OniCTypes.h

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/*****************************************************************************
*                                                                            *
*  OpenNI 2.x Alpha                                                          *
*  Copyright (C) 2012 PrimeSense Ltd.                                        *
*                                                                            *
*  This file is part of OpenNI.                                              *
*                                                                            *
*  Licensed under the Apache License, Version 2.0 (the "License");           *
*  you may not use this file except in compliance with the License.          *
*  You may obtain a copy of the License at                                   *
*                                                                            *
*      http://www.apache.org/licenses/LICENSE-2.0                            *
*                                                                            *
*  Unless required by applicable law or agreed to in writing, software       *
*  distributed under the License is distributed on an "AS IS" BASIS,         *
*  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  *
*  See the License for the specific language governing permissions and       *
*  limitations under the License.                                            *
*                                                                            *
*****************************************************************************/
#ifndef ONICTYPES_H
#define ONICTYPES_H

#include "OniPlatform.h"
#include "OniCEnums.h"

typedef int OniBool;

#ifndef TRUE
#define TRUE 1
#endif //TRUE
#ifndef FALSE
#define FALSE 0
#endif //FALSE

#define ONI_MAX_STR 256
#define ONI_MAX_SENSORS 10

struct OniCallbackHandleImpl;
typedef struct OniCallbackHandleImpl* OniCallbackHandle;

typedef struct
{
        int major;
        int minor;
        int maintenance;
        int build;
} OniVersion;

typedef int OniHardwareVersion;

typedef struct
{
        OniPixelFormat pixelFormat;
        int resolutionX;
        int resolutionY;
        int fps;
} OniVideoMode;

typedef struct
{
        OniSensorType sensorType;
        int numSupportedVideoModes;
        OniVideoMode *pSupportedVideoModes;
} OniSensorInfo;

typedef struct
{
        char uri[ONI_MAX_STR];
        char vendor[ONI_MAX_STR];
        char name[ONI_MAX_STR];
        uint16_t usbVendorId;
        uint16_t usbProductId;
} OniDeviceInfo;

typedef struct OBCameraParams
{
    float l_intr_p[4];//[fx,fy,cx,cy]
    float r_intr_p[4];//[fx,fy,cx,cy]
    float r2l_r[9];//[r00,r01,r02;r10,r11,r12;r20,r21,r22]
    float r2l_t[3];//[t1,t2,t3]
    float l_k[5];//[k1,k2,p1,p2,k3]
    float r_k[5];
    //int is_mirror;
}OBCameraParams;

struct _OniDevice;
typedef struct _OniDevice* OniDeviceHandle;

struct _OniStream;
typedef struct _OniStream* OniStreamHandle;

struct _OniRecorder;
typedef struct _OniRecorder* OniRecorderHandle;

typedef struct
{
        int dataSize;
        void* data;

        OniSensorType sensorType;
        uint64_t timestamp;
        int frameIndex;

        int width;
        int height;

        OniVideoMode videoMode;
        OniBool croppingEnabled;
        int cropOriginX;
        int cropOriginY;

        int stride;
} OniFrame;

typedef void (ONI_CALLBACK_TYPE* OniNewFrameCallback)(OniStreamHandle stream, void* pCookie);
typedef void (ONI_CALLBACK_TYPE* OniGeneralCallback)(void* pCookie);
typedef void (ONI_CALLBACK_TYPE* OniDeviceInfoCallback)(const OniDeviceInfo* pInfo, void* pCookie);
typedef void (ONI_CALLBACK_TYPE* OniDeviceStateCallback)(const OniDeviceInfo* pInfo, OniDeviceState deviceState, void* pCookie);

typedef void* (ONI_CALLBACK_TYPE* OniFrameAllocBufferCallback)(int size, void* pCookie);
typedef void (ONI_CALLBACK_TYPE* OniFrameFreeBufferCallback)(void* data, void* pCookie);

typedef struct
{
        OniDeviceInfoCallback           deviceConnected;
        OniDeviceInfoCallback           deviceDisconnected;
        OniDeviceStateCallback          deviceStateChanged;
} OniDeviceCallbacks;

typedef struct
{
        int enabled;
        int originX;
        int originY;
        int width;
        int height;
} OniCropping;

// Pixel types
typedef uint16_t OniDepthPixel;
typedef uint16_t OniIRPixel;

typedef uint16_t OniGrayscale16Pixel;

typedef uint8_t OniGrayscale8Pixel;

#pragma pack (push, 1)

typedef struct
{
        /* Red value of this pixel. */
        uint8_t r;
        /* Green value of this pixel. */
        uint8_t g;
        /* Blue value of this pixel. */
        uint8_t b;
} OniRGB888Pixel;

typedef struct
{
        uint8_t u;
        uint8_t y1;
        uint8_t v;
        uint8_t y2;
} OniYUV422DoublePixel;

typedef struct
{
        uint8_t y1;
        uint8_t u;
        uint8_t y2;
        uint8_t v;
} OniYUYVDoublePixel;

#pragma pack (pop)

typedef struct
{
        int frameIndex;
        OniStreamHandle stream;
} OniSeek;

#endif // ONICTYPES_H