k4atypes.h

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#ifndef K4ATYPES_H
#define K4ATYPES_H
 
#ifdef __cplusplus
#include <cinttypes>
#include <cstddef>
#include <cstring>
#else
#include <inttypes.h>
#include <stddef.h>
#include <string.h>
#include <stdbool.h>
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define K4A_DECLARE_HANDLE(_handle_name_)                                                                              \
    typedef struct _##_handle_name_                                                                                    \
    {                                                                                                                  \
        size_t _rsvd;                                                                     \
    } *_handle_name_;
 
K4A_DECLARE_HANDLE(k4a_device_t);
 
K4A_DECLARE_HANDLE(k4a_capture_t);
 
K4A_DECLARE_HANDLE(k4a_image_t);
 
K4A_DECLARE_HANDLE(k4a_transformation_t);
 
typedef enum
{
    K4A_RESULT_SUCCEEDED = 0, 
    K4A_RESULT_FAILED,        
} k4a_result_t;
 
typedef enum
{
    K4A_BUFFER_RESULT_SUCCEEDED = 0, 
    K4A_BUFFER_RESULT_FAILED,        
    K4A_BUFFER_RESULT_TOO_SMALL,     
} k4a_buffer_result_t;
 
typedef enum
{
    K4A_WAIT_RESULT_SUCCEEDED = 0, 
    K4A_WAIT_RESULT_FAILED,        
    K4A_WAIT_RESULT_TIMEOUT,       
} k4a_wait_result_t;
 
typedef enum
{
    K4A_LOG_LEVEL_CRITICAL = 0, 
    K4A_LOG_LEVEL_ERROR,        
    K4A_LOG_LEVEL_WARNING,      
    K4A_LOG_LEVEL_INFO,         
    K4A_LOG_LEVEL_TRACE,        
    K4A_LOG_LEVEL_OFF,          
} k4a_log_level_t;
 
// Be sure to update k4a_depth_mode_to_string in k4a.c if enum values are added.
typedef enum
{
    K4A_DEPTH_MODE_OFF = 0,        
    K4A_DEPTH_MODE_NFOV_2X2BINNED, 
    K4A_DEPTH_MODE_NFOV_UNBINNED,  
    K4A_DEPTH_MODE_WFOV_2X2BINNED, 
    K4A_DEPTH_MODE_WFOV_UNBINNED,  
    K4A_DEPTH_MODE_PASSIVE_IR,     
} k4a_depth_mode_t;
 
// Be sure to update k4a_color_resolution_to_string in k4a.c if enum values are added.
typedef enum
{
    K4A_COLOR_RESOLUTION_OFF = 0, 
    K4A_COLOR_RESOLUTION_720P,    
    K4A_COLOR_RESOLUTION_1080P,   
    K4A_COLOR_RESOLUTION_1440P,   
    K4A_COLOR_RESOLUTION_1536P,   
    K4A_COLOR_RESOLUTION_2160P,   
    K4A_COLOR_RESOLUTION_3072P,   
} k4a_color_resolution_t;
 
// Be sure to update k4a_image_format_to_string in k4a.c if enum values are added.
typedef enum
{
    K4A_IMAGE_FORMAT_COLOR_MJPG = 0,
 
    K4A_IMAGE_FORMAT_COLOR_NV12,
 
    K4A_IMAGE_FORMAT_COLOR_YUY2,
 
    K4A_IMAGE_FORMAT_COLOR_BGRA32,
 
    K4A_IMAGE_FORMAT_DEPTH16,
 
    K4A_IMAGE_FORMAT_IR16,
 
    K4A_IMAGE_FORMAT_CUSTOM8,
 
    K4A_IMAGE_FORMAT_CUSTOM16,
 
    K4A_IMAGE_FORMAT_CUSTOM,
} k4a_image_format_t;
 
typedef enum
{
    K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST = 0, 
    K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR,      
} k4a_transformation_interpolation_type_t;
 
