rs_option.h

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

#ifndef LIBREALSENSE_RS2_OPTION_H
#define LIBREALSENSE_RS2_OPTION_H


#include <stdint.h>


#ifdef __cplusplus
extern "C" {
#endif

#include "rs_types.h"

    typedef enum rs2_option
    {
        RS2_OPTION_BACKLIGHT_COMPENSATION, 
        RS2_OPTION_BRIGHTNESS, 
        RS2_OPTION_CONTRAST, 
        RS2_OPTION_EXPOSURE, 
        RS2_OPTION_GAIN, 
        RS2_OPTION_GAMMA, 
        RS2_OPTION_HUE, 
        RS2_OPTION_SATURATION, 
        RS2_OPTION_SHARPNESS, 
        RS2_OPTION_WHITE_BALANCE, 
        RS2_OPTION_ENABLE_AUTO_EXPOSURE, 
        RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, 
        RS2_OPTION_VISUAL_PRESET, 
        RS2_OPTION_LASER_POWER, 
        RS2_OPTION_ACCURACY, 
        RS2_OPTION_MOTION_RANGE, 
        RS2_OPTION_FILTER_OPTION, 
        RS2_OPTION_CONFIDENCE_THRESHOLD, 
        RS2_OPTION_EMITTER_ENABLED, 
        RS2_OPTION_FRAMES_QUEUE_SIZE, 
        RS2_OPTION_TOTAL_FRAME_DROPS, 
        RS2_OPTION_AUTO_EXPOSURE_MODE, 
        RS2_OPTION_POWER_LINE_FREQUENCY, 
        RS2_OPTION_ASIC_TEMPERATURE, 
        RS2_OPTION_ERROR_POLLING_ENABLED, 
        RS2_OPTION_PROJECTOR_TEMPERATURE, 
        RS2_OPTION_OUTPUT_TRIGGER_ENABLED, 
        RS2_OPTION_MOTION_MODULE_TEMPERATURE, 
        RS2_OPTION_DEPTH_UNITS, 
        RS2_OPTION_ENABLE_MOTION_CORRECTION, 
        RS2_OPTION_AUTO_EXPOSURE_PRIORITY, 
        RS2_OPTION_COLOR_SCHEME, 
        RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED, 
        RS2_OPTION_MIN_DISTANCE, 
        RS2_OPTION_MAX_DISTANCE, 
        RS2_OPTION_TEXTURE_SOURCE, 
        RS2_OPTION_FILTER_MAGNITUDE, 
        RS2_OPTION_FILTER_SMOOTH_ALPHA, 
        RS2_OPTION_FILTER_SMOOTH_DELTA, 
        RS2_OPTION_HOLES_FILL, 
        RS2_OPTION_STEREO_BASELINE, 
        RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP, 
        RS2_OPTION_INTER_CAM_SYNC_MODE, 
        RS2_OPTION_STREAM_FILTER, 
        RS2_OPTION_STREAM_FORMAT_FILTER, 
        RS2_OPTION_STREAM_INDEX_FILTER, 
        RS2_OPTION_EMITTER_ON_OFF, 
        RS2_OPTION_ZERO_ORDER_POINT_X, 
        RS2_OPTION_ZERO_ORDER_POINT_Y, 
        RS2_OPTION_LLD_TEMPERATURE, 
        RS2_OPTION_MC_TEMPERATURE, 
        RS2_OPTION_MA_TEMPERATURE, 
        RS2_OPTION_HARDWARE_PRESET, 
        RS2_OPTION_GLOBAL_TIME_ENABLED, 
        RS2_OPTION_APD_TEMPERATURE, 
        RS2_OPTION_ENABLE_MAPPING, 
        RS2_OPTION_ENABLE_RELOCALIZATION, 
        RS2_OPTION_ENABLE_POSE_JUMPING, 
