rs_sensor.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_SENSOR_H
#define LIBREALSENSE_RS2_SENSOR_H

#ifdef __cplusplus
extern "C" {
#endif

#include "rs_types.h"

typedef enum rs2_camera_info {
    RS2_CAMERA_INFO_NAME                           , 
    RS2_CAMERA_INFO_SERIAL_NUMBER                  , 
    RS2_CAMERA_INFO_FIRMWARE_VERSION               , 
    RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION   , 
    RS2_CAMERA_INFO_PHYSICAL_PORT                  , 
    RS2_CAMERA_INFO_DEBUG_OP_CODE                  , 
    RS2_CAMERA_INFO_ADVANCED_MODE                  , 
    RS2_CAMERA_INFO_PRODUCT_ID                     , 
    RS2_CAMERA_INFO_CAMERA_LOCKED                  , 
    RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR            , 
    RS2_CAMERA_INFO_PRODUCT_LINE                   , 
    RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER             , 
    RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID             , 
    RS2_CAMERA_INFO_IP_ADDRESS                     , 
    RS2_CAMERA_INFO_DFU_DEVICE_PATH                , 
    RS2_CAMERA_INFO_CONNECTION_TYPE                , 
    RS2_CAMERA_INFO_SMCU_FW_VERSION                , 
    RS2_CAMERA_INFO_IMU_TYPE                       , 
    RS2_CAMERA_INFO_COUNT                            
} rs2_camera_info;
const char* rs2_camera_info_to_string(rs2_camera_info info);

typedef enum rs2_stream
{
    RS2_STREAM_ANY,
    RS2_STREAM_DEPTH                            , 
    RS2_STREAM_COLOR                            , 
    RS2_STREAM_INFRARED                         , 
    RS2_STREAM_FISHEYE                          , 
    RS2_STREAM_GYRO                             , 
    RS2_STREAM_ACCEL                            , 
    RS2_STREAM_GPIO                             , 
    RS2_STREAM_POSE                             , 
    RS2_STREAM_CONFIDENCE                       , 
    RS2_STREAM_MOTION                           , 
    RS2_STREAM_SAFETY                           , 
    RS2_STREAM_OCCUPANCY                        , 
    RS2_STREAM_LABELED_POINT_CLOUD              , 
    RS2_STREAM_COUNT
} rs2_stream;
const char* rs2_stream_to_string(rs2_stream stream);

typedef enum rs2_format
{
    RS2_FORMAT_ANY             , 
    RS2_FORMAT_Z16             , 
    RS2_FORMAT_DISPARITY16     , 
    RS2_FORMAT_XYZ32F          , 
    RS2_FORMAT_YUYV            , 
    RS2_FORMAT_RGB8            , 
    RS2_FORMAT_BGR8            , 
    RS2_FORMAT_RGBA8           , 
    RS2_FORMAT_BGRA8           , 
    RS2_FORMAT_Y8              , 
    RS2_FORMAT_Y16             , 
    RS2_FORMAT_RAW10           , 
    RS2_FORMAT_RAW16           , 
    RS2_FORMAT_RAW8            , 
    RS2_FORMAT_UYVY            , 
    RS2_FORMAT_MOTION_RAW      , 
    RS2_FORMAT_MOTION_XYZ32F   , 
    RS2_FORMAT_GPIO_RAW        , 
    RS2_FORMAT_6DOF            , 
    RS2_FORMAT_DISPARITY32     , 
    RS2_FORMAT_Y10BPACK        , 
    RS2_FORMAT_DISTANCE        , 
    RS2_FORMAT_MJPEG           , 
    RS2_FORMAT_Y8I             , 
    RS2_FORMAT_Y12I            , 
    RS2_FORMAT_INZI            , 
    RS2_FORMAT_INVI            , 
    RS2_FORMAT_W10             , 
    RS2_FORMAT_Z16H            , 
    RS2_FORMAT_FG              , 
    RS2_FORMAT_Y411            , 
    RS2_FORMAT_Y16I            , 
    RS2_FORMAT_M420            , 
    RS2_FORMAT_COMBINED_MOTION , 
    RS2_FORMAT_COUNT             
} rs2_format;
const char* rs2_format_to_string(rs2_format format);

