vzense-sys 0.3.1

#ifndef VZENSE_API_560_H
#define VZENSE_API_560_H

/**
* @file Vzense_api2.h
* @brief Vzense API header file.
* Copyright (c) 2018-2019 V Interactive, Inc.
*/

/*! \mainpage Vzense API Documentation
*
* \section intro_sec Introduction
*
* Welcome to the Vzense API documentation. This documentation enables you to quickly get started in your development efforts to programmatically interact with the Vzense TOF RGBD Camera (DCAM560).
*/

#ifdef DCAM_560
#include "Vzense_define.h"
#else
#include "Vzense_define_560.h"
#endif

/**
* @brief 		Initializes the API on the device. This function must be invoked before any other Vzense APIs.
* @return		::PsRetOK if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_Initialize();

/**
* @brief 		Shuts down the API on the device and clears all resources allocated by the API. After invoking this function, no other Vzense APIs can be invoked.
* @return		::PsRetOK	if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_Shutdown();

/**
* @brief 		Returns the number of camera devices currently connected.
* @param[out]	pDeviceCount	Pointer to a 32-bit integer variable in which to return the device count.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDeviceCount(uint32_t* pDeviceCount);

/**
* @brief 		Returns the info lists of the deviceCount camera devices.
* @param[in] 	deviceCount		the number of camera devices.
* @param[out]	pDevicesList	Pointer to a buffer in which to store the deviceCount devices infos.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDeviceListInfo(PsDeviceInfo* pDevicesList, uint32_t deviceCount);

/**
* @brief 		Returns the info of the deviceIndex camera device.
* @param[in] 	deviceIndex	The index of the device to open. Device indices range from 0 to device count - 1.
* @param[out]	pDevices	Pointer to a buffer in which to store the device info.
* @return 		::PsRetOK	if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDeviceInfo(PsDeviceInfo* pDevices, uint32_t deviceIndex);

/**
* @brief 		Opens the device specified by <code>uri</code>. The device must be subsequently closed using PsCloseDevice().
* @param[in] 	uri			the uri of the device. See ::PsDeviceInfo for more information.
* @param[out]	pDevices	the handle of the device on which to open.
* @return: 		::PsRetOK	if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_OpenDevice(const char* uri, PsDeviceHandle* pDevice);

/**
* @brief 		Closes the device specified by <code>device</code> that was opened using PsOpenDevice.
* @param[in] 	device		The handle of the device to close.
* @return: 		::PsRetOK	if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_CloseDevice(PsDeviceHandle* device);

/**
* @brief 		Starts capturing the image stream indicated by <code>device</code>. \n
Invoke Ps2_StopStream() to stop capturing the image stream.
* @param[in] 	device			The handle of the device on which to start capturing the image stream.
* @param[in] 	sessionIndex	The index of the session that include N Tof sensors and maximum N RGB sensors. \n
								range from 0 to ::SessionCount - 1. See ::PsDeviceInfo for more information. \n
								For example, the camera <code>device</code> has 2 Tof sensor and 1 rgb sensor, the ::SessionCount is 2.\n
								If the <code>sessionIndex</code> is 0 mean that start 1 tof stream and the rgb stream, \n
								and if the <code>sessionIndex</code> is 1 mean that start only 1 tof stream.						
* @return 	    ::PsRetOK if	the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_StartStream(PsDeviceHandle device, uint32_t sessionIndex);

/**
* @brief 		Stops capturing the image stream on the device specified by <code>device</code>. that was started using Ps2_StartStream.
* @param[in] 	device			The handle of the device on which to stop capturing the image stream.
* @param[in] 	sessionIndex	The index of the session that include N Tof sensors and maximum N RGB sensors. \n
								range from 0 to ::SessionCount - 1. See ::PsDeviceInfo for more information. \n
								For example, the camera <code>device</code> has 2 Tof sensor and 1 rgb sensor, the ::SessionCount is 2.\n
								If the <code>sessionIndex</code> is 0 mean that stop 1 tof stream and the rgb stream, \n
								and if the <code>sessionIndex</code> is 1 mean that stop only 1 tof stream.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_StopStream(PsDeviceHandle device, uint32_t sessionIndex);

/**
* @brief 		Captures the next image frame from the device specified by <code>device</code>. This API must be invoked before capturing frame data using PsGetFrame().
* @param[in] 	device			The handle of the device on which to read the next frame.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	pFrameReady		Pointer to a buffer in which to store the signal on which image is ready to be get.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_ReadNextFrame(PsDeviceHandle device, uint32_t sessionIndex, PsFrameReady* pFrameReady);