        RS2_OPTION_ENABLE_DYNAMIC_CALIBRATION, 
        RS2_OPTION_DEPTH_OFFSET, 
        RS2_OPTION_LED_POWER, 
        RS2_OPTION_ZERO_ORDER_ENABLED, 
        RS2_OPTION_ENABLE_MAP_PRESERVATION, 
        RS2_OPTION_FREEFALL_DETECTION_ENABLED, 
        RS2_OPTION_AVALANCHE_PHOTO_DIODE, 
        RS2_OPTION_POST_PROCESSING_SHARPENING,  
        RS2_OPTION_PRE_PROCESSING_SHARPENING, 
        RS2_OPTION_NOISE_FILTERING, 
        RS2_OPTION_INVALIDATION_BYPASS, 
        RS2_OPTION_AMBIENT_LIGHT, 
        RS2_OPTION_DIGITAL_GAIN = RS2_OPTION_AMBIENT_LIGHT, 
        RS2_OPTION_SENSOR_MODE, 
        RS2_OPTION_EMITTER_ALWAYS_ON, 
        RS2_OPTION_THERMAL_COMPENSATION, 
        RS2_OPTION_TRIGGER_CAMERA_ACCURACY_HEALTH, 
        RS2_OPTION_RESET_CAMERA_ACCURACY_HEALTH, 
        RS2_OPTION_HOST_PERFORMANCE, 
        RS2_OPTION_HDR_ENABLED,  
        RS2_OPTION_SEQUENCE_NAME, 
        RS2_OPTION_SEQUENCE_SIZE, 
        RS2_OPTION_SEQUENCE_ID, 
        RS2_OPTION_HUMIDITY_TEMPERATURE, 
        RS2_OPTION_ENABLE_MAX_USABLE_RANGE, 
        RS2_OPTION_ALTERNATE_IR, 
        RS2_OPTION_NOISE_ESTIMATION,  
        RS2_OPTION_ENABLE_IR_REFLECTIVITY, 
        RS2_OPTION_AUTO_EXPOSURE_LIMIT, 
        RS2_OPTION_AUTO_GAIN_LIMIT, 
        RS2_OPTION_AUTO_RX_SENSITIVITY, 
        RS2_OPTION_TRANSMITTER_FREQUENCY, 
        RS2_OPTION_VERTICAL_BINNING, 
        RS2_OPTION_RECEIVER_SENSITIVITY, 
        RS2_OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE, 
        RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE, 
        RS2_OPTION_EMITTER_FREQUENCY, 
        RS2_OPTION_DEPTH_AUTO_EXPOSURE_MODE, 
        RS2_OPTION_OHM_TEMPERATURE, 
        RS2_OPTION_SOC_PVT_TEMPERATURE, 
        RS2_OPTION_GYRO_SENSITIVITY,
        RS2_OPTION_REGION_OF_INTEREST,
        RS2_OPTION_ROTATION,
        // Safety camera options
        RS2_OPTION_SAFETY_PRESET_ACTIVE_INDEX, 
        RS2_OPTION_SAFETY_MODE, 
        RS2_OPTION_RGB_TNR_ENABLED, 
        RS2_OPTION_SAFETY_MCU_TEMPERATURE, 
        RS2_OPTION_LEFT_IR_TEMPERATURE, 
        RS2_OPTION_EMBEDDED_FILTER_ENABLED, 
        RS2_OPTION_DISPARITY_SHIFT, 
        RS2_OPTION_THRESHOLD, 
        RS2_OPTION_DOWNSCALE_RATIO, 
        RS2_OPTION_READOUT_SHAPING, 
        RS2_OPTION_DETECTION_DISTANCE, 
        RS2_OPTION_SENSORS_CONFIG_MODE, 
        RS2_OPTION_DUAL_RGB_RECTIFICATION, 
        RS2_OPTION_EMITTER_MODE, 
        RS2_OPTION_ENABLE_ALIGNED_DEPTH, 
        RS2_OPTION_COUNT 
    } rs2_option;

