rs_option.h

/* License: Apache 2.0. See LICENSE file in root directory.
Copyright(c) 2017 Intel Corporation. All Rights Reserved. */

/** \file rs_option.h
* \brief
* Exposes sensor options functionality for C compilers
*/


#ifndef LIBREALSENSE_RS2_OPTION_H
#define LIBREALSENSE_RS2_OPTION_H


#include <stdint.h>


#ifdef __cplusplus
extern "C" {
#endif

#include "rs_types.h"

    /** \brief Defines general configuration controls.
    These can generally be mapped to camera UVC controls, and can be set / queried at any time unless stated otherwise.
    */
    typedef enum rs2_option
    {
        RS2_OPTION_BACKLIGHT_COMPENSATION, /**< Enable / disable color backlight compensation*/
        RS2_OPTION_BRIGHTNESS, /**< Color image brightness*/
        RS2_OPTION_CONTRAST, /**< Color image contrast*/
        RS2_OPTION_EXPOSURE, /**< Controls exposure time of color camera. Setting any value will disable auto exposure*/
        RS2_OPTION_GAIN, /**< Color image gain*/
        RS2_OPTION_GAMMA, /**< Color image gamma setting*/
        RS2_OPTION_HUE, /**< Color image hue*/
        RS2_OPTION_SATURATION, /**< Color image saturation setting*/
        RS2_OPTION_SHARPNESS, /**< Color image sharpness setting*/
        RS2_OPTION_WHITE_BALANCE, /**< Controls white balance of color image. Setting any value will disable auto white balance*/
        RS2_OPTION_ENABLE_AUTO_EXPOSURE, /**< Enable / disable auto-exposure*/
        RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, /**< Enable / disable color image auto-white-balance*/
        RS2_OPTION_VISUAL_PRESET, /**< Provide access to several recommend sets of option presets for the depth camera */
        RS2_OPTION_LASER_POWER, /**< Power of the laser emitter (mW), with 0 meaning projector turned off*/
        RS2_OPTION_ACCURACY, /**< Set the number of patterns projected per frame. The higher the accuracy value the more patterns projected. Increasing the number of patterns help to achieve better accuracy. Note that this control is affecting the Depth FPS */
        RS2_OPTION_MOTION_RANGE, /**< Motion vs. Range trade-off, with lower values allowing for better motion sensitivity and higher values allowing for better depth range*/
        RS2_OPTION_FILTER_OPTION, /**< Set the filter to apply to each depth frame. Each one of the filter is optimized per the application requirements*/
        RS2_OPTION_CONFIDENCE_THRESHOLD, /**< The confidence level threshold used by the Depth algorithm pipe to set whether a pixel will get a valid range or will be marked with invalid range*/
        RS2_OPTION_EMITTER_ENABLED, /**< Emitter select: 0 - disable all emitters. 1 - enable laser. 2 - enable auto laser. 3 - enable LED.*/
        RS2_OPTION_FRAMES_QUEUE_SIZE, /**< Number of frames the user is allowed to keep per stream. Trying to hold-on to more frames will cause frame-drops.*/
        RS2_OPTION_TOTAL_FRAME_DROPS, /**< Total number of detected frame drops from all streams */
        RS2_OPTION_AUTO_EXPOSURE_MODE, /**< Auto-Exposure modes: Static, Anti-Flicker and Hybrid */
        RS2_OPTION_POWER_LINE_FREQUENCY, /**< Power Line Frequency control for anti-flickering Off/50Hz/60Hz/Auto */
        RS2_OPTION_ASIC_TEMPERATURE, /**< Current Asic Temperature */
        RS2_OPTION_ERROR_POLLING_ENABLED, /**< disable error handling */