// Be sure to update k4a_fps_to_string in k4a.c if enum values are added.
typedef enum
{
    K4A_FRAMES_PER_SECOND_5 = 0, 
    K4A_FRAMES_PER_SECOND_15,    
    K4A_FRAMES_PER_SECOND_30,    
    // add by orbbec
    K4A_FRAMES_PER_SECOND_25, 
} k4a_fps_t;
 
typedef enum
{
    K4A_COLOR_CONTROL_EXPOSURE_TIME_ABSOLUTE = 0,
 
    K4A_COLOR_CONTROL_AUTO_EXPOSURE_PRIORITY,
 
    K4A_COLOR_CONTROL_BRIGHTNESS,
 
    K4A_COLOR_CONTROL_CONTRAST,
 
    K4A_COLOR_CONTROL_SATURATION,
 
    K4A_COLOR_CONTROL_SHARPNESS,
 
    K4A_COLOR_CONTROL_WHITEBALANCE,
 
    K4A_COLOR_CONTROL_BACKLIGHT_COMPENSATION,
 
    K4A_COLOR_CONTROL_GAIN,
 
    K4A_COLOR_CONTROL_POWERLINE_FREQUENCY
} k4a_color_control_command_t;
 
typedef enum
{
    K4A_COLOR_CONTROL_MODE_AUTO = 0, 
    K4A_COLOR_CONTROL_MODE_MANUAL,   
} k4a_color_control_mode_t;
 
typedef enum
{
    K4A_WIRED_SYNC_MODE_STANDALONE, 
    K4A_WIRED_SYNC_MODE_MASTER,     
    K4A_WIRED_SYNC_MODE_SUBORDINATE 
} k4a_wired_sync_mode_t;
 
typedef enum
{
    K4A_CALIBRATION_TYPE_UNKNOWN = -1, 
    K4A_CALIBRATION_TYPE_DEPTH,        
    K4A_CALIBRATION_TYPE_COLOR,        
    K4A_CALIBRATION_TYPE_GYRO,         
    K4A_CALIBRATION_TYPE_ACCEL,        
    K4A_CALIBRATION_TYPE_NUM,          
} k4a_calibration_type_t;
 
typedef enum
{
    K4A_CALIBRATION_LENS_DISTORTION_MODEL_UNKNOWN = 0, 
    K4A_CALIBRATION_LENS_DISTORTION_MODEL_THETA, 
    K4A_CALIBRATION_LENS_DISTORTION_MODEL_POLYNOMIAL_3K, 
    K4A_CALIBRATION_LENS_DISTORTION_MODEL_RATIONAL_6KT,  
    K4A_CALIBRATION_LENS_DISTORTION_MODEL_BROWN_CONRADY, 
} k4a_calibration_model_type_t;
 
typedef enum
{
    K4A_FIRMWARE_BUILD_RELEASE, 
    K4A_FIRMWARE_BUILD_DEBUG    
} k4a_firmware_build_t;
 
typedef enum
{
    K4A_FIRMWARE_SIGNATURE_MSFT,    
    K4A_FIRMWARE_SIGNATURE_TEST,    
    K4A_FIRMWARE_SIGNATURE_UNSIGNED 
} k4a_firmware_signature_t;
 
#define K4A_SUCCEEDED(_result_) (_result_ == K4A_RESULT_SUCCEEDED)
 
