t

strong

md_fisheye_control_attributes - bit mask to find active attributes, md_fisheye_control struct

Enumerator
gain_attribute
exposure_attribute

md_rgb_control_attributes

enum librealsense::md_rgb_control_attributes : uint32_t

strong

md_rgb_control_attributes - bit mask to find active attributes, md_rgb_control struct

Enumerator
brightness_attribute
contrast_attribute
saturation_attribute
sharpness_attribute
ae_mode_attribute
awb_temp_attribute
gain_attribute
backlight_comp_attribute
gamma_attribute
hue_attribute
manual_exp_attribute
manual_wb_attribute
power_line_frequency_attribute
low_light_comp_attribute

md_stat_attributes

enum librealsense::md_stat_attributes : uint32_t

strong

md_stat_attributes - bit mask to find active attributes, md_stat struct

Enumerator
left_sum_attribute
left_dark_count_attribute
left_bright_count_attribute
right_sum_attribute
right_dark_count_attribute
right_bright_count_attribute
red_frame_count_attribute
left_red_sum_attribute
left_greeen1_attribute
left_greeen2_attribute
left_blue_sum_attribute
right_red_sum_attribute
right_greeen1_attribute
right_greeen2_attribute
right_blue_sum_attribute

md_type

enum librealsense::md_type : uint32_t

strong

md_mode - enumerates the types of metadata modes(structs) supported

Enumerator
META_DATA_INTEL_DEPTH_CONTROL_ID
META_DATA_INTEL_CAPTURE_TIMING_ID
META_DATA_INTEL_CONFIGURATION_ID
META_DATA_INTEL_STAT_ID
META_DATA_INTEL_FISH_EYE_CONTROL_ID
META_DATA_INTEL_RGB_CONTROL_ID
META_DATA_INTEl_FE_FOV_MODEL_ID
META_DATA_INTEl_FE_CAMERA_EXTRINSICS_ID
META_DATA_CAPTURE_STATS_ID
META_DATA_CAMERA_EXTRINSICS_ID
META_DATA_CAMERA_INTRINSICS_ID
META_DATA_CAMERA_DEBUG_ID

occlusion_rect_type

enum librealsense::occlusion_rect_type : uint8_t

Enumerator
occlusion_none
occlusion_monotonic_scan
occlusion_exhaustic_search
occlusion_max

Function Documentation

align_disparity_to_other()

void librealsense::align_disparity_to_other	(	byte *	disparity_aligned_to_other,
		const uint16_t *	disparity_pixels,
		float	disparity_scale,
		const rs2_intrinsics &	disparity_intrin,
		const rs2_extrinsics &	disparity_to_other,
		const rs2_intrinsics &	other_intrin
	)

align_other_to_disparity()

void librealsense::align_other_to_disparity	(	byte *	other_aligned_to_disparity,
		const uint16_t *	disparity_pixels,
		float	disparity_scale,
		const rs2_intrinsics &	disparity_intrin,
		const rs2_extrinsics &	disparity_to_other,
		const rs2_intrinsics &	other_intrin,
		const byte *	other_pixels,
		rs2_format	other_format
	)

align_other_to_z()

void librealsense::align_other_to_z	(	byte *	other_aligned_to_z,
		const uint16_t *	z_pixels,
		float	z_scale,
		const rs2_intrinsics &	z_intrin,
		const rs2_extrinsics &	z_to_other,
		const rs2_intrinsics &	other_intrin,
		const byte *	other_pixels,
		rs2_format	other_format
	)

align_z_to_other()

void librealsense::align_z_to_other	(	byte *	z_aligned_to_other,
		const uint16_t *	z_pixels,
		float	z_scale,
		const rs2_intrinsics &	z_intrin,
		const rs2_extrinsics &	z_to_other,
		const rs2_intrinsics &	other_intrin
	)

arr_size()

template<typename T , int sz>

int librealsense::arr_size

(

T(&)

[sz]

)

array2str()

template<typename T >

std::string librealsense::array2str

(

T &

data

)