/**
* @brief 		Returns the image data for the current frame from the device specified by <code>device</code>.\n
Before invoking this API, invoke PsReadNextFrame() to capture one image frame from the device.
* @param[in] 	device			The handle of the device to capture an image frame from.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	frameType		The image frame type.
* @param[out]	pPsFrame		Pointer to a buffer in which to store the returned image data.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetFrame(PsDeviceHandle device, uint32_t sessionIndex, PsFrameType frameType, PsFrame* pPsFrame);

/**
* @brief  		Sets the output data mode for the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device for which to set the data mode.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	dataMode		The output data mode. See ::PsDataMode for more information.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetDataMode(PsDeviceHandle device, uint32_t sessionIndex, PsDataMode dataMode);

/**
* @brief  		Returns the output data mode from the device specified by <code>device</code>.
* @param[in]	device			The handle of the device for which to set the data mode.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[Out]	dataMode		The output data mode. See ::PsDataMode for more information.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDataMode(PsDeviceHandle device, uint32_t sessionIndex, PsDataMode* dataMode);

/**
* @brief 		Returns the depth range mode from the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device from which to get the depth range.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	pDepthRange		Pointer to a ::PsDepthRange variable in which to store the returned depth range mode.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDepthRange(PsDeviceHandle device, uint32_t sessionIndex, PsDepthRange* pDepthRange);

/**
* @brief 		Sets the depth range mode for the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device on which to set the depth range.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	depthRange 		Specifies the depth range mode.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetDepthRange(PsDeviceHandle device, uint32_t sessionIndex, PsDepthRange depthRange);

/**
* @brief 		Returns the threshold value for the background filter from the device specified by <code>device</code>. \n
The value represents the cut-off point for distant data that the filter should ignore. \n
For example, if 20.0 is specified, data with 20% or less confidence will be dropped.
* @param[in] 	device			The handle of the device from which to get the threshold. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out] 	pThreshold 		Pointer to a 16-bit unsigned integer variable in which to return the threshold value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetThreshold(PsDeviceHandle device, uint32_t sessionIndex, uint16_t* pThreshold);

/**
* @brief 		Sets the threshold value for the background filter for the device specified by <code>device</code>. \n
The value represents the cut-off point for distant data that the filter should ignore.  \n
For example, if 20.0 is specified, data with 20% or less confidence will be dropped.
* @param[in] 	device			The handle of the device on which to set the threshold. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	threshold		The threshold value to set. 0 will attempt to keep all point data but may not be accurate further away; 100 or higher will reject almost all point data leaving only the closest points.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetThreshold(PsDeviceHandle device, uint32_t sessionIndex, uint16_t threshold);

/**
* @brief 		Returns the pulse count from the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device on which to set the pulse count. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out] 	pPulseCount		Pointer to a 16-bit unsigned integer variable in which to store the pulse count value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetPulseCount(PsDeviceHandle device, uint32_t sessionIndex, uint16_t* pPulseCount);

/**
* @brief 		Sets the pulse count for the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device on which to set the pulse count. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	pulseCount 		The pulse count value to set.For the range 3 and 4,the value is in the range [0,260],for the other range,the value is in the range [0,600].
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetPulseCount(PsDeviceHandle device, uint32_t sessionIndex, uint16_t pulseCount);

/**
* @brief 		Returns the the device's GMM gain.
* @param[in]	device			The handle of the device from which to get the GMM gain.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out] 	gmmgain 		Pointer to a variable in which to store the returned GMM gain.
* @return		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetGMMGain(PsDeviceHandle device, uint32_t sessionIndex, uint16_t* gmmgain);

/**
* @brief 		Sets the device GMM gain on a device.
* @param[in]	device			The handle of the device on which to set the GMM gain.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	gmmgain			The GMM gain value to set. See ::PsGMMGain for more information.The GMM gain value is in the range [0,4095].
* @return		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetGMMGain(PsDeviceHandle device, uint32_t sessionIndex, PsGMMGain gmmgain);

