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updated the realsense libraries to match a more up to date version
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| /* License: Apache 2.0. See LICENSE file in root directory. | ||
| Copyright(c) 2017 Intel Corporation. All Rights Reserved. */ | ||
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| /** \file rs_pipeline.h | ||
| * \brief | ||
| * Exposes RealSense processing-block functionality for C compilers | ||
| */ | ||
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| #ifndef LIBREALSENSE_RS2_CONFIG_H | ||
| #define LIBREALSENSE_RS2_CONFIG_H | ||
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| #define RS2_DEFAULT_TIMEOUT 15000 | ||
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
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| #include "rs_types.h" | ||
| #include "rs_sensor.h" | ||
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| /** | ||
| * Create a config instance | ||
| * The config allows pipeline users to request filters for the pipeline streams and device selection and configuration. | ||
| * This is an optional step in pipeline creation, as the pipeline resolves its streaming device internally. | ||
| * Config provides its users a way to set the filters and test if there is no conflict with the pipeline requirements | ||
| * from the device. It also allows the user to find a matching device for the config filters and the pipeline, in order to | ||
| * select a device explicitly, and modify its controls before streaming starts. | ||
| * | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| * \return rs2_config* A pointer to a new config instance | ||
| */ | ||
| rs2_config* rs2_create_config(rs2_error** error); | ||
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| /** | ||
| * Deletes an instance of a config | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| */ | ||
| void rs2_delete_config(rs2_config* config); | ||
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| /** | ||
| * Enable a device stream explicitly, with selected stream parameters. | ||
| * The method allows the application to request a stream with specific configuration. If no stream is explicitly enabled, the pipeline | ||
| * configures the device and its streams according to the attached computer vision modules and processing blocks requirements, or | ||
| * default configuration for the first available device. | ||
| * The application can configure any of the input stream parameters according to its requirement, or set to 0 for don't care value. | ||
| * The config accumulates the application calls for enable configuration methods, until the configuration is applied. Multiple enable | ||
| * stream calls for the same stream with conflicting parameters override each other, and the last call is maintained. | ||
| * Upon calling \c resolve(), the config checks for conflicts between the application configuration requests and the attached computer | ||
| * vision modules and processing blocks requirements, and fails if conflicts are found. Before \c resolve() is called, no conflict | ||
| * check is done. | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] stream Stream type to be enabled | ||
| * \param[in] index Stream index, used for multiple streams of the same type. -1 indicates any. | ||
| * \param[in] width Stream image width - for images streams. 0 indicates any. | ||
| * \param[in] height Stream image height - for images streams. 0 indicates any. | ||
| * \param[in] format Stream data format - pixel format for images streams, of data type for other streams. RS2_FORMAT_ANY indicates any. | ||
| * \param[in] framerate Stream frames per second. 0 indicates any. | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_enable_stream(rs2_config* config, | ||
| rs2_stream stream, | ||
| int index, | ||
| int width, | ||
| int height, | ||
| rs2_format format, | ||
| int framerate, | ||
| rs2_error** error); | ||
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| /** | ||
| * Enable all device streams explicitly. | ||
| * The conditions and behavior of this method are similar to those of \c enable_stream(). | ||
| * This filter enables all raw streams of the selected device. The device is either selected explicitly by the application, | ||
| * or by the pipeline requirements or default. The list of streams is device dependent. | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_enable_all_stream(rs2_config* config, rs2_error ** error); | ||
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| /** | ||
| * Select a specific device explicitly by its serial number, to be used by the pipeline. | ||
| * The conditions and behavior of this method are similar to those of \c enable_stream(). | ||
| * This method is required if the application needs to set device or sensor settings prior to pipeline streaming, to enforce | ||
| * the pipeline to use the configured device. | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] serial device serial number, as returned by RS2_CAMERA_INFO_SERIAL_NUMBER | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_enable_device(rs2_config* config, const char* serial, rs2_error ** error); | ||
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| /** | ||
| * Select a recorded device from a file, to be used by the pipeline through playback. | ||
| * The device available streams are as recorded to the file, and \c resolve() considers only this device and configuration | ||
| * as available. | ||
| * This request cannot be used if enable_record_to_file() is called for the current config, and vise versa | ||
| * By default, playback is repeated once the file ends. To control this, see 'rs2_config_enable_device_from_file_repeat_option'. | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] file The playback file of the device | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_enable_device_from_file(rs2_config* config, const char* file, rs2_error ** error); | ||
