Data Structure Definition

// Error codes
enum SYErrorCode
{
    // Success
    SYERRORCODE_SUCCESS = 0,
    // Failure
    SYERRORCODE_FAILED = 1,
    // Device does not exist
    SYERRORCODE_DEVICENOTEXIST = 2,
    // Device not opened
    SYERRORCODE_DEVICENOTOPENED = 3,
    // Unsupported resolution
    SYERRORCODE_UNKOWNRESOLUTION = 4,
    // Device pointer handle is empty
    SYERRORCODE_DEVICEHANDLEEMPTY = 5,
    // Failed to set device output data format
    SYERRORCODE_SETOUTPUTFORMATFAILED = 6,
    // Failed to get video stream control pointer
    SYERRORCODE_GETSTREAMCTRLFAILED = 7,
    // Failed to start video stream
    SYERRORCODE_STARTSTREAMINGFAILED = 8,
    // Communication pointer is empty
    SYERRORCODE_COMMUNICATEOBJECTEMPTY = 9,
    // Invalid SN number
    SYERRORCODE_UNKOWNSN = 10,
    // String length out of range
    SYERRORCODE_STRINGLENGTHOUTRANGE = 11,
    // Invalid frame type
    SYERRORCODE_UNKOWNFRAMETYPE = 12,
    // Invalid device type
    SYERRORCODE_UNKOWNDEVICETYPE = 13,
    // Device object pointer is empty
    SYERRORCODE_DEVICEOBJECTEMPTY = 14,
    // Observer object pointer is empty
    SYERRORCODE_OBSERVEREMPTY = 15,
    // Observer object not found
    SYERRORCODE_OBSERVERNOTFOUND = 16,
    // Count out of range
    SYERRORCODE_COUNTOUTRANGE = 17,
    // UVC initialization failed
    SYERRORCODE_UVCINITFAILED = 18,
    // UVC device search failed
    SYERRORCODE_UVCFINDDEVICEFAILED = 19,
    // No data frame
    SYERRORCODE_NOFRAME = 20,
    // Failed to get application folder path
    SYERRORCODE_GETAPPFOLDERPATHFAILED = 21,
    // Video stream not started
    SYERRORCODE_NOSTREAMING = 22,
    // Algorithm pointer is empty
    SYERRORCODE_RECONSTRUCTIONEMPTY = 23,
    // Video stream already started
    SYERRORCODE_STREAMINGEXIST = 24,
    // Unknown stream type
    SYERRORCODE_UNKOWNSTREAMTYPE = 25,
    // Data pointer is empty
    SYERRORCODE_DATABUFFEREMPTY = 26,
    // Repeated operation
    SYERRORCODE_REPEATED = 27,
    // Firmware version too low, does not support this feature
    SYERRORCODE_FIRMWARE_VERSION_TOO_LOW = 28,
};

// Device types
enum SYDeviceType
{
    // Invalid
    SYDEVICETYPE_NULL = 0,
    // CS30 Dual Frequency
    SYDEVICETYPE_CS30_DUAL,
    // CS30 Single Frequency
    SYDEVICETYPE_CS30_SINGLE,
    // CS20 Dual Frequency
    SYDEVICETYPE_CS20_DUAL,
    // CS20 Single Frequency
    SYDEVICETYPE_CS20_SINGLE,
    // CS20_P
    SYDEVICETYPE_CS20_P,
    // CS40
    SYDEVICETYPE_CS40,
    // CS40PRO
    SYDEVICETYPE_CS40PRO,
};

// Data stream types
enum SYStreamType
{
    // Invalid
    SYSTREAMTYPE_NULL = 0,
    // RAW
    SYSTREAMTYPE_RAW,
    // Depth
    SYSTREAMTYPE_DEPTH,
    // RGB
    SYSTREAMTYPE_RGB,
    // Depth + IR
    SYSTREAMTYPE_DEPTHIR,
    // Depth + RGB
    SYSTREAMTYPE_DEPTHRGB,
    // Depth + IR + RGB
    SYSTREAMTYPE_DEPTHIRRGB,
    // RGBD (mapped depth + RGB)
    SYSTREAMTYPE_RGBD,
    // RAW_RGB
    SYSTREAMTYPE_RAWRGB,
    // RGBD_AI - Not open
    SYSTREAMTYPE_RGBDAI,
};

// Resolution enumeration
enum SYResolution
{
    // Invalid
    SYRESOLUTION_NULL = 0,
    // 320*240
    SYRESOLUTION_320_240,
    // 640*480
    SYRESOLUTION_640_480,
    // 960*540
    SYRESOLUTION_960_540,
    // 1920*1080
    SYRESOLUTION_1920_1080,
    // 1600*1200
    SYRESOLUTION_1600_1200,
};