/**
* @brief 		Returns a specific property value from the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device from which to get the property value. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	propertyType	The type of property to get from the device. See ::PsPropertyType for more information.
* @param[out]	pData			Pointer to a buffer to store the returned property value.
* @param[out]	pDataSize		The size, in bytes, of the property value returned in <code>pData</code>.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetProperty(PsDeviceHandle device, uint32_t sessionIndex, int32_t propertyType, void* pData, int32_t* pDataSize);

/**
* @brief 		Set the corresponding property value for the device specified by <code>device</code>.
* @param[in]	device			The handle of the device from which to set the property value. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	propertyType	The type of property to set on the device.
* @param[in]	pData			Pointer to a buffer containing the property value.
* @param[in]	dataSize		The size, in bytes, of the property value contained in <code>pData</code>.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetProperty(PsDeviceHandle device, uint32_t sessionIndex, int32_t propertyType, const void* pData, int32_t dataSize);

/**
* @brief 		Returns the internal intrinsic and distortion coefficient parameters from the device specified by <code>device</code>.
* @param[in] 	device				The handle of the device from which to get the internal parameters. 
* @param[in] 	sessionIndex		The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	sensorType			The type of sensor (depth or RGB) from which to get parameter information. Pass in the applicable value defined by ::PsSensorType.
* @param[out] 	pCameraParameters	Pointer to a PsCameraParameters variable in which to store the parameter values.
* @return 		::PsRetOK			if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetCameraParameters(PsDeviceHandle device, uint32_t sessionIndex, PsSensorType sensorType, PsCameraParameters* pCameraParameters);

/**
* @brief 		Returns the camera rotation and translation coefficient parameters from the device specified by <code>device</code>.
* @param[in] 	device						The handle of the device from which to get the extrinsic parameters. 
* @param[in] 	sessionIndex				The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out] 	pCameraExtrinsicParameters 	Pointer to a ::PsGetCameraExtrinsicParameters variable in which to store the parameters.
* @return 		::PsRetOK					if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetCameraExtrinsicParameters(PsDeviceHandle device, uint32_t sessionIndex, PsCameraExtrinsicParameters* pCameraExtrinsicParameters);

/**
* @brief 		Sets the color image pixel format on the device specified by <code>device</code>. Currently only RGB and BGR formats are supported.
* @param[in] 	device			The handle of the device to set the pixel format. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	pixelFormat		The color pixel format to use. Pass in one of the values defined by ::PsPixelFormat. Currently only <code>PsPixelFormatRGB888</code> and <code>PsPixelFormatBGR888</code> are supported.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetColorPixelFormat(PsDeviceHandle device, uint32_t sessionIndex, PsPixelFormat pixelFormat);

/**
* @brief 		Sets the RGB frame Resolution.
* @param[in]	device			The handle of the device on which to set the GMM gain.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	resolution		The resolution value to set. See ::PsResolution for more information.
* @return		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetRGBResolution(PsDeviceHandle device, uint32_t sessionIndex, PsResolution resolution);

/**
* @brief 		Returns the the RGB frame Resolution.
* @param[in]	device			The handle of the device from which to get the GMM gain.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out] 	resolution 		Pointer to a variable in which to store the returned resolution.
* @return		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetRGBResolution(PsDeviceHandle device, uint32_t sessionIndex, uint16_t* resolution);

/**
* @brief 		Sets the WDR output mode.
* @param[in]	device			The handle of the device on which to set the mode.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	pWDRMode 		The WDR output mode to set. See ::PsWDROutputMode for more information.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetWDROutputMode(PsDeviceHandle device, uint32_t sessionIndex, PsWDROutputMode* pWDRMode);

/**
* @brief		Gets the current WDR output mode.
* @param[in]	device			The handle of the device on which to get the mode from.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	pWDRMode 		A pointer to a ::PsWDROutputMode variable in which to store the current WDR output mode.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetWDROutputMode(PsDeviceHandle device, uint32_t sessionIndex, PsWDROutputMode* pWDRMode);

/**
* @brief 		Sets the WDR style on the device.
* @param[in] 	device			The handle of the device on which to set the WDR style.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	wdrStyle 		The wide dynamic range merge style to use. See ::PsWDRStyle for more information.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetWDRStyle(PsDeviceHandle device, uint32_t sessionIndex, PsWDRStyle wdrStyle);
/**
* @brief 		Gets the MeasuringRange in depthRange.
* @param[in] 	device			The handle of the device on which to set the WDR style.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	depthRange	 	Specifies the depth range mode.
* @param[out]	pMeasuringRange A pointer to a ::PsMeasuringRange variable in which to store the MeasuringRange in depthRange.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetMeasuringRange(PsDeviceHandle device, uint32_t sessionIndex, PsDepthRange depthRange, PsMeasuringRange* pMeasuringRange);