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| /** | ||
| * Select a recorded device from a file, to be used by the pipeline through playback. | ||
| * The device available streams are as recorded to the file, and \c resolve() considers only this device and configuration | ||
| * as available. | ||
| * This request cannot be used if enable_record_to_file() is called for the current config, and vise versa | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] file The playback file of the device | ||
| * \param[in] repeat_playback if true, when file ends the playback starts again, in an infinite loop; | ||
| if false, when file ends playback does not start again, and should by stopped manually by the user. | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_enable_device_from_file_repeat_option(rs2_config* config, const char* file, int repeat_playback, rs2_error ** error); | ||
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| /** | ||
| * Requires that the resolved device would be recorded to file | ||
| * This request cannot be used if enable_device_from_file() is called for the current config, and vise versa | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] file The desired file for the output record | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_enable_record_to_file(rs2_config* config, const char* file, rs2_error ** error); | ||
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| /** | ||
| * Disable a device stream explicitly, to remove any requests on this stream type. | ||
| * The stream can still be enabled due to pipeline computer vision module request. This call removes any filter on the | ||
| * stream configuration. | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] stream Stream type, for which the filters are cleared | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_disable_stream(rs2_config* config, rs2_stream stream, rs2_error ** error); | ||
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| /** | ||
| * Disable a device stream explicitly, to remove any requests on this stream profile. | ||
| * The stream can still be enabled due to pipeline computer vision module request. This call removes any filter on the | ||
| * stream configuration. | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] stream Stream type, for which the filters are cleared | ||
| * \param[in] index Stream index, for which the filters are cleared | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_disable_indexed_stream(rs2_config* config, rs2_stream stream, int index, rs2_error ** error); | ||
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| /** | ||
| * Disable all device stream explicitly, to remove any requests on the streams profiles. | ||
| * The streams can still be enabled due to pipeline computer vision module request. This call removes any filter on the | ||
| * streams configuration. | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| */ | ||
| void rs2_config_disable_all_streams(rs2_config* config, rs2_error ** error); | ||
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| /** | ||
| * Resolve the configuration filters, to find a matching device and streams profiles. | ||
| * The method resolves the user configuration filters for the device and streams, and combines them with the requirements of | ||
| * the computer vision modules and processing blocks attached to the pipeline. If there are no conflicts of requests, it looks | ||
| * for an available device, which can satisfy all requests, and selects the first matching streams configuration. In the absence | ||
| * of any request, the rs2::config selects the first available device and the first color and depth streams configuration. | ||
| * The pipeline profile selection during \c start() follows the same method. Thus, the selected profile is the same, if no | ||
| * change occurs to the available devices occurs. | ||
| * Resolving the pipeline configuration provides the application access to the pipeline selected device for advanced control. | ||
| * The returned configuration is not applied to the device, so the application doesn't own the device sensors. However, the | ||
| * application can call \c enable_device(), to enforce the device returned by this method is selected by pipeline \c start(), | ||
| * and configure the device and sensors options or extensions before streaming starts. | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] pipe The pipeline for which the selected filters are applied | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| * \return A matching device and streams profile, which satisfies the filters and pipeline requests. | ||
| */ | ||
| rs2_pipeline_profile* rs2_config_resolve(rs2_config* config, rs2_pipeline* pipe, rs2_error ** error); | ||
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| /** | ||
| * Check if the config can resolve the configuration filters, to find a matching device and streams profiles. | ||
| * The resolution conditions are as described in \c resolve(). | ||
| * | ||
| * \param[in] config A pointer to an instance of a config | ||
| * \param[in] pipe The pipeline for which the selected filters are applied | ||
| * \param[out] error if non-null, receives any error that occurs during this call, otherwise, errors are ignored | ||
| * \return True if a valid profile selection exists, false if no selection can be found under the config filters and the available devices. | ||
| */ | ||
| int rs2_config_can_resolve(rs2_config* config, rs2_pipeline* pipe, rs2_error ** error); | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
| #endif |
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