#include <librealsense2/rs.hpp>

//自定义配置
rs2::config cfg;
cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, rs2::RS2_FORMAT_BGR8, 30);
cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, rs2::RS2_FORMAT_Z16, 30);
rs2::pipeline pipe;
pipe.start(cfg);//开启相机

//自定义最小距离
rs2::device dev = pipe.get_active_profile().get_device();
rs2::depth_sensor depth_sensor = dev.first<rs2::depth_sensor>();
depth_sensor.set_option(rs2_option::RS2_OPTION_MIN_DISTANCE, 0.10);
depth_sensor.set_option(rs2_option::RS2_OPTION_ENABLE_MAX_USABLE_RANGE, 0);

Sensor supports the following options:

  0: Backlight Compensation is not supported
  1: Brightness is not supported
  2: Contrast is not supported
  3: Exposure is not supported
  4: Gain is not supported
  5: Gamma is not supported
  6: Hue is not supported
  7: Saturation is not supported
  8: Sharpness is not supported
  9: White Balance is not supported
  10: Enable Auto Exposure is not supported
  11: Enable Auto White Balance is not supported
  12: Visual Preset
       Description   : Preset to calibrate the camera to environment ambient, no ambient or low ambient.
       Current Value : 4

  13: Laser Power
       Description   : Power of the laser emitter, with 0 meaning projector off
       Current Value : 100
  14: Accuracy is not supported
  15: Motion Range is not supported
  16: Filter Option is not supported
  17: Confidence Threshold
       Description   : The confidence level threshold to use to mark a pixel as valid by the depth algorithm
       Current Value : 1
用于通过深度算法将像素标记为有效的置信度阈值
Supported range for option Confidence Threshold:
  Min Value     : 0
  Max Value     : 3
  Default Value : 1
  Step          : 1
  18: Emitter Enabled is not supported
  19: Frames Queue Size
       Description   : Max number of frames you can hold at a given time. Increasing this number will reduce frame drops but increase latency, and vice versa
       Current Value : 16
在给定时间可以保持的最大帧数。增加这个数字会减少帧丢失，但会增加延迟，反之亦然
  20: Total Frame Drops is not supported
  21: Fisheye Auto Exposure Mode is not supported
  22: Power Line Frequency is not supported
  23: Asic Temperature is not supported
  24: Error Polling Enabled
       Description   : Enable / disable polling of camera internal errors
       Current Value : 1
：启用/禁用摄像头内部错误的轮询
  25: Projector Temperature is not supported
  26: Output Trigger Enabled is not supported
  27: Motion Module Temperature is not supported
  28: Depth Units
       Description   : Number of meters represented by a single depth unit
       Current Value : 0.00025
由单个深度单位表示的米数
Supported range for option Depth Units:
  Min Value     : 0.00025
  Max Value     : 0.00025
  Default Value : 0.00025
  Step          : 0
  29: Enable Motion Correction is not supported
  30: Auto Exposure Priority is not supported
  31: Color Scheme is not supported
  32: Histogram Equalization Enabled is not supported
  33: Min Distance
       Description   : Minimal distance to the target (in mm)
       Current Value : 490
 