/**
* @brief 		Converts the input points from world coordinate space to depth coordinate space.
* @param[in]	device			The handle of the device on which to perform the operation.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	pWorldVector 	Pointer to a buffer containing the x, y, and z values of the input world coordinates to be converted, measured in millimeters.
* @param[out]	pDepthVector 	Pointer to a buffer in which to output the converted x, y, and z values of the depth coordinates. \n
*								x and y are measured in pixels, where 0, 0 is located at the top left corner of the image. \n
*								z is measured in millimeters, based on the ::PsPixelFormat depth frame.
* @param[in]	pointCount 		The number of coordinates to convert.
* @param[in]	pCameraParam	The intrinsic camera parameters for the depth camera. See ::PsGetCameraParameters.
* @return		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_ConvertWorldToDepth(PsDeviceHandle device, uint32_t sessionIndex, PsVector3f* pWorldVector, PsDepthVector3* pDepthVector, int32_t pointCount, PsCameraParameters* pCameraParam);

/**
* @brief 		Converts the input points from depth coordinate space to world coordinate space.
* @param[in] 	device			The handle of the device on which to perform the operation.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	pDepthVector 	Pointer to a buffer containing the x, y, and z values of the depth coordinates to be converted. \n
*      							 x and y are measured in pixels, where 0, 0 is located at the top left corner of the image. \n
*	                            z is measured in millimeters, based on the ::PsPixelFormat depth frame.
* @param[out] 	pWorldVector 	Pointer to a buffer in which to output the converted x, y, and z values of the world coordinates, measured in millimeters.
* @param[in] 	pointCount 		The number of points to convert.
* @param[in]	pCameraParam	The intrinsic camera parameters for the depth camera. See ::PsGetCameraParameters.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_ConvertDepthToWorld(PsDeviceHandle device, uint32_t sessionIndex, PsDepthVector3* pDepthVector, PsVector3f* pWorldVector, int32_t pointCount, PsCameraParameters* pCameraParam);

/**
* @brief 		Converts the input Depth frame from depth coordinate space to world coordinate space on the device.
* @param[in] 	device			The handle of the device on which to perform the operation.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	depthFrame		The depth frame.
* @param[out] 	pWorldVector 	Pointer to a buffer in which to output the converted x, y, and z values of the world coordinates, measured in millimeters.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_ConvertDepthFrameToWorldVector(PsDeviceHandle device, uint32_t sessionIndex, const PsFrame depthFrame, PsVector3f* pWorldVector);

/**
* @brief		Enables or disables the syncronize feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetSynchronizeEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Returns the Boolean value of whether the syncronize feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetSynchronizeEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/**
* @brief 		Enables or disables the depth and ir distortion correction feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetDepthDistortionCorrectionEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Returns the Boolean value of whether the depth and ir distortion correction feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDepthDistortionCorrectionEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/*
Removed: merge the function to Ps2_SetDepthDistortionCorrectionEnabled,
If recover the API 'XX_IrDistortionXXX', stil call the 'XX_DepthDistortionXXX'
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetIrDistortionCorrectionEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);
*/

/*
Removed: merge the function to Ps2_GetDepthDistortionCorrectionEnabled
If recover the API 'XX_IrDistortionXXX', stil call the 'XX_DepthDistortionXXX'
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetIrDistortionCorrectionEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);
*/

/**
* @brief 		Enables or disables the RGB distortion correction feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetRGBDistortionCorrectionEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Returns the Boolean value of whether the RGB distortion correction feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetRGBDistortionCorrectionEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/**
* @brief		Enables or disables the ComputeRealDepth feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetComputeRealDepthCorrectionEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Returns the Boolean value of whether the ComputeRealDepth feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetComputeRealDepthCorrectionEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/**
* @brief		Enables or disables the SpatialFilter feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetSpatialFilterEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Returns the Boolean value of whether the SpatialFilter feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetSpatialFilterEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/**
* @brief		Enables or disables the TimeFilter feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/ 
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetTimeFilterEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Returns the Boolean value of whether the TimeFilter feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetTimeFilterEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/**
* @brief		Enables or disables the Depth Stream feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetDepthFrameEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief		Enables or disables the IR Stream feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetIrFrameEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief		Enables or disables the RGB Stream feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetRgbFrameEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief		Sets the ImageMirror feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	type			1 left-right mirror; 2 up-down mirror;3 both mirror (rotation 180)
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetImageMirror(PsDeviceHandle device, uint32_t sessionIndex, int32_t type);