// Data frame types
enum SYFrameType
{
    // Invalid
    SYFRAMETYPE_NULL = 0,
    // RAW
    SYFRAMETYPE_RAW,
    // Depth
    SYFRAMETYPE_DEPTH,
    // IR
    SYFRAMETYPE_IR,
    // RGB
    SYFRAMETYPE_RGB,
    // AI - Not open
    SYFRAMETYPE_AI,
};

// Supported types
enum SYSupportType
{
    // Invalid
    SYSUPPORTTYPE_NULL = 0,
    // Depth
    SYSUPPORTTYPE_DEPTH,
    // RGB
    SYSUPPORTTYPE_RGB,
    // RGBD
    SYSUPPORTTYPE_RGBD,
    // RGBDAI - Not open
    SYSUPPORTTYPE_RGBDAI,
};

 // Event types
enum SYEventType
{
    // Invalid
    SYEVENTTYPE_NULL = 0,
    // Device connection
    SYEVENTTYPE_DEVICECONNECT,
    // Device disconnection
    SYEVENTTYPE_DEVICEDISCONNECT,
};

// Filter types
enum SYFilterType
{
    // Invalid
    SYFILTERTYPE_NULL = 0,
    // Median
    SYFILTERTYPE_MEDIAN,
    // Amplitude
    SYFILTERTYPE_AMPLITUDE,
    // Edge
    SYFILTERTYPE_EDGE,
    // Speckle
    SYFILTERTYPE_SPECKLE,
    // Okada
    SYFILTERTYPE_OKADA,
    // Edge MAD
    SYFILTERTYPE_EDGE_MAD,
    // Gaussian
    SYFILTERTYPE_GAUSS,
    // Extra
    SYFILTERTYPE_EXTRA,
    // Extra 2
    SYFILTERTYPE_EXTRA2,
    // Edge Sobel
    SYFILTERTYPE_EDGE_SOBEL,
    // IR
    SYFILTERTYPE_IR,
};

// Device information
struct SYDeviceInfo
{
    // Unique device ID
    unsigned int m_nDeviceID = 0;
    // Device type
    SYDeviceType m_deviceType = SYDEVICETYPE_NULL;
    // USB bus
    unsigned int m_nUsbBus = 0;
    // USB ports
    unsigned int m_nUsbPorts[7] = {0};
    unsigned int m_nUsbPortsNumber = 0;
    // USB device address
    unsigned int m_nUsbDeviceAddress = 0;
    // IP
    unsigned int m_nIPAddress = 0;
};

// Event information
struct SYEventInfo
{
    // Event type
    SYEventType m_eventType = SYEVENTTYPE_NULL;
    // Event information data
    void* m_pEventInfo = nullptr;
    // Data length
    int m_nLength = 0;
};

// Data frame information
struct SYFrameInfo
{
    // Frame type
    SYFrameType m_frameType = SYFRAMETYPE_NULL;
    // Height (pixels)
    int m_nFrameHeight = 0;
    // Width (pixels)
    int m_nFrameWidth = 0;
};

// Data frame
struct SYFrameData
{
    // Number of frames
    int m_nFrameCount = 0;
    // Frame information
    SYFrameInfo* m_pFrameInfo = nullptr;
    // Frame data
    void* m_pData = nullptr;
    // Data length
    int m_nBuffferLength = 0;
};

// Point cloud data structure
struct SYPointCloudData
{
    // X
    float m_fltX = 0.f;
    // Y
    float m_fltY = 0.f;
    // Z
    float m_fltZ = 0.f;
};

// Camera parameters structure
struct SYIntrinsics
{
    // Lens field of view
    float m_fltFOV[2];
    // Distortion coefficients
    float m_fltCoeffs[5];
    // Focal distance in x direction
    float m_fltFocalDistanceX;
    // Focal distance in y direction
    float m_fltFocalDistanceY;
    // Imaging center point in x direction, i.e., cx
    float m_fltCenterPointX;
    //
 Imaging center point in y direction, i.e., cy
    float m_fltCenterPointY;
    // Width
    int m_nWidth;
    // Height
    int m_nHeight;
};

// AI model types
enum SYAIModelType
{
    // Invalid
    SYAIMODELTYPE_NULL = 0,
    // Object detection
    SYAIMODELTYPE_DETECT,
    // Face recognition
    SYAIMODELTYPE_FACE,
    // Pose recognition
    SYAIMODELTYPE_POSE,
};

struct SYAIModelInfo
{
    // AI model type
    SYAIModelType m_modelType = SYAIMODELTYPE_NULL;
    // AMS threshold
    float m_fltAMS = 0.5;
    // Box threshold
    float m_fltBox = 0.5;
    // Model file data
    void* m_pFileData = nullptr;
    // Data length
    int m_nFileLength = 0;
};