As() [1/2]

template<typename T , typename P >

std::shared_ptr<T> librealsense::As ( std::shared_ptr< P >  ptr )

inline

As() [2/2]

template<typename T , typename P >

T* librealsense::As ( P *  ptr )

inline

buffer_to_string()

template<size_t SIZE>

std::string librealsense::buffer_to_string ( const uint8_t(&)  buff[SIZE], char  separator = ',', bool  as_hex = false  )

inline

calc_crc32()

uint32_t librealsense::calc_crc32	(	const uint8_t *	buf,
		size_t	bufsize
	)

calc_rotation_from_rodrigues_angles()

float3x3 librealsense::calc_rotation_from_rodrigues_angles

(

const std::vector< double >

rot

)

check_not_all_zeros()

bool librealsense::check_not_all_zeros ( std::vector< byte >  data )

inline

clamp_val()

template<typename T >

T librealsense::clamp_val ( T  val, const T &  min, const T &  max  )

inline

compute_rectification_table()

std::vector<int> librealsense::compute_rectification_table	(	const rs2_intrinsics &	rect_intrin,
		const rs2_extrinsics &	rect_to_unrect,
		const rs2_intrinsics &	unrect_intrin
	)

convert() [1/14]

void librealsense::convert ( rs2_format  source, std::string &  target  )

inline

convert() [2/14]

void librealsense::convert ( const std::string &  source, rs2_format &  target  )

inline

convert() [3/14]

void librealsense::convert ( const std::string &  source, rs2_stream &  target  )

inline

convert() [4/14]

void librealsense::convert ( const std::string &  source, rs2_distortion &  target  )

inline

convert() [5/14]

void librealsense::convert ( const std::string &  source, rs2_option &  target  )

inline

convert() [6/14]

void librealsense::convert ( const std::string &  source, rs2_frame_metadata_value &  target  )

inline

convert() [7/14]

void librealsense::convert ( const std::string &  source, rs2_camera_info &  target  )

inline

convert() [8/14]

void librealsense::convert ( const std::string &  source, rs2_timestamp_domain &  target  )

inline

convert() [9/14]

void librealsense::convert ( const std::string &  source, rs2_notification_category &  target  )

inline

convert() [10/14]

void librealsense::convert ( const std::string &  source, rs2_log_severity &  target  )

inline

convert() [11/14]

void librealsense::convert ( const std::string &  source, double &  target  )

inline

convert() [12/14]

void librealsense::convert ( const std::string &  source, long long &  target  )

inline

convert() [13/14]

void librealsense::convert ( const geometry_msgs::Transform &  source, rs2_extrinsics &  target  )

inline

convert() [14/14]

void librealsense::convert ( const rs2_extrinsics &  source, geometry_msgs::Transform &  target  )

inline

convertTm2CameraModel()

rs2_distortion librealsense::convertTm2CameraModel ( int  model )

inline

convertTm2InterruptRate()

uint32_t librealsense::convertTm2InterruptRate ( perc::SIXDOF_INTERRUPT_RATE  rate )

inline

convertTm2PixelFormat()

rs2_format librealsense::convertTm2PixelFormat ( perc::PixelFormat  format )

inline

convertToTm2PixelFormat()

perc::PixelFormat librealsense::convertToTm2PixelFormat ( rs2_format  format )

inline

copy()

void librealsense::copy	(	void *	dst,
		void const *	src,
		size_t	size
	)

copy_2darray()

template<typename T , size_t sizem, size_t sizen>

size_t librealsense::copy_2darray ( T(&)  dst[sizem][sizen], const T(&)  src[sizem][sizen]  )

inline

copy_array()

template<typename T , size_t size>

size_t librealsense::copy_array ( T(&)  dst[size], const T(&)  src[size]  )

inline

datetime_string()

std::string librealsense::datetime_string

(

)

default_400()

void librealsense::default_400

(

preset &

p

)

default_405()

void librealsense::default_405

(

preset &

p

)

default_410()

void librealsense::default_410

(

preset &

p

)

default_420()

void librealsense::default_420

(

preset &

p

)

default_430()

void librealsense::default_430

(

preset &

p

)

deproject_disparity()