/**
* @brief		Sets the ImageRotation feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	type			0 counterclock 906у; 1 counterclock 1806у;2 counterclock 2706у
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetImageRotation(PsDeviceHandle device, uint32_t sessionIndex, int32_t type);

/**
* @brief 		Enables or disables mapping of the depth image to RGB space on the device. When enabled, PsGetFrame() can\n
*        		be invoked passing ::PsMappedRGBFrame as the frame type, to get the depth frame that is mapped to RGB space. The resolution of\n
*        		the mapped rgb frame is the same as that of the depth image.
* @param[in] 	device			The handle of the device on which to enable or disable mapping.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	bEnabled 		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetMapperEnabledDepthToRGB(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Returns the Boolean value of whether the mapping of the depth image to RGB space feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetMapperEnabledDepthToRGB(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/**
* @brief 		Enables or disables mapping of the RGB image to depth space on the device. When enabled, PsGetFrame()\n
can be invoked passing ::PsMappedDepthFrame as the frame type, to get the RGB frame that is mapped to depth space. The resolution\n
of the mapped depth frame is the same as that of the RGB image.
* @param[in] 	device			The handle of the device on which to enable or disable mapping.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	bEnabled 		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetMapperEnabledRGBToDepth(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Returns the Boolean value of whether the mapping of the RGB image to depth space feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetMapperEnabledRGBToDepth(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/**
* @brief 		Sets hotplug status callback function
* @param[in]	pCallback		Pointer to the callback function. See ::PtrHotPlugStatusCallback 
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetHotPlugStatusCallback(PtrHotPlugStatusCallback pCallback);
/**
* @brief 		Sets hotplug status callback function for c plus plus
* @param[in]	pCallback		Pointer to the callback function. See ::PtrHotPlugStatusCallback
* @param[in]	contex		    Pointer to the object of C++ class
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetHotPlugStatusCallback_(PtrHotPlugStatusCallback_ pCallback, void* contex);
/**
* @brief 		Returns the pulse count from the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device on which to set the pulse count.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out] 	pwdrPulseCount	A pointer to a ::PsWDRPulseCount variable in which to store the PulseCount in WDR mode.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetWDRPulseCount(PsDeviceHandle device, uint32_t sessionIndex, PsWDRPulseCount* pwdrPulseCount);

/**
* @brief 		Sets the pulse count for the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device on which to set the pulse count.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	pwdrPulseCount 	The PulseCount value in WDR mode to set.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetWDRPulseCount(PsDeviceHandle device, uint32_t sessionIndex, PsWDRPulseCount wdrpulseCount);

/**
* @brief 		Gets the serial number.
* @param[in] 	device			The handle of the device on which to set the pulse count.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	sn 				Pointer to a variable in which to store the returned sn value.
* @param[in] 	length 			The maximum length is 63 bytes.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetSerialNumber(PsDeviceHandle device, uint32_t sessionIndex, char* sn,int length);

/**
* @brief 		Gets the firmware version number.
* @param[in] 	device			The handle of the device on which to set the pulse count.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	fw 				Pointer to a variable in which to store the returned fw value.
* @param[in] 	length 			The maximum length is 63 bytes.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetFirmwareVersionNumber(PsDeviceHandle device, uint32_t sessionIndex, char* fw, int length);

/**
* @brief		Enables or disables the DSP feature for tof frame.
*				The DSP feature only support ComputeRealDepthCorrection and SpatialFilter.
*	            The default filter has ComputeRealDepthCorrection, SpatialFilter,TimeFilter, DepthDistortionCorrection and IrDistortionCorrection.
*				Enable the DSP feature can reduce SDK loading, but disable it has a better effect. 
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetDSPEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief		Returns the Boolean value of whether the DSP feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDSPEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool *bEnabled);