    const char* rs2_option_to_string(rs2_option option);

    rs2_option rs2_option_from_string( const char * option_name );

    typedef enum rs2_option_type
    {
        RS2_OPTION_TYPE_INTEGER, 
        RS2_OPTION_TYPE_FLOAT,
        RS2_OPTION_TYPE_STRING,
        RS2_OPTION_TYPE_BOOLEAN,
        RS2_OPTION_TYPE_RECT,

        RS2_OPTION_TYPE_COUNT

    } rs2_option_type;

    const char * rs2_option_type_to_string( rs2_option_type type );

    typedef struct rs2_option_rect
    {
        int16_t x1, y1;
        int16_t x2, y2;
    } rs2_option_rect;

    typedef struct rs2_option_range
    {
        float min;
        float max;
        float def;
        float step;                       
    } rs2_option_range;

    typedef struct rs2_option_value
    {
        rs2_option id;
        int is_valid;                     
        rs2_option_type type;
#pragma pack(push,1)
        union
        {
            char const * as_string;       
            float as_float;
            int64_t as_integer;           
            rs2_option_rect as_rect;
        };
#pragma pack(pop)
    } rs2_option_value;

    typedef enum rs2_sr300_visual_preset
    {
        RS2_SR300_VISUAL_PRESET_SHORT_RANGE, 
        RS2_SR300_VISUAL_PRESET_LONG_RANGE, 
        RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION, 
        RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION, 
        RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING, 
        RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS, 
        RS2_SR300_VISUAL_PRESET_FACE_LOGIN, 
        RS2_SR300_VISUAL_PRESET_GR_CURSOR, 
        RS2_SR300_VISUAL_PRESET_DEFAULT, 
        RS2_SR300_VISUAL_PRESET_MID_RANGE, 
        RS2_SR300_VISUAL_PRESET_IR_ONLY, 
        RS2_SR300_VISUAL_PRESET_COUNT                           
    } rs2_sr300_visual_preset;
    const char* rs2_sr300_visual_preset_to_string(rs2_sr300_visual_preset preset);

    typedef enum rs2_rs400_visual_preset
    {
        RS2_RS400_VISUAL_PRESET_CUSTOM,
        RS2_RS400_VISUAL_PRESET_DEFAULT,
        RS2_RS400_VISUAL_PRESET_HAND,
        RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY,
        RS2_RS400_VISUAL_PRESET_HIGH_DENSITY,
        RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY,
        RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN,
        RS2_RS400_VISUAL_PRESET_EDGE_ENHANCEMENT,
        RS2_RS400_VISUAL_PRESET_COUNT 
    } rs2_rs400_visual_preset;
    const char* rs2_rs400_visual_preset_to_string(rs2_rs400_visual_preset preset);

    typedef enum rs2_l500_visual_preset
    {
        RS2_L500_VISUAL_PRESET_CUSTOM,
        RS2_L500_VISUAL_PRESET_DEFAULT,
        RS2_L500_VISUAL_PRESET_NO_AMBIENT,
        RS2_L500_VISUAL_PRESET_LOW_AMBIENT,
        RS2_L500_VISUAL_PRESET_MAX_RANGE,
        RS2_L500_VISUAL_PRESET_SHORT_RANGE,
        RS2_L500_VISUAL_PRESET_AUTOMATIC,
        RS2_L500_VISUAL_PRESET_COUNT 
    } rs2_l500_visual_preset;
    const char* rs2_l500_visual_preset_to_string(rs2_l500_visual_preset preset);

    typedef enum rs2_sensor_mode
    {
        RS2_SENSOR_MODE_VGA,
        RS2_SENSOR_MODE_XGA,
        RS2_SENSOR_MODE_QVGA,
        RS2_SENSOR_MODE_COUNT 
    } rs2_sensor_mode;
    const char* rs2_sensor_mode_to_string(rs2_sensor_mode preset);

    typedef enum rs2_ambient_light
    {
        RS2_AMBIENT_LIGHT_NO_AMBIENT = 1,
        RS2_AMBIENT_LIGHT_LOW_AMBIENT = 2,
    } rs2_ambient_light;
    const char* rs2_ambient_light_to_string(rs2_ambient_light preset);

    typedef enum rs2_digital_gain
    {
        RS2_DIGITAL_GAIN_AUTO = 0,
        RS2_DIGITAL_GAIN_HIGH = 1,
        RS2_DIGITAL_GAIN_LOW = 2,
    } rs2_digital_gain;
    const char* rs2_digital_gain_to_string(rs2_digital_gain preset);

    typedef enum rs2_host_perf_mode
    {
        RS2_HOST_PERF_DEFAULT = 0,  
        RS2_HOST_PERF_LOW = 1,      
        RS2_HOST_PERF_HIGH = 2,     
        RS2_HOST_PERF_COUNT         
    } rs2_host_perf_mode;
    const char* rs2_host_perf_mode_to_string( rs2_host_perf_mode perf );

    typedef enum rs2_emitter_frequency_mode
    {
        RS2_EMITTER_FREQUENCY_57_KHZ = 0,  
        RS2_EMITTER_FREQUENCY_91_KHZ = 1,  
        RS2_EMITTER_FREQUENCY_COUNT        
    } rs2_emitter_frequency_mode;
    const char* rs2_emitter_frequency_mode_to_string( rs2_emitter_frequency_mode mode );

    typedef enum rs2_depth_auto_exposure_mode
    {
        RS2_DEPTH_AUTO_EXPOSURE_REGULAR = 0,  
        RS2_DEPTH_AUTO_EXPOSURE_ACCELERATED = 1,  
        RS2_DEPTH_AUTO_EXPOSURE_COUNT        
    } rs2_depth_auto_exposure_mode;
    const char* rs2_depth_auto_exposure_mode_to_string( rs2_depth_auto_exposure_mode mode );