typedef struct rs2_extrinsics
{
    float rotation[9];    
    float translation[3]; 
} rs2_extrinsics;

typedef struct rs2_combined_motion
{
    struct { double x, y, z, w; } orientation;
    struct { double x, y, z; } angular_velocity;
    struct { double x, y, z; } linear_acceleration;
} rs2_combined_motion;

void rs2_delete_sensor_list(rs2_sensor_list* info_list);

int rs2_get_sensors_count(const rs2_sensor_list* info_list, rs2_error** error);

void rs2_delete_sensor(rs2_sensor* sensor);

rs2_sensor* rs2_create_sensor(const rs2_sensor_list* list, int index, rs2_error** error);

rs2_device* rs2_create_device_from_sensor(const rs2_sensor* sensor, rs2_error** error);

const char* rs2_get_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);

int rs2_supports_sensor_info(const rs2_sensor* sensor, rs2_camera_info info, rs2_error** error);

int rs2_is_sensor_extendable_to(const rs2_sensor* sensor, rs2_extension extension, rs2_error** error);

float rs2_get_depth_scale(rs2_sensor* sensor, rs2_error** error);

float rs2_depth_stereo_frame_get_baseline(const rs2_frame* frame_ref, rs2_error** error);

float rs2_get_stereo_baseline(rs2_sensor* sensor, rs2_error** error);

void rs2_set_region_of_interest(const rs2_sensor* sensor, int min_x, int min_y, int max_x, int max_y, rs2_error** error);

void rs2_get_region_of_interest(const rs2_sensor* sensor, int* min_x, int* min_y, int* max_x, int* max_y, rs2_error** error);

void rs2_open(rs2_sensor* device, const rs2_stream_profile* profile, rs2_error** error);

void rs2_open_multiple(rs2_sensor* device, const rs2_stream_profile** profiles, int count, rs2_error** error);

void rs2_close(const rs2_sensor* sensor, rs2_error** error);

void rs2_start(const rs2_sensor* sensor, rs2_frame_callback_ptr on_frame, void* user, rs2_error** error);

void rs2_start_cpp(const rs2_sensor* sensor, rs2_frame_callback* callback, rs2_error** error);

void rs2_start_queue(const rs2_sensor* sensor, rs2_frame_queue* queue, rs2_error** error);

void rs2_stop(const rs2_sensor* sensor, rs2_error** error);

void rs2_set_notifications_callback(const rs2_sensor* sensor, rs2_notification_callback_ptr on_notification, void* user, rs2_error** error);

void rs2_set_notifications_callback_cpp(const rs2_sensor* sensor, rs2_notifications_callback* callback, rs2_error** error);

const char* rs2_get_notification_description(rs2_notification* notification, rs2_error** error);

rs2_time_t rs2_get_notification_timestamp(rs2_notification* notification, rs2_error** error);

rs2_log_severity rs2_get_notification_severity(rs2_notification* notification, rs2_error** error);

rs2_notification_category rs2_get_notification_category(rs2_notification* notification, rs2_error** error);

const char* rs2_get_notification_serialized_data(rs2_notification* notification, rs2_error** error);

rs2_stream_profile_list* rs2_get_stream_profiles(rs2_sensor* sensor, rs2_error** error);

rs2_stream_profile_list * rs2_get_debug_stream_profiles( rs2_sensor * sensor, rs2_error ** error );

rs2_embedded_filter_list* rs2_query_embedded_filters(const rs2_sensor* sensor, rs2_error** error);

void rs2_delete_embedded_filter_list(rs2_embedded_filter_list* embedded_filter_list);

rs2_stream_profile_list* rs2_get_active_streams(rs2_sensor* sensor, rs2_error** error);

const rs2_stream_profile* rs2_get_stream_profile(const rs2_stream_profile_list* list, int index, rs2_error** error);

void rs2_get_stream_profile_data(const rs2_stream_profile* mode, rs2_stream* stream, rs2_format* format, int* index, int* unique_id, int* framerate, rs2_error** error);

void rs2_set_stream_profile_data(rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);

rs2_stream_profile* rs2_clone_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, rs2_error** error);