/*
* @brief		Enables or disables the SlaveMode feature
* @Parameters:
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @Return		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetSlaveModeEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);
/**
* @brief 		Sets the tof frame rate.
* @param[in] 	device			The handle of the device on which to set the pulse count.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	value 		    The value of rate,in 3,5,6,10,15,30.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetTofFrameRate(PsDeviceHandle device, uint32_t sessionIndex, uint8_t value);
/**
* @brief 		Gets the tof frame rate.
* @param[in] 	device			The handle of the device on which to set the pulse count.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	value 		    The rate value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetTofFrameRate(PsDeviceHandle device, uint32_t sessionIndex, uint8_t* value);

/**
* @brief		Enables or disables the StandBy feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetStandByEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool bEnabled);

/**
* @brief 		Opens the device specified by <code>alias</code>. The device must be subsequently closed using PsCloseDevice().
* @param[in] 	alias		the alias of the device. See ::PsDeviceInfo for more information.
* @param[out]	pDevices	the handle of the device on which to open.
* @return: 		::PsRetOK	if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_OpenDeviceByAlias(const char* alias, PsDeviceHandle* pDevice);

/**
* @brief 		Set the waittime of read next frame.
* @param[in] 	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	time 			The unit is millisecond, the value is in the range (0,65535) and the default value is 350 millisecond.
* You can change the value according to the frame rate. For example,the frame rate is 30, so the theoretical waittime interval is 33ms, but if set the time value is 20ms,
* it means the max wait time is 20 ms when capturing next frame, so when call the Ps2_ReadNextFrame, it may return PsRetReadNextFrameTimeOut(-11).
* so the value range that recommended is [50.350].
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetWaitTimeOfReadNextFrame(PsDeviceHandle device, uint32_t sessionIndex, uint16_t time);

/**
* @brief 		Gets the version of SDK.
* @param[in] 	version 		Pointer to a variable in which to store the returned version value.
* @param[in] 	length 			The maximum length is 63 bytes.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetSDKVersion(char* version, int length);

/**
* @brief 		Returns the point value of the frame that the mapping of the depth image to RGB space.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	pointInDepth	The point in depth frame.
* @param[in]	rgbSize			The size(x = w,y = h) of rgb frame.

* @param[out]	pPointInRGB		The point in the rgb frame.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetMappedPointDepthToRGB(const PsDeviceHandle device, const uint32_t sessionIndex, const PsDepthVector3 depthPoint, const PsVector2u16 rgbSize, PsVector2u16* pPosInRGB);

/**
* @brief		Trigger frame data once in slave mode.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetSlaveTrigger(PsDeviceHandle device, uint32_t sessionIndex);

/**
* @brief 		Gets IP from the device specified by <code>uri</code>. 
* @param[in] 	uri			the uri of the device. See ::PsDeviceInfo for more information.
* @param[out]	ip			Pointer to a buffer in which to store the device IP. the buffer default size is 17, and the last buffer set '\0'. 
* @return: 		::PsRetOK	if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDeviceIP(const char* uri, char* ip);

/**
* @brief 		Gets the MAC from the device specified by <code>device</code>.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[out]	mac				Pointer to a buffer in which to store the device MAC. the buffer default size is 18, and the last buffer set '\0'. 
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetDeviceMAC(PsDeviceHandle device, uint32_t sessionIndex, char* mac);

/**
* @brief 		Sets the RGB brightness.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[in]	value			The value of brightness,in [-64,64].
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetRGBBrightness(PsDeviceHandle device, uint32_t sessionIndex, char value);

/**
* @brief 		Gets the RGB brightness.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[out]	value			The value of brightness,in [-64,64].
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetRGBBrightness(PsDeviceHandle device, uint32_t sessionIndex, char* value);

/**
* @brief 		Sets the maximum exposure time of RGB in AEC.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[in]	value			The value of brightness,in [1,30] and the unit is 1ms.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetRGBMaximumExposureTime(PsDeviceHandle device, uint32_t sessionIndex, uint8_t value);
/**
* @brief 		Gets the maximum exposure time  of RGB in AEC.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[out]	value			The value of brightness,in [1,30] and the unit is 1ms.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetRGBMaximumExposureTime(PsDeviceHandle device, uint32_t sessionIndex, uint8_t* value);

/**
* @brief 		Sets the RGB frequency of power line.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[in]	value			The frequency value of power line, 1:50HZ 2:60HZ
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetRGBFrequencyOfPowerLine(PsDeviceHandle device, uint32_t sessionIndex, uint8_t value);