void librealsense::deproject_disparity	(	float *	points,
		const rs2_intrinsics &	disparity_intrin,
		const uint16_t *	disparity_pixels,
		float	disparity_scale
	)

deproject_z()

void librealsense::deproject_z	(	float *	points,
		const rs2_intrinsics &	z_intrin,
		const uint16_t *	z_pixels,
		float	z_scale
	)

file_exists()

bool librealsense::file_exists

(

const char *

filename

)

filter_by_mi()

std::vector<platform::uvc_device_info> librealsense::filter_by_mi	(	const std::vector< platform::uvc_device_info > &	devices,
		uint32_t	mi
	)

filter_by_product() [1/2]

std::vector<platform::uvc_device_info> librealsense::filter_by_product	(	const std::vector< platform::uvc_device_info > &	devices,
		const std::set< uint16_t > &	pid_list
	)

filter_by_product() [2/2]

std::vector<platform::usb_device_info> librealsense::filter_by_product	(	const std::vector< platform::usb_device_info > &	devices,
		const std::set< uint16_t > &	pid_list
	)

find_profile()

stream_interface* librealsense::find_profile	(	rs2_stream	stream,
		int	index,
		std::vector< stream_interface *>	profiles
	)

from_pose()

rs2_extrinsics librealsense::from_pose ( pose  a )

inline

generate_json()

std::vector<uint8_t> librealsense::generate_json ( const preset &  in_preset )

inline

get_device_index()

constexpr uint32_t librealsense::get_device_index

(

)

get_file_version()

constexpr uint32_t librealsense::get_file_version

(

)

Incremental number of the RealSense file format version Since we maintain backward compatability, changes to topics/messages are reflected by the version

get_image_bpp()

int librealsense::get_image_bpp

(

rs2_format

format

)

get_image_size()

size_t librealsense::get_image_size	(	int	width,
		int	height,
		rs2_format	format
	)

get_mi()

platform::uvc_device_info librealsense::get_mi	(	const std::vector< platform::uvc_device_info > &	devices,
		uint32_t	mi
	)

get_minimum_supported_file_version()

constexpr uint32_t librealsense::get_minimum_supported_file_version

(

)

get_static_file_info_timestamp()

constexpr device_serializer::nanoseconds librealsense::get_static_file_info_timestamp

(

)

get_string()

std::string librealsense::get_string

(

perc::Status

value

)

group_devices_and_hids_by_unique_id()

std::vector<std::pair<std::vector<platform::uvc_device_info>, std::vector<platform::hid_device_info> > > librealsense::group_devices_and_hids_by_unique_id	(	const std::vector< std::vector< platform::uvc_device_info >> &	devices,
		const std::vector< platform::hid_device_info > &	hids
	)

group_devices_by_unique_id()

std::vector<std::vector<platform::uvc_device_info> > librealsense::group_devices_by_unique_id

(

const std::vector< platform::uvc_device_info > &

devices

)

hand_gesture()

void librealsense::hand_gesture

(

preset &

p

)

hexify()

std::string librealsense::hexify ( unsigned char  n )

inline

high_res_high_accuracy()

void librealsense::high_res_high_accuracy

(

preset &

p

)

high_res_high_density()

void librealsense::high_res_high_density

(

preset &

p

)

high_res_mid_density()

void librealsense::high_res_mid_density

(

preset &

p

)

identity_matrix()

rs2_extrinsics librealsense::identity_matrix ( )

inline

initialize_field_parsers()

parsers_map librealsense::initialize_field_parsers ( preset_param_group &  p )

inline

insert_control_to_map()

template<class T , typename S >

void librealsense::insert_control_to_map	(	parsers_map &	map,
		bool	was_set,
		const std::string &	name,
		param_group< T > &	control,
		S	field
	)

insert_string_control_to_map()

template<class T , typename S >

void librealsense::insert_string_control_to_map	(	parsers_map &	map,
		bool	was_set,
		const std::string &	name,
		param_group< T > &	control,
		S	field,
		const std::map< std::string, float > &	values
	)

inverse() [1/2]

pose librealsense::inverse ( const pose &  a )