rs2_stream_profile* rs2_clone_video_stream_profile(const rs2_stream_profile* mode, rs2_stream stream, int index, rs2_format format, int width, int height, const rs2_intrinsics* intr, rs2_error** error);


void rs2_delete_stream_profile(rs2_stream_profile* mode);

int rs2_stream_profile_is(const rs2_stream_profile* mode, rs2_extension type, rs2_error** error);

void rs2_get_video_stream_resolution(const rs2_stream_profile* mode, int* width, int* height, rs2_error** error);

void rs2_get_motion_intrinsics(const rs2_stream_profile* mode, rs2_motion_device_intrinsic * intrinsics, rs2_error ** error);

int rs2_is_stream_profile_default(const rs2_stream_profile* mode, rs2_error** error);

int rs2_get_stream_profiles_count(const rs2_stream_profile_list* list, rs2_error** error);

void rs2_delete_stream_profiles_list(rs2_stream_profile_list* list);

void rs2_get_extrinsics(const rs2_stream_profile* from,
                        const rs2_stream_profile* to,
                        rs2_extrinsics* extrin, rs2_error** error);

void rs2_register_extrinsics(const rs2_stream_profile* from,
    const rs2_stream_profile* to,
    rs2_extrinsics extrin, rs2_error** error);

void rs2_override_extrinsics( const rs2_sensor* sensor, const rs2_extrinsics* extrinsics, rs2_error** error );

void rs2_get_video_stream_intrinsics(const rs2_stream_profile* mode, rs2_intrinsics* intrinsics, rs2_error** error);

rs2_processing_block_list* rs2_get_recommended_processing_blocks(rs2_sensor* sensor, rs2_error** error);

rs2_processing_block* rs2_get_processing_block(const rs2_processing_block_list* list, int index, rs2_error** error);

int rs2_get_recommended_processing_blocks_count(const rs2_processing_block_list* list, rs2_error** error);

void rs2_delete_recommended_processing_blocks(rs2_processing_block_list* list);

int rs2_import_localization_map(const rs2_sensor* sensor, const unsigned char* lmap_blob, unsigned int blob_size, rs2_error** error);

//void rs2_export_localization_map(const rs2_sensor* sensor, const char* lmap_fname, rs2_error** error);
const rs2_raw_data_buffer* rs2_export_localization_map(const rs2_sensor* sensor, rs2_error** error);

int rs2_set_static_node(const rs2_sensor* sensor, const char* guid, const rs2_vector pos, const rs2_quaternion orient, rs2_error** error);

int rs2_get_static_node(const rs2_sensor* sensor, const char* guid, rs2_vector *pos, rs2_quaternion *orient, rs2_error** error);

int rs2_remove_static_node(const rs2_sensor* sensor, const char* guid, rs2_error** error);

int rs2_load_wheel_odometry_config(const rs2_sensor* sensor, const unsigned char* odometry_config_buf, unsigned int blob_size, rs2_error** error);

int rs2_send_wheel_odometry(const rs2_sensor* sensor, char wo_sensor_id, unsigned int frame_num,
    const rs2_vector translational_velocity, rs2_error** error);

void rs2_set_intrinsics(const rs2_sensor* sensor, const rs2_stream_profile* profile , const rs2_intrinsics* intrinsics, rs2_error** error);

void rs2_override_intrinsics( const rs2_sensor* sensor, const rs2_intrinsics* intrinsics, rs2_error** error );

void rs2_set_extrinsics(const rs2_sensor* from_sensor, const rs2_stream_profile* from_profile, rs2_sensor* to_sensor, const rs2_stream_profile* to_profile, const rs2_extrinsics* extrinsics, rs2_error** error);

void rs2_reset_sensor_calibration( rs2_sensor const * sensor, rs2_error** error );

void rs2_set_motion_device_intrinsics(const rs2_sensor* sensor, const rs2_stream_profile* profile, const rs2_motion_device_intrinsic* intrinsics, rs2_error** error);

float rs2_get_max_usable_depth_range(rs2_sensor const * sensor, rs2_error** error);

#ifdef __cplusplus
}
#endif
#endif  // LIBREALSENSE_RS2_SENSOR_H