到目标的最小距离（mm）
  34: Max Distance is not supported
  35: Texture Source is not supported
  36: Filter Magnitude is not supported
  37: Filter Smooth Alpha is not supported
  38: Filter Smooth Delta is not supported
  39: Holes Fill is not supported
  40: Stereo Baseline is not supported
  41: Auto Exposure Converge Step is not supported
  42: Inter Cam Sync Mode
       Description   : Enable multi-camera hardware synchronization mode (disabled on startup); not compatible with free-fall detection
       Current Value : 0
启用多摄像头硬件同步模式（启动时禁用）；与自由落体检测不兼容
  43: Stream Filter is not supported
  44: Stream Format Filter is not supported
  45: Stream Index Filter is not supported
  46: Emitter On Off is not supported
  47: Zero Order Point X is not supported
  48: Zero Order Point Y is not supported
  49: LDD temperature
       Description   : Laser Driver temperature
       Current Value : 37.4034
激光驱动器温度
  50: Mc Temperature
       Description   : Mems Controller temperature
       Current Value : 36.6317
Mems控制器温度
  51: Ma Temperature
       Description   : DSP controller temperature
       Current Value : 37.1282
DSP控制器温度
  52: Hardware Preset is not supported
  53: Global Time Enabled
       Description   : Enable/Disable global timestamp
       Current Value : 0
启用/禁用全局时间戳
  54: Apd Temperature
       Description   : Avalanche Photo Diode temperature
       Current Value : -9999
雪崩光电二极管温度
  55: Enable Mapping is not supported
  56: Enable Relocalization is not supported
  57: Enable Pose Jumping is not supported
  58: Enable Dynamic Calibration is not supported
  59: Depth Offset
       Description   : Offset from sensor to depth origin in millimetrers
       Current Value : 4.5
传感器到深度原点的偏移量（毫米）
  60: Led Power is not supported
  61: Zero Order Enabled is not supported
  62: Enable Map Preservation is not supported
  63: Freefall Detection Enabled
       Description   : When enabled (default), the sensor will turn off if a free-fall is detected
       Current Value : 1
启用时（默认），如果检测到自由落体，传感器将关闭
  64: Receiver Gain
       Description   : Changes the exposure time of Avalanche Photo Diode in the receiver
       Current Value : 9
改变接收器中雪崩光电二极管的曝光时间
  65: Post Processing Sharpening
       Description   : Changes the amount of sharpening in the post-processed image
       Current Value : 1
更改后处理图像中的锐化量
  66: Pre Processing Sharpening
       Description   : Changes the amount of sharpening in the pre-processed image
       Current Value : 0
更改预处理图像中的锐化量
  67: Noise Filtering
       Description   : Control edges and background noise
       Current Value : 4
控制边缘和背景噪声
  68: Invalidation Bypass
       Description   : Enable/disable pixel invalidation
       Current Value : 0
启用/禁用像素无效
  69: Digital Gain
       Description   : Change the depth digital gain to: 1 for high gain and 2 for low gain
       Current Value : 1
将深度数字增益更改为：1表示高增益，2表示低增益
  70: Sensor Mode
       Description   : Notify the sensor about the intended streaming mode. Required for preset 
       Current Value : 0
将预期的流模式通知传感器。预设所需
  71: Emitter Always On is not supported
  72: Thermal Compensation is not supported
  73: Trigger Camera Accuracy Health is not supported
  74: Reset Camera Accuracy Health is not supported
  75: Host Performance
       Description   : Optimize based on host performance, low power low performance host or high power high performance host
       Current Value : 0
根据主机性能,低功耗低性能主机或高功耗高性能主机进行优化
  76: Hdr Enabled is not supported
  77: Sequence Name is not supported
  78: Sequence Size is not supported
  79: Sequence Id is not supported
  80: Humidity Temperature
       Description   : Humidity temperature
       Current Value : 37.7855
湿度温度
  81: Enable Max Usable Range
       Description   : Max Usable Range calculates the maximum range of the camera given the amount of ambient light in the scene.
For example, if Max Usable Range returns 5m, this means that the ambient light in the scene is reducing the maximum range from 9m down to 5m.
Values are between 1.5 and 9 meters, in 1.5m increments. Max range refers to the center 10% of the frame.
       Current Value : 0
“最大可用范围”计算给定场景中环境光量的摄影机的最大范围。
例如，如果“最大可用范围”返回5米，这意味着场景中的环境光正在将最大范围从9米减少到5米。
值介于1.5米和9米之间，增量为1.5米。最大范围是指帧的中心10%。
Supported range for option Enable Max Usable Range:
  Min Value     : 0
  Max Value     : 1
  Default Value : 0
  Step          : 1

  82: Alternate IR
       Description   : Enable/Disable alternate IR
       Current Value : 0
启用/禁用备用IR
  83: Noise Estimation
       Description   : Noise estimation
       Current Value : 0
  84: Enable IR Reflectivity
       Description   : IR Reflectivity Tool calculates the percentage of IR light reflected by the object and returns to the camera for processing.
For example, a value of 60% means that 60% of the IR light projected by the camera is reflected by the object and returns to the camera.

Note: only active on 2D view, Visual Preset:Max Range, Resolution:VGA, ROI:20%
IR反射率工具计算对象反射的IR光的百分比，并返回到相机进行处理。
例如，60%的值意味着相机投影的60%的IR光被对象反射并返回到相机。

注：仅在2D视图上活动，视觉预设：最大范围，分辨率：VGA，ROI：20%
       Current Value : 0
  85: Auto Exposure Limit is not supported
  86: Auto Gain Limit is not supported
  87: Auto Rx Sensitivity is not supported
  88: Transmitter Frequency is not supported
  89: Vertical Binning is not supported
  90: Receiver Sensitivity is not supported
  91: Auto Exposure Limit Toggle is not supported
  92: Auto Gain Limit Toggle is not supported
  93: Emitter Frequency is not supported
  94: Auto Exposure Mode is not supported

累计94个参数
深度传感器可以变的28个