inline

inverse() [2/2]

rs2_extrinsics librealsense::inverse ( const rs2_extrinsics &  a )

inline

Is() [1/2]

template<typename T , typename P >

bool librealsense::Is ( std::shared_ptr< P >  ptr )

inline

Is() [2/2]

template<typename T , typename P >

bool librealsense::Is ( P *  ptr )

inline

list_changed()

template<class T >

bool librealsense::list_changed	(	const std::vector< T > &	list1,
		const std::vector< T > &	list2,
		std::function< bool(T, T)>	equal = [](T first, T second) { return first == second; }
	)

log_to_console()

void librealsense::log_to_console ( rs2_log_severity  min_severity )

inline

log_to_file()

void librealsense::log_to_file ( rs2_log_severity  min_severity, const char *  file_path  )

inline

low_res_high_accuracy()

void librealsense::low_res_high_accuracy

(

preset &

p

)

low_res_high_density()

void librealsense::low_res_high_density

(

preset &

p

)

low_res_mid_density()

void librealsense::low_res_mid_density

(

preset &

p

)

make_additional_data_parser()

template<class St , class Attribute >

std::shared_ptr<md_attribute_parser_base> librealsense::make_additional_data_parser

(

Attribute St::*

attribute

)

A utility function to create additional_data parser.

make_archive()

std::shared_ptr<archive_interface> librealsense::make_archive	(	rs2_extension	type,
		std::atomic< uint32_t > *	in_max_frame_queue_size,
		std::shared_ptr< platform::time_service >	ts,
		std::shared_ptr< metadata_parser_map >	parsers
	)

make_attribute_parser()

template<class S , class Attribute , typename Flag >

std::shared_ptr<md_attribute_parser_base> librealsense::make_attribute_parser	(	Attribute S::*	attribute,
		Flag	flag,
		unsigned long long	offset,
		attrib_modifyer	mod = nullptr
	)

A helper function to create a specialized attribute parser. Return it as a pointer to a base-class.

make_field()

template<class T , class S >

std::shared_ptr<json_field> librealsense::make_field	(	T &	strct,
		S T::group_type::*	field,
		float	scale = 1.0f,
		bool	is_duplicated_field = false
	)

make_field_option()

template<class T , class R , class W , class U >

std::shared_ptr<struct_field_option<T, R, W, U> > librealsense::make_field_option	(	std::shared_ptr< struct_interface< T, R, W >>	struct_interface,
		U T::*	field,
		const option_range &	range
	)

make_ignored_field()

std::shared_ptr<json_field> librealsense::make_ignored_field

(

)

make_invert_field()

template<class T , class S >

std::shared_ptr<json_field> librealsense::make_invert_field	(	T &	strct,
		S T::group_type::*	field,
		bool	is_duplicated_field = false
	)

make_less_screamy()

std::string librealsense::make_less_screamy

(

const char *

str

)

make_rs400_sensor_ts_parser()

std::shared_ptr<md_attribute_parser_base> librealsense::make_rs400_sensor_ts_parser ( std::shared_ptr< md_attribute_parser_base >  frame_ts_parser, std::shared_ptr< md_attribute_parser_base >  sensor_ts_parser  )

inline

A helper function to create a specialized parser for RS4xx sensor timestamp.

make_sr300_attribute_parser()

template<class S , class Attribute >

std::shared_ptr<md_attribute_parser_base> librealsense::make_sr300_attribute_parser	(	Attribute S::*	attribute,
		unsigned long long	offset,
		attrib_modifyer	mod = nullptr
	)

A helper function to create a specialized attribute parser. Return it as a pointer to a base-class.

make_string_field()

template<class T , class S >

std::shared_ptr<json_field> librealsense::make_string_field	(	T &	strct,
		S T::group_type::*	field,
		const std::map< std::string, float > &	values,
		bool	is_duplicated_field = false
	)

make_struct_interface()

template<class T , class R , class W >

std::shared_ptr<struct_interface<T, R, W> > librealsense::make_struct_interface	(	R	r,
		W	w
	)

make_uvc_header_parser()

template<class St , class Attribute >

std::shared_ptr<md_attribute_parser_base> librealsense::make_uvc_header_parser	(	Attribute St::*	attribute,
		attrib_modifyer	mod = nullptr
	)

A utility function to create UVC metadata header parser.