/**
* @brief 		Gets the RGB frequency of power line.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[out]	value			The frequency value of power line, 1:50HZ 2:60HZ
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetRGBFrequencyOfPowerLine(PsDeviceHandle device, uint32_t sessionIndex, uint8_t* value);

/**
* @brief		Reboot the camera.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_RebootCamera(PsDeviceHandle device, uint32_t sessionIndex);

/**
* @brief		Enables or disables the legacy algorithmic,and default value is disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature.
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetLegacyAlgorithmicEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool enabled);

/**
* @brief		Enables or disables the ConfidenceFilter feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetConfidenceFilterEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool enabled);

/**
* @brief 		Returns the Boolean value of whether the ConfidenceFilter feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetConfidenceFilterEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool* enabled);

/**
* @brief 		Sets the ConfidenceFilter threshold value for the device specified by <code>device</code>. 
* @param[in] 	device			The handle of the device on which to set the threshold. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	threshold		The threshold value to set. 0 will attempt to keep all point data but may not be accurate further away; 1000 is the max value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetConfidenceFilterThreshold(PsDeviceHandle device, uint32_t sessionIndex, uint16_t threshold);

/**
* @brief 		Gets the ConfidenceFilter threshold value for the device specified by <code>device</code>. 
* @param[in] 	device			The handle of the device on which to set the threshold. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	threshold		The threshold value to set. 0 will attempt to keep all point data but may not be accurate further away; 1000 is the max value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetConfidenceFilterThreshold(PsDeviceHandle device, uint32_t sessionIndex, uint16_t* threshold);

/**
* @brief 		Sets the WDR ConfidenceFilter threshold value for the device specified by <code>device</code>. 
* @param[in] 	device			The handle of the device on which to set the threshold. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	threshold		The threshold value to set. 0 will attempt to keep all point data but may not be accurate further away; 1000 is the max value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetWDRConfidenceFilterThreshold(PsDeviceHandle device, uint32_t sessionIndex, PsWDRConfidenceThreshold wdrconfidencethreshold);

/**
* @brief 		Gets the WDR ConfidenceFilter threshold value for the device specified by <code>device</code>. 
* @param[in] 	device			The handle of the device on which to set the threshold. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in] 	threshold		The threshold value to set. 0 will attempt to keep all point data but may not be accurate further away; 1000 is the max value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetWDRConfidenceFilterThreshold(PsDeviceHandle device, uint32_t sessionIndex, PsWDRConfidenceThreshold* wdrconfidencethreshold);

/**
* @brief 		Opens the device specified by <code>ip</code>. The device must be subsequently closed using PsCloseDevice().
* @param[in] 	ip			the ip of the device. See ::PsDeviceInfo for more information.
* @param[out]	pDevices	the handle of the device on which to open.
* @return: 		::PsRetOK	if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_OpenDeviceByIP(const char* ip, PsDeviceHandle* pDevice);

/**
* @brief		Enables or disables the RGB manual exposure feature.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[in]	bEnabled		Set to <code>true</code> to enable the feature or <code>false</code> to disable the feature.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetRGBManualExposureEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool enabled);

/**
* @brief 		Returns the Boolean value of whether the RGB manual exposure feature is enabled or disabled.
* @param[in]	device			The handle of the device on which to enable or disable the feature. 
* @param[in] 	sessionIndex	The index of the session. See ::Ps2_StartStream() & ::Ps2_StopStream() api for more information.
* @param[out]	bEnabled		Pointer to a variable in which to store the returned Boolean value.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetRGBManualExposureEnabled(PsDeviceHandle device, uint32_t sessionIndex, bool* enabled);

/**
* @brief 		Sets the RGB absolute exposure in manual.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[in]	value			The value of brightness,in [1,4000] and the unit is 100us.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_SetRGBAbsoluteExposure(PsDeviceHandle device, uint32_t sessionIndex, uint16_t value);

/**
* @brief 		Gets the RGB absolute exposure in manual.
* @param[in] 	device			The handle of the device.
* @param[in] 	sessionIndex	The index of the session.
* @param[out]	value			The value of brightness,in [1,4000] and the unit is 100us.
* @return 		::PsRetOK		if the function succeeded, or one of the error values defined by ::PsReturnStatus.
*/
VZENSE_C_API_EXPORT PsReturnStatus Ps2_GetRGBAbsoluteExposure(PsDeviceHandle device, uint32_t sessionIndex, uint16_t* value);
#endif /* VZENSE_API_560_H */