#define K4A_FAILED(_result_) (!K4A_SUCCEEDED(_result_))
 
typedef void(k4a_logging_message_cb_t)(void *context,
                                       k4a_log_level_t level,
                                       const char *file,
                                       const int line,
                                       const char *message);
 
typedef void(k4a_memory_destroy_cb_t)(void *buffer, void *context);
 
typedef uint8_t *(k4a_memory_allocate_cb_t)(int size, void **context);
 
typedef struct _k4a_device_configuration_t
{
    k4a_image_format_t color_format;
 
    k4a_color_resolution_t color_resolution;
 
    k4a_depth_mode_t depth_mode;
 
    k4a_fps_t camera_fps;
 
    bool synchronized_images_only;
 
    int32_t depth_delay_off_color_usec;
 
    k4a_wired_sync_mode_t wired_sync_mode;
 
    uint32_t subordinate_delay_off_master_usec;
 
    bool disable_streaming_indicator;
} k4a_device_configuration_t;
 
typedef struct _k4a_calibration_extrinsics_t
{
    float rotation[9];    
    float translation[3]; 
} k4a_calibration_extrinsics_t;
 
typedef union
{
    struct _param
    {
        float cx;            
        float cy;            
        float fx;            
        float fy;            
        float k1;            
        float k2;            
        float k3;            
        float k4;            
        float k5;            
        float k6;            
        float codx;          
        float cody;          
        float p2;            
        float p1;            
        float metric_radius; 
    } param;                 
    float v[15];             
} k4a_calibration_intrinsic_parameters_t;
 
typedef struct _k4a_calibration_intrinsics_t
{
    k4a_calibration_model_type_t type;                 
    unsigned int parameter_count;                      
    k4a_calibration_intrinsic_parameters_t parameters; 
} k4a_calibration_intrinsics_t;
 
typedef struct _k4a_calibration_camera_t
{
    k4a_calibration_extrinsics_t extrinsics; 
    k4a_calibration_intrinsics_t intrinsics; 
    int resolution_width;                    
    int resolution_height;                   
    float metric_radius;                     
} k4a_calibration_camera_t;
 
typedef struct _k4a_calibration_t
{
    k4a_calibration_camera_t depth_camera_calibration; 
    k4a_calibration_camera_t color_camera_calibration; 
    k4a_calibration_extrinsics_t extrinsics[K4A_CALIBRATION_TYPE_NUM][K4A_CALIBRATION_TYPE_NUM];
 
    k4a_depth_mode_t depth_mode;             
    k4a_color_resolution_t color_resolution; 
} k4a_calibration_t;
 
typedef struct _k4a_version_t
{
    uint32_t major;     
    uint32_t minor;     
    uint32_t iteration; 
} k4a_version_t;
 
typedef struct _k4a_hardware_version_t
{
    k4a_version_t rgb;          
    k4a_version_t depth;        
    k4a_version_t audio;        
    k4a_version_t depth_sensor; 
    k4a_firmware_build_t firmware_build;         
    k4a_firmware_signature_t firmware_signature; 
} k4a_hardware_version_t;
 
typedef union
{
    struct _xy
    {
        float x; 
        float y; 
    } xy;        
    float v[2];  
} k4a_float2_t;
 
typedef union
{
    struct _xyz
    {
        float x; 
        float y; 
        float z; 
    } xyz;       
    float v[3];  
} k4a_float3_t;
 
typedef struct _k4a_imu_sample_t
{
    float temperature;            
    k4a_float3_t acc_sample;      
    uint64_t acc_timestamp_usec;  
    k4a_float3_t gyro_sample;     
    uint64_t gyro_timestamp_usec; 
} k4a_imu_sample_t;
 
#define K4A_DEVICE_DEFAULT (0)
 
#define K4A_WAIT_INFINITE (-1)
 
static const k4a_device_configuration_t K4A_DEVICE_CONFIG_INIT_DISABLE_ALL = { K4A_IMAGE_FORMAT_COLOR_MJPG,
                                                                               K4A_COLOR_RESOLUTION_OFF,
                                                                               K4A_DEPTH_MODE_OFF,
                                                                               K4A_FRAMES_PER_SECOND_30,
                                                                               false,
                                                                               0,
                                                                               K4A_WIRED_SYNC_MODE_STANDALONE,
                                                                               0,
                                                                               false };
 
#ifdef __cplusplus
}
#endif
 
#endif /* K4ATYPES_H */