MAP_ADVANCED_MODE() [1/12]

librealsense::MAP_ADVANCED_MODE	(	STDepthControlGroup	,
		etDepthControl
	)

MAP_ADVANCED_MODE() [2/12]

librealsense::MAP_ADVANCED_MODE	(	STRsm	,
		etRsm
	)

MAP_ADVANCED_MODE() [3/12]

librealsense::MAP_ADVANCED_MODE	(	STRauSupportVectorControl	,
		etRauSupportVectorControl
	)

MAP_ADVANCED_MODE() [4/12]

librealsense::MAP_ADVANCED_MODE	(	STColorControl	,
		etColorControl
	)

MAP_ADVANCED_MODE() [5/12]

librealsense::MAP_ADVANCED_MODE	(	STRauColorThresholdsControl	,
		etRauColorThresholdsControl
	)

MAP_ADVANCED_MODE() [6/12]

librealsense::MAP_ADVANCED_MODE	(	STSloColorThresholdsControl	,
		etSloColorThresholdsControl
	)

MAP_ADVANCED_MODE() [7/12]

librealsense::MAP_ADVANCED_MODE	(	STSloPenaltyControl	,
		etSloPenaltyControl
	)

MAP_ADVANCED_MODE() [8/12]

librealsense::MAP_ADVANCED_MODE	(	STHdad	,
		etHdad
	)

MAP_ADVANCED_MODE() [9/12]

librealsense::MAP_ADVANCED_MODE	(	STColorCorrection	,
		etColorCorrection
	)

MAP_ADVANCED_MODE() [10/12]

librealsense::MAP_ADVANCED_MODE	(	STDepthTableControl	,
		etDepthTableControl
	)

MAP_ADVANCED_MODE() [11/12]

librealsense::MAP_ADVANCED_MODE	(	STAEControl	,
		etAEControl
	)

MAP_ADVANCED_MODE() [12/12]

librealsense::MAP_ADVANCED_MODE	(	STCensusRadius	,
		etCencusRadius9
	)

MAP_EXTENSION() [1/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_MOTION_PROFILE	,
		librealsense::motion_stream_profile_interface
	)

MAP_EXTENSION() [2/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_DEBUG	,
		librealsense::debug_interface
	)

MAP_EXTENSION() [3/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_INFO	,
		librealsense::info_interface
	)

MAP_EXTENSION() [4/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_POSE_PROFILE	,
		librealsense::pose_stream_profile_interface
	)

MAP_EXTENSION() [5/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_VIDEO	,
		librealsense::video_sensor_interface
	)

MAP_EXTENSION() [6/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_VIDEO_PROFILE	,
		librealsense::video_stream_profile_interface
	)

MAP_EXTENSION() [7/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_ROI	,
		librealsense::roi_sensor_interface
	)

MAP_EXTENSION() [8/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_TM2	,
		librealsense::tm2_extensions
	)

MAP_EXTENSION() [9/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_OPTIONS	,
		librealsense::options_interface
	)

MAP_EXTENSION() [10/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_SOFTWARE_SENSOR	,
		software_sensor
	)

MAP_EXTENSION() [11/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_SOFTWARE_DEVICE	,
		software_device
	)

MAP_EXTENSION() [12/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_RECORD	,
		record_device
	)

MAP_EXTENSION() [13/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_PLAYBACK	,
		playback_device
	)

MAP_EXTENSION() [14/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_ADVANCED_MODE	,
		librealsense::ds5_advanced_mode_interface
	)

MAP_EXTENSION() [15/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_POINTS	,
		librealsense::points
	)

MAP_EXTENSION() [16/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_DEPTH_SENSOR	,
		librealsense::depth_sensor
	)

MAP_EXTENSION() [17/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_DEPTH_STEREO_SENSOR	,
		librealsense::depth_stereo_sensor
	)

