enums.go

package librealsense

/*
#cgo linux darwin LDFLAGS: -L/usr/local/lib/ -lrealsense -I/usr/local/include/librealsense
#include <librealsense/rs.h>
*/
import "C"

// Stream are different types of data provided by RealSense devices
type Stream C.rs_stream

// Stream Types
const (
	// Native stream of depth data produced by RealSense device
	StreamDepth Stream = C.RS_STREAM_DEPTH
	// Native stream of color data captured by RealSense device
	StreamColor Stream = C.RS_STREAM_COLOR
	// Native stream of infrared data captured by RealSense device
	StreamInfrared Stream = C.RS_STREAM_INFRARED
	// Native stream of infrared data captured from a second viewpoint by RealSense device
	StreamInfrared2 Stream = C.RS_STREAM_INFRARED2
	// Native stream of fish-eye (wide) data captured from the dedicate motion camera
	StreamFisheye Stream = C.RS_STREAM_FISHEYE
	// Synthetic stream containing point cloud data generated by deprojecting the depth image
	StreamPoints Stream = C.RS_STREAM_POINTS
	// Synthetic stream containing undistorted color data with no extrinsic rotation from the depth stream
	StreamRectifiedColor Stream = C.RS_STREAM_RECTIFIED_COLOR
	// Synthetic stream containing color data but sharing intrinsic of depth stream
	StreamColorAlignedToDepth Stream = C.RS_STREAM_COLOR_ALIGNED_TO_DEPTH
	// Synthetic stream containing second viewpoint infrared data but sharing intrinsic of depth stream
	StreamInfrared2AlignedToDepth Stream = C.RS_STREAM_INFRARED2_ALIGNED_TO_DEPTH
	// Synthetic stream containing depth data but sharing intrinsic of color stream
	StreamDepthAlignedToColor Stream = C.RS_STREAM_DEPTH_ALIGNED_TO_COLOR
	// Synthetic stream containing depth data but sharing intrinsic of rectified color stream
	StreamDepthAlignedToRectifiedColor Stream = C.RS_STREAM_DEPTH_ALIGNED_TO_RECTIFIED_COLOR
	// Synthetic stream containing depth data but sharing intrinsic of second viewpoint infrared stream
	StreamDepthAlignedToInfrared2 Stream = C.RS_STREAM_DEPTH_ALIGNED_TO_INFRARED2

	// Number of enumeration values. Not a valid input: intended to be used in for-loops.
	StreamCount Stream = C.RS_STREAM_COUNT
)

// Preset are general preferences that are translated by librealsense into concrete resolution and FPS.
type Preset C.rs_preset

// Preset Types
const (
	PresetBestQuality      Preset = C.RS_PRESET_BEST_QUALITY      // Prefer best overall quality
	PresetLargestImage     Preset = C.RS_PRESET_LARGEST_IMAGE     // Prefer largest image size
	PresetHighestFramerate Preset = C.RS_PRESET_HIGHEST_FRAMERATE // Prefer highest frame rate

	// Number of enumeration values. Not a valid input: intended to be used in for-loops.
	PresetCount Preset = C.RS_PRESET_COUNT
)

// Format defines how each stream can be encoded.
type Format C.rs_format

// Format Types
const (
	// When passed to enable stream, librealsense will try to provide best suited format
	FormatAny Format = C.RS_FORMAT_ANY
	// 16-bit linear depth values. The depth is meters is equal to depth scale * pixel value.
	FormatZ16 Format = C.RS_FORMAT_Z16
	// 16-bit linear disparity values. The depth in meters is equal to depth scale / pixel value.
	FormatDisparity16 Format = C.RS_FORMAT_DISPARITY16
	// 32-bit floating point 3D coordinates.
	FormatXYZ32F Format = C.RS_FORMAT_XYZ32F
	// Standard YUV pixel format as described in https://en.wikipedia.org/wiki/YUV
	FormatYUYV Format = C.RS_FORMAT_YUYV
	// 8-bit red, green and blue channels
	FormatRGB8 Format = C.RS_FORMAT_RGB8
	// 8-bit blue, green, and red channels -- suitable for OpenCV
	FormatBGR8 Format = C.RS_FORMAT_BGR8
	// 8-bit red, green and blue channels + constant alpha channel equal to FF
	FormatRGBA8 Format = C.RS_FORMAT_RGBA8
	// 8-bit blue, green, and red channels + constant alpha channel equal to FF
	FormatBGRA8 Format = C.RS_FORMAT_BGRA8
	// 8-bit per-pixel grayscale image
	FormatY8 Format = C.RS_FORMAT_Y8
	// 16-bit per-pixel grayscale image
	FormatY16 Format = C.RS_FORMAT_Y16
	// Four 10-bit luminance values encoded into a 5-byte macropixel
	FormatRaw10 Format = C.RS_FORMAT_RAW10
	// 16-bit raw image
	FormatRaw16 Format = C.RS_FORMAT_RAW16
	// 8-bit raw image
	FormatRaw8 Format = C.RS_FORMAT_RAW8

	FormatCount Format = C.RS_FORMAT_COUNT // Number of enumeration values. Not a valid input: intended to be used in for-loops.
)

// Distortion model: defines how pixel coordinates should be mapped to sensor coordinates.
type Distortion C.rs_distortion

// Distortion values
const (
	// Rectilinear images. No distortion compensation required.
	DistortionNone Distortion = C.RS_DISTORTION_NONE
	// Equivalent to Brown-Conrady distortion, except that tangential distortion is applied to radially distorted points
	DistortionModifiedBrownConrady Distortion = C.RS_DISTORTION_MODIFIED_BROWN_CONRADY
	// Equivalent to Brown-Conrady distortion, except undistorts image instead of distorting it
	DistortionInverseBrownConrady Distortion = C.RS_DISTORTION_INVERSE_BROWN_CONRADY
	// Distortion model of the fish-eye camera
	DistortionFTHETA Distortion = C.RS_DISTORTION_FTHETA

	// Number of enumeration values. Not a valid input: intended to be used in for-loops.
	DistortionCount Distortion = C.RS_DISTORTION_COUNT
)