    typedef enum rs2_colored_ir_auto_exposure_mode
    {
        RS2_COLORED_IR_AUTO_EXPOSURE_AUTO = 0,  
        RS2_COLORED_IR_AUTO_EXPOSURE_DEPTH_PRIORITY = 1,  
        RS2_COLORED_IR_AUTO_EXPOSURE_COLOR_PRIORITY = 2,  
        RS2_COLORED_IR_AUTO_EXPOSURE_HYBRID = 3,  
        RS2_COLORED_IR_AUTO_EXPOSURE_COUNT        
    } rs2_colored_ir_auto_exposure_mode;
    const char* rs2_colored_ir_auto_exposure_mode_to_string( rs2_colored_ir_auto_exposure_mode mode );

    typedef enum rs2_emitter_mode
    {
        RS2_EMITTER_MODE_OFF = 0,  
        RS2_EMITTER_MODE_ON = 1,  
        RS2_EMITTER_MODE_ALWAYS_ON = 2,  
        RS2_EMITTER_MODE_ON_OFF = 3,  
        RS2_EMITTER_MODE_COUNT        
    } rs2_emitter_mode;
    const char* rs2_emitter_mode_to_string( rs2_emitter_mode mode );

    typedef enum rs2_safety_mode
    {
        RS2_SAFETY_MODE_RUN,
        RS2_SAFETY_MODE_STANDBY,
        RS2_SAFETY_MODE_SERVICE,
        RS2_SAFETY_MODE_COUNT        
    } rs2_safety_mode;
    const char* rs2_safety_mode_to_string( rs2_safety_mode mode );

    typedef enum rs2_d500_intercam_sync_mode {
        RS2_D500_INTERCAM_SYNC_NONE = 0,
        RS2_D500_INTERCAM_SYNC_RGB_MASTER = 1,
        RS2_D500_INTERCAM_SYNC_PWM_MASTER = 2,
        RS2_D500_INTERCAM_SYNC_EXTERNAL_MASTER = 3,
        RS2_D500_INTERCAM_SYNC_COUNT
    } rs2_d500_intercam_sync_mode;
    const char * rs2_d500_intercam_sync_mode_to_string( rs2_d500_intercam_sync_mode mode );

    typedef enum rs2_gyro_sensitivity
    {
        RS2_GYRO_SENSITIVITY_61_0_MILLI_DEG_SEC = 0,
        RS2_GYRO_SENSITIVITY_30_5_MILLI_DEG_SEC = 1,
        RS2_GYRO_SENSITIVITY_15_3_MILLI_DEG_SEC = 2,
        RS2_GYRO_SENSITIVITY_7_6_MILLI_DEG_SEC = 3,
        RS2_GYRO_SENSITIVITY_3_8_MILLI_DEG_SEC = 4,
        RS2_GYRO_SENSITIVITY_COUNT
    } rs2_gyro_sensitivity;
    const char * rs2_gyro_sensitivity_to_string( rs2_gyro_sensitivity mode );

    int rs2_is_option_read_only(const rs2_options* options, rs2_option option, rs2_error** error);

    float rs2_get_option(const rs2_options* options, rs2_option option, rs2_error** error);

    rs2_option_value const * rs2_get_option_value( const rs2_options * options, rs2_option option_id, rs2_error ** error );

    void rs2_set_option(const rs2_options* options, rs2_option option, float value, rs2_error** error);

    void rs2_set_option_value( rs2_options const * options, rs2_option_value const * option_value, rs2_error ** error );

    rs2_options_list* rs2_get_options_list(const rs2_options* options, rs2_error** error);

    int rs2_get_options_list_size(const rs2_options_list* options, rs2_error** error);

    const char* rs2_get_option_name(const rs2_options* options, rs2_option option, rs2_error** error);

    rs2_option rs2_get_option_from_list(const rs2_options_list* options, int i, rs2_error** error);

    rs2_option_value const * rs2_get_option_value_from_list( const rs2_options_list * options, int i, rs2_error ** error );

    int rs2_get_option_range_from_list( const rs2_options_list * options, int i, rs2_option_range * out_range, rs2_error ** error );

    void rs2_delete_option_value( rs2_option_value const * handle );

    void rs2_delete_options_list(rs2_options_list* list);

    int rs2_supports_option(const rs2_options* options, rs2_option option, rs2_error** error);

    void rs2_get_option_range(const rs2_options* sensor, rs2_option option, float* min, float* max, float* step, float* def, rs2_error** error);

    const char* rs2_get_option_description(const rs2_options* options, rs2_option option, rs2_error ** error);

    const char* rs2_get_option_value_description(const rs2_options* options, rs2_option option, float value, rs2_error ** error);

    void rs2_set_options_changed_callback( rs2_options * options,
                                           rs2_options_changed_callback_ptr callback,
                                           rs2_error ** error );

    void rs2_set_options_changed_callback_cpp( rs2_options * options,
                                               rs2_options_changed_callback * callback,
                                               rs2_error ** error );

#ifdef __cplusplus
}
#endif
#endif