MAP_EXTENSION() [18/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_COMPOSITE_FRAME	,
		librealsense::composite_frame
	)

MAP_EXTENSION() [19/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_VIDEO_FRAME	,
		librealsense::video_frame
	)

MAP_EXTENSION() [20/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_DEPTH_FRAME	,
		librealsense::depth_frame
	)

MAP_EXTENSION() [21/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_DISPARITY_FRAME	,
		librealsense::disparity_frame
	)

MAP_EXTENSION() [22/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_MOTION_FRAME	,
		librealsense::motion_frame
	)

MAP_EXTENSION() [23/23]

librealsense::MAP_EXTENSION	(	RS2_EXTENSION_POSE_FRAME	,
		librealsense::pose_frame
	)

mi_present()

bool librealsense::mi_present	(	const std::vector< platform::uvc_device_info > &	devices,
		uint32_t	mi
	)

mid_res_high_accuracy()

void librealsense::mid_res_high_accuracy

(

preset &

p

)

mid_res_high_density()

void librealsense::mid_res_high_density

(

preset &

p

)

mid_res_mid_density()

void librealsense::mid_res_mid_density

(

preset &

p

)

monotonic_to_realtime()

double librealsense::monotonic_to_realtime

(

double

monotonic

)

operator*() [1/5]

float3 librealsense::operator* ( const float3 &  a, float  b  )

inline

operator*() [2/5]

float3 librealsense::operator* ( const float3x3 &  a, const float3 &  b  )

inline

operator*() [3/5]

float3x3 librealsense::operator* ( const float3x3 &  a, const float3x3 &  b  )

inline

operator*() [4/5]

float3 librealsense::operator* ( const pose &  a, const float3 &  b  )

inline

operator*() [5/5]

pose librealsense::operator* ( const pose &  a, const pose &  b  )

inline

operator+() [1/2]

float3 librealsense::operator+ ( const float3 &  a, const float3 &  b  )

inline

operator+() [2/2]

float4 librealsense::operator+ ( const float4 &  a, const float4 &  b  )

inline

operator<()

bool librealsense::operator< ( const request_mapping &  first, const request_mapping &  second  )

inline

operator<<()

std::ostream& librealsense::operator<< ( std::ostream &  os, const perc::TrackingData::Version &  v  )

inline

operator==() [1/10]

bool librealsense::operator== ( const float3 &  a, const float3 &  b  )

inline

operator==() [2/10]

bool librealsense::operator== ( const float4 &  a, const float4 &  b  )

inline

operator==() [3/10]

bool librealsense::operator== ( const float3x3 &  a, const float3x3 &  b  )

inline

operator==() [4/10]

bool librealsense::operator== ( const pose &  a, const pose &  b  )

inline

operator==() [5/10]

bool librealsense::operator== ( const stream_profile &  a, const stream_profile &  b  )

inline

operator==() [6/10]

bool librealsense::operator== ( const request_mapping &  a, const request_mapping &  b  )

inline

operator==() [7/10]

bool librealsense::operator== ( const rs2_intrinsics &  a, const rs2_intrinsics &  b  )

inline

operator==() [8/10]

bool librealsense::operator== ( const uvc_device_info &  a, const uvc_device_info &  b  )

inline

operator==() [9/10]

bool librealsense::operator== ( const usb_device_info &  a, const usb_device_info &  b  )

inline

operator==() [10/10]

bool librealsense::operator== ( const hid_device_info &  a, const hid_device_info &  b  )

inline

pack()

uint32_t librealsense::pack ( uint8_t  c0, uint8_t  c1, uint8_t  c2, uint8_t  c3  )

inline

pad_crop_intrinsics()

rs2_intrinsics librealsense::pad_crop_intrinsics ( const rs2_intrinsics &  i, int  pad_crop  )

inline

quat2rot()

void librealsense::quat2rot ( const geometry_msgs::Transform::_rotation_type &  q, float(&)  r[9]  )

inline

rectify_image()

void librealsense::rectify_image	(	uint8_t *	rect_pixels,
		const std::vector< int > &	rectification_table,
		const uint8_t *	unrect_pixels,
		rs2_format	format
	)

rot2quat()

void librealsense::rot2quat ( const float(&)  r[9], geometry_msgs::Transform::_rotation_type &  q  )

inline

scale_intrinsics()

rs2_intrinsics librealsense::scale_intrinsics ( const rs2_intrinsics &  i, int  width, int  height  )

inline

stream_args() [1/2]

template<class T >

void librealsense::stream_args	(	std::ostream &	out,
		const char *	names,
		const T &	last
	)

stream_args() [2/2]

template<class T , class... U>

void librealsense::stream_args	(	std::ostream &	out,
		const char *	names,
		const T &	first,
		const U &...	rest
	)

to_nanoseconds()

device_serializer::nanoseconds librealsense::to_nanoseconds ( const ros::Time &  t )

inline

to_pose()

pose librealsense::to_pose ( const rs2_extrinsics &  a )

inline

to_profile()

stream_profile librealsense::to_profile ( const stream_profile_interface *  sp )

inline

to_profiles()

std::vector<stream_profile> librealsense::to_profiles ( const std::vector< std::shared_ptr< stream_profile_interface >> &  vec )

inline

to_rostime()

ros::Time librealsense::to_rostime ( const device_serializer::nanoseconds &  t )

inline

toFloat3() [1/2]

float3 librealsense::toFloat3 ( perc::TrackingData::Axis  a )

inline

toFloat3() [2/2]

float3 librealsense::toFloat3 ( perc::TrackingData::EulerAngles  a )

inline

toFloat4()

float4 librealsense::toFloat4 ( perc::TrackingData::Quaternion  q )

inline

transpose()

float3x3 librealsense::transpose ( const float3x3 &  a )

inline

trim_device_list() [1/2]

void librealsense::trim_device_list	(	std::vector< platform::uvc_device_info > &	devices,
		const std::vector< platform::uvc_device_info > &	chosen
	)

trim_device_list() [2/2]

void librealsense::trim_device_list	(	std::vector< platform::usb_device_info > &	devices,
		const std::vector< platform::usb_device_info > &	chosen
	)

try_convert()

bool librealsense::try_convert ( rs2_stream  stream, perc::SensorType &  out  )

inline

try_extend()

template<typename To >

bool librealsense::try_extend ( std::shared_ptr< extension_snapshot >  from, void **  ext  )

inline

update_preset_camera_control()

template<typename T >

void librealsense::update_preset_camera_control	(	T &	camera_control,
		const param_group< T > &	param
	)

update_preset_control()

template<typename T >

void librealsense::update_preset_control	(	T &	preset_control,
		const param_group< T > &	param
	)

update_structs()

void librealsense::update_structs ( const std::string &  content, preset &  in_preset  )

inline

Variable Documentation

FRAME_TIMESTAMP_MD_STR

constexpr const char* librealsense::FRAME_TIMESTAMP_MD_STR = "frame_timestamp"

INTRINSICS_MODEL_COUNT

const uint8_t librealsense::INTRINSICS_MODEL_COUNT = 1

MAPPER_CONFIDENCE_MD_STR

constexpr const char* librealsense::MAPPER_CONFIDENCE_MD_STR = "Mapper Confidence"

md_capture_timing_size

constexpr uint8_t librealsense::md_capture_timing_size = sizeof(md_capture_timing)

META_DATA_INTEL_CAPTURE_TIMING_VERSION

const int librealsense::META_DATA_INTEL_CAPTURE_TIMING_VERSION = 0x1

META_DATA_INTEL_CONFIGURATION_VERSION

const int librealsense::META_DATA_INTEL_CONFIGURATION_VERSION = 0x1

META_DATA_INTEL_DEPTH_CONTROL_VERSION

const int librealsense::META_DATA_INTEL_DEPTH_CONTROL_VERSION = 0x1

META_DATA_INTEL_STAT_VERSION

const int librealsense::META_DATA_INTEL_STAT_VERSION = 0x1

metadata_raw_size

constexpr uint8_t librealsense::metadata_raw_size = sizeof(metadata_raw)

pf_accel_axes

const native_pixel_format librealsense::pf_accel_axes

pf_bayer16

const native_pixel_format librealsense::pf_bayer16

pf_f200_invi

const native_pixel_format librealsense::pf_f200_invi

pf_f200_inzi

const native_pixel_format librealsense::pf_f200_inzi

pf_fe_raw8_unpatched_kernel

const native_pixel_format librealsense::pf_fe_raw8_unpatched_kernel

pf_gpio_timestamp

const native_pixel_format librealsense::pf_gpio_timestamp

pf_gyro_axes

const native_pixel_format librealsense::pf_gyro_axes

pf_invz

const native_pixel_format librealsense::pf_invz

pf_raw8

const native_pixel_format librealsense::pf_raw8

pf_rgb888

const native_pixel_format librealsense::pf_rgb888

pf_rw10

const native_pixel_format librealsense::pf_rw10

pf_rw16

const native_pixel_format librealsense::pf_rw16

pf_sr300_invi

const native_pixel_format librealsense::pf_sr300_invi

pf_sr300_inzi

const native_pixel_format librealsense::pf_sr300_inzi

pf_uyvyl

const native_pixel_format librealsense::pf_uyvyl

pf_w10

const native_pixel_format librealsense::pf_w10

pf_y12i

const native_pixel_format librealsense::pf_y12i

pf_y16

const native_pixel_format librealsense::pf_y16

pf_y8

const native_pixel_format librealsense::pf_y8

pf_y8i

const native_pixel_format librealsense::pf_y8i

pf_yuy2

const native_pixel_format librealsense::pf_yuy2

pf_yuyv

const native_pixel_format librealsense::pf_yuyv

pf_z16

const native_pixel_format librealsense::pf_z16

PRESISTENCY_LUT_SIZE

const size_t librealsense::PRESISTENCY_LUT_SIZE = 256

SR300_PID

const uint16_t librealsense::SR300_PID = 0x0aa5

SYSTEM_TIME_MD_STR

constexpr const char* librealsense::SYSTEM_TIME_MD_STR = "system_time"

TIMESTAMP_10NSEC_TO_MSEC

const double librealsense::TIMESTAMP_10NSEC_TO_MSEC = 0.00001

TIMESTAMP_DOMAIN_MD_STR

constexpr const char* librealsense::TIMESTAMP_DOMAIN_MD_STR = "timestamp_domain"

tm2_formats_map

const std::map<perc::PixelFormat, rs2_format> librealsense::tm2_formats_map

Initial value:

=
    {
        { perc::PixelFormat::ANY,           RS2_FORMAT_ANY },
        { perc::PixelFormat::Z16,           RS2_FORMAT_Z16 },
        { perc::PixelFormat::DISPARITY16,   RS2_FORMAT_DISPARITY16 },
        { perc::PixelFormat::XYZ32F,        RS2_FORMAT_XYZ32F },
        { perc::PixelFormat::YUYV,          RS2_FORMAT_YUYV },
        { perc::PixelFormat::RGB8,          RS2_FORMAT_RGB8 },
        { perc::PixelFormat::BGR8,          RS2_FORMAT_BGR8 },
        { perc::PixelFormat::RGBA8,         RS2_FORMAT_RGBA8 },
        { perc::PixelFormat::BGRA8,         RS2_FORMAT_BGRA8 },
        { perc::PixelFormat::Y8,            RS2_FORMAT_Y8 },
        { perc::PixelFormat::Y16,           RS2_FORMAT_Y16 },
        { perc::PixelFormat::RAW8,          RS2_FORMAT_RAW8 },
        { perc::PixelFormat::RAW10,         RS2_FORMAT_RAW10 },
        { perc::PixelFormat::RAW16,         RS2_FORMAT_RAW16 }
    }

TRACKER_CONFIDENCE_MD_STR

constexpr const char* librealsense::TRACKER_CONFIDENCE_MD_STR = "Tracker Confidence"

TRANSFORM_COUNT

const uint8_t librealsense::TRANSFORM_COUNT = 1

UVC_GUID_SIZE

const uint8_t librealsense::UVC_GUID_SIZE = 16