        RS2_OPTION_PROJECTOR_TEMPERATURE, /**< Current Projector Temperature */
        RS2_OPTION_OUTPUT_TRIGGER_ENABLED, /**< Enable / disable trigger to be outputted from the camera to any external device on every depth frame */
        RS2_OPTION_MOTION_MODULE_TEMPERATURE, /**< Current Motion-Module Temperature */
        RS2_OPTION_DEPTH_UNITS, /**< Number of meters represented by a single depth unit */
        RS2_OPTION_ENABLE_MOTION_CORRECTION, /**< Enable/Disable automatic correction of the motion data */
        RS2_OPTION_AUTO_EXPOSURE_PRIORITY, /**< Allows sensor to dynamically adjust the frame rate depending on lighting conditions */
        RS2_OPTION_COLOR_SCHEME, /**< Color scheme for data visualization */
        RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED, /**< Perform histogram equalization post-processing on the depth data */
        RS2_OPTION_MIN_DISTANCE, /**< Minimal distance to the target */
        RS2_OPTION_MAX_DISTANCE, /**< Maximum distance to the target */
        RS2_OPTION_TEXTURE_SOURCE, /**< Texture mapping stream unique ID */
        RS2_OPTION_FILTER_MAGNITUDE, /**< The 2D-filter effect. The specific interpretation is given within the context of the filter */
        RS2_OPTION_FILTER_SMOOTH_ALPHA, /**< 2D-filter parameter controls the weight/radius for smoothing.*/
        RS2_OPTION_FILTER_SMOOTH_DELTA, /**< 2D-filter range/validity threshold*/
        RS2_OPTION_HOLES_FILL, /**< Enhance depth data post-processing with holes filling where appropriate*/
        RS2_OPTION_STEREO_BASELINE, /**< The distance in mm between the first and the second imagers in stereo-based depth cameras*/
        RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP, /**< Allows dynamically adjust the converge step value of the target exposure in Auto-Exposure algorithm*/
        RS2_OPTION_INTER_CAM_SYNC_MODE, /**< Impose Inter-camera HW synchronization mode. Applicable for D400/L500/Rolling Shutter SKUs */
        RS2_OPTION_STREAM_FILTER, /**< Select a stream to process */
        RS2_OPTION_STREAM_FORMAT_FILTER, /**< Select a stream format to process */
        RS2_OPTION_STREAM_INDEX_FILTER, /**< Select a stream index to process */
        RS2_OPTION_EMITTER_ON_OFF, /**< When supported, this option make the camera to switch the emitter state every frame. 0 for disabled, 1 for enabled */
        RS2_OPTION_ZERO_ORDER_POINT_X, /**< Deprecated!!! - Zero order point x*/
        RS2_OPTION_ZERO_ORDER_POINT_Y, /**< Deprecated!!! - Zero order point y*/
        RS2_OPTION_LLD_TEMPERATURE, /**< LDD temperature*/
        RS2_OPTION_MC_TEMPERATURE, /**< MC temperature*/
        RS2_OPTION_MA_TEMPERATURE, /**< MA temperature*/
        RS2_OPTION_HARDWARE_PRESET, /**< Hardware stream configuration */
        RS2_OPTION_GLOBAL_TIME_ENABLED, /**< disable global time  */
        RS2_OPTION_APD_TEMPERATURE, /**< APD temperature*/
        RS2_OPTION_ENABLE_MAPPING, /**< Enable an internal map */
        RS2_OPTION_ENABLE_RELOCALIZATION, /**< Enable appearance based relocalization */
        RS2_OPTION_ENABLE_POSE_JUMPING, /**< Enable position jumping */
        RS2_OPTION_ENABLE_DYNAMIC_CALIBRATION, /**< Enable dynamic calibration */
        RS2_OPTION_DEPTH_OFFSET, /**< Offset from sensor to depth origin in millimetrers*/
        RS2_OPTION_LED_POWER, /**< Power of the LED (light emitting diode), with 0 meaning LED off*/
        RS2_OPTION_ZERO_ORDER_ENABLED, /**< DEPRECATED! - Toggle Zero-Order mode */
        RS2_OPTION_ENABLE_MAP_PRESERVATION, /**< Preserve previous map when starting */
        RS2_OPTION_FREEFALL_DETECTION_ENABLED, /**< Enable/disable sensor shutdown when a free-fall is detected (on by default) */
        RS2_OPTION_AVALANCHE_PHOTO_DIODE, /**< Changes the exposure time of Avalanche Photo Diode in the receiver */
        RS2_OPTION_POST_PROCESSING_SHARPENING,  /**< Changes the amount of sharpening in the post-processed image */
        RS2_OPTION_PRE_PROCESSING_SHARPENING, /**< Changes the amount of sharpening in the pre-processed image */
        RS2_OPTION_NOISE_FILTERING, /**< Control edges and background noise */
        RS2_OPTION_INVALIDATION_BYPASS, /**< Enable\disable pixel invalidation */
        RS2_OPTION_AMBIENT_LIGHT, /**< DEPRECATED! - Use RS2_OPTION_DIGITAL_GAIN instead. */
        RS2_OPTION_DIGITAL_GAIN = RS2_OPTION_AMBIENT_LIGHT, /**< Change the depth digital gain see rs2_digital_gain for values */
        RS2_OPTION_SENSOR_MODE, /**< DEPRECATED! - The resolution mode: see rs2_sensor_mode for values */
        RS2_OPTION_EMITTER_ALWAYS_ON, /**< Enable Laser On constantly (GS SKU Only) */
        RS2_OPTION_THERMAL_COMPENSATION, /**< Depth Thermal Compensation for selected D400 SKUs */
        RS2_OPTION_TRIGGER_CAMERA_ACCURACY_HEALTH, /**< DEPRECATED as of 2.46! */
        RS2_OPTION_RESET_CAMERA_ACCURACY_HEALTH, /**< DEPRECATED as of 2.46! */
        RS2_OPTION_HOST_PERFORMANCE, /**< Set host performance mode to optimize device settings so host can keep up with workload, for example, USB transaction granularity, setting option to low performance host leads to larger USB transaction size and reduced number of transactions which improves performance and stability if host is relatively weak as compared to workload */
        RS2_OPTION_HDR_ENABLED,  /**< Enable / disable HDR */
        RS2_OPTION_SEQUENCE_NAME, /**< HDR Sequence name */
        RS2_OPTION_SEQUENCE_SIZE, /**< HDR Sequence size */
        RS2_OPTION_SEQUENCE_ID, /**< HDR Sequence ID - 0 is not HDR; sequence ID for HDR configuration starts from 1 */
        RS2_OPTION_HUMIDITY_TEMPERATURE, /**< Humidity temperature [Deg Celsius]*/
        RS2_OPTION_ENABLE_MAX_USABLE_RANGE, /**< Turn on/off the maximum usable depth sensor range given the amount of ambient light in the scene */
        RS2_OPTION_ALTERNATE_IR, /**< Turn on/off the alternate IR, When enabling alternate IR, the IR image is holding the amplitude of the depth correlation. */
        RS2_OPTION_NOISE_ESTIMATION,  /**< Noise estimation - indicates the noise on the IR image */
        RS2_OPTION_ENABLE_IR_REFLECTIVITY, /**< Enables data collection for calculating IR pixel reflectivity  */
        RS2_OPTION_AUTO_EXPOSURE_LIMIT, /**< Set and get auto exposure limit in microseconds. If the requested exposure limit is greater than frame time, it will be set to frame time at runtime. Setting will not take effect until next streaming session. */
        RS2_OPTION_AUTO_GAIN_LIMIT, /**< Set and get auto gain limits ranging from 16 to 248. If the requested gain limit is less than 16, it will be set to 16. If the requested gain limit is greater than 248, it will be set to 248. Setting will not take effect until next streaming session. */
        RS2_OPTION_AUTO_RