rs_types.h

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/* License: Apache 2.0. See LICENSE file in root directory.
   Copyright(c) 2017 Intel Corporation. All Rights Reserved. */

#ifndef LIBREALSENSE_RS2_TYPES_H
#define LIBREALSENSE_RS2_TYPES_H

#ifdef __cplusplus
extern "C" {
#endif

typedef enum rs2_notification_category{
    RS2_NOTIFICATION_CATEGORY_FRAMES_TIMEOUT,               
    RS2_NOTIFICATION_CATEGORY_FRAME_CORRUPTED,              
    RS2_NOTIFICATION_CATEGORY_HARDWARE_ERROR,               
    RS2_NOTIFICATION_CATEGORY_HARDWARE_EVENT,               
    RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR,                
    RS2_NOTIFICATION_CATEGORY_FIRMWARE_UPDATE_RECOMMENDED,  
    RS2_NOTIFICATION_CATEGORY_COUNT                         
} rs2_notification_category;
const char* rs2_notification_category_to_string(rs2_notification_category category);

typedef enum rs2_exception_type
{
    RS2_EXCEPTION_TYPE_UNKNOWN,
    RS2_EXCEPTION_TYPE_CAMERA_DISCONNECTED,      
    RS2_EXCEPTION_TYPE_BACKEND,                  
    RS2_EXCEPTION_TYPE_INVALID_VALUE,            
    RS2_EXCEPTION_TYPE_WRONG_API_CALL_SEQUENCE,  
    RS2_EXCEPTION_TYPE_NOT_IMPLEMENTED,          
    RS2_EXCEPTION_TYPE_DEVICE_IN_RECOVERY_MODE,  
    RS2_EXCEPTION_TYPE_IO,                       
    RS2_EXCEPTION_TYPE_COUNT                     
} rs2_exception_type;
const char* rs2_exception_type_to_string(rs2_exception_type type);

typedef enum rs2_distortion
{
    RS2_DISTORTION_NONE                  , 
    RS2_DISTORTION_MODIFIED_BROWN_CONRADY, 
    RS2_DISTORTION_INVERSE_BROWN_CONRADY , 
    RS2_DISTORTION_FTHETA                , 
    RS2_DISTORTION_BROWN_CONRADY         , 
    RS2_DISTORTION_COUNT                   
} rs2_distortion;
const char* rs2_distortion_to_string(rs2_distortion distortion);

typedef struct rs2_intrinsics
{
    int           width;     
    int           height;    
    float         ppx;       
    float         ppy;       
    float         fx;        
    float         fy;        
    rs2_distortion model;    
    float         coeffs[5]; 
} rs2_intrinsics;

typedef struct rs2_motion_device_intrinsic
{
    /* \internal
    * Scale X       cross axis  cross axis  Bias X \n
    * cross axis    Scale Y     cross axis  Bias Y \n
    * cross axis    cross axis  Scale Z     Bias Z */
    float data[3][4];          
    float noise_variances[3];  
    float bias_variances[3];   
} rs2_motion_device_intrinsic;

typedef enum rs2_log_severity {
    RS2_LOG_SEVERITY_DEBUG, 
    RS2_LOG_SEVERITY_INFO , 
    RS2_LOG_SEVERITY_WARN , 
    RS2_LOG_SEVERITY_ERROR, 
    RS2_LOG_SEVERITY_FATAL, 
    RS2_LOG_SEVERITY_NONE , 
    RS2_LOG_SEVERITY_COUNT  
} rs2_log_severity;
const char* rs2_log_severity_to_string(rs2_log_severity info);

typedef enum rs2_extension
{
    RS2_EXTENSION_UNKNOWN,
    RS2_EXTENSION_DEBUG,
    RS2_EXTENSION_INFO,
    RS2_EXTENSION_MOTION,
    RS2_EXTENSION_OPTIONS,
    RS2_EXTENSION_VIDEO,
    RS2_EXTENSION_ROI,
    RS2_EXTENSION_DEPTH_SENSOR,
    RS2_EXTENSION_VIDEO_FRAME,
    RS2_EXTENSION_MOTION_FRAME,
    RS2_EXTENSION_COMPOSITE_FRAME,
    RS2_EXTENSION_POINTS,
    RS2_EXTENSION_DEPTH_FRAME,
    RS2_EXTENSION_ADVANCED_MODE,
    RS2_EXTENSION_RECORD,
    RS2_EXTENSION_VIDEO_PROFILE,
    RS2_EXTENSION_PLAYBACK,
    RS2_EXTENSION_DEPTH_STEREO_SENSOR,
    RS2_EXTENSION_DISPARITY_FRAME,
    RS2_EXTENSION_MOTION_PROFILE,
    RS2_EXTENSION_POSE_FRAME,
    RS2_EXTENSION_POSE_PROFILE,
    RS2_EXTENSION_TM2,
    RS2_EXTENSION_SOFTWARE_DEVICE,
    RS2_EXTENSION_SOFTWARE_SENSOR,
    RS2_EXTENSION_COUNT
} rs2_extension;
const char* rs2_extension_type_to_string(rs2_extension type);
const char* rs2_extension_to_string(rs2_extension type);

typedef enum rs2_matchers
{
   RS2_MATCHER_DI,      //compare depth and ir based on frame number

   RS2_MATCHER_DI_C,    //compare depth and ir based on frame number,
                        //compare the pair of corresponding depth and ir with color based on closest timestamp,
                        //commonlly used by SR300

   RS2_MATCHER_DLR_C,   //compare depth, left and right ir based on frame number,
                        //compare the set of corresponding depth, left and right with color based on closest timestamp,
                        //commonlly used by RS415, RS435

   RS2_MATCHER_DLR,     //compare depth, left and right ir based on frame number,
                        //commonlly used by RS400, RS405, RS410, RS420, RS430

   RS2_MATCHER_DEFAULT, //the default matcher compare all the streams based on closest timestamp

   RS2_MATCHER_COUNT
}rs2_matchers;

typedef struct rs2_device_info rs2_device_info;
typedef struct rs2_device rs2_device;
typedef struct rs2_error rs2_error;
typedef struct rs2_raw_data_buffer rs2_raw_data_buffer;
typedef struct rs2_frame rs2_frame;
typedef struct rs2_frame_queue rs2_frame_queue;
typedef struct rs2_pipeline rs2_pipeline;
typedef struct rs2_pipeline_profile rs2_pipeline_profile;
typedef struct rs2_config rs2_config;
typedef struct rs2_device_list rs2_device_list;
typedef struct rs2_stream_profile_list rs2_stream_profile_list;
typedef struct rs2_stream_profile rs2_stream_profile;
typedef struct rs2_frame_callback rs2_frame_callback;
typedef struct rs2_log_callback rs2_log_callback;
typedef struct rs2_syncer rs2_syncer;
typedef struct rs2_device_serializer rs2_device_serializer;
typedef struct rs2_source rs2_source;
typedef struct rs2_processing_block rs2_processing_block;
typedef struct rs2_frame_processor_callback rs2_frame_processor_callback;
typedef struct rs2_playback_status_changed_callback rs2_playback_status_changed_callback;
typedef struct rs2_context rs2_context;
typedef struct rs2_device_hub rs2_device_hub;
typedef struct rs2_sensor_list rs2_sensor_list;
typedef struct rs2_sensor rs2_sensor;
typedef struct rs2_options rs2_options;
typedef struct rs2_devices_changed_callback rs2_devices_changed_callback;
typedef struct rs2_notification rs2_notification;
typedef struct rs2_notifications_callback rs2_notifications_callback;
typedef void (*rs2_notification_callback_ptr)(rs2_notification*, void*);
typedef void (*rs2_devices_changed_callback_ptr)(rs2_device_list*, rs2_device_list*, void*);
typedef void (*rs2_frame_callback_ptr)(rs2_frame*, void*);
typedef void (*rs2_frame_processor_callback_ptr)(rs2_frame*, rs2_source*, void*);

typedef double      rs2_time_t;     
typedef long long   rs2_metadata_type; 
rs2_exception_type rs2_get_librealsense_exception_type(const rs2_error* error);
const char* rs2_get_failed_function            (const rs2_error* error);
const char* rs2_get_failed_args                (const rs2_error* error);
const char* rs2_get_error_message              (const rs2_error* error);
void        rs2_free_error                     (rs2_error* error);

#ifdef __cplusplus
}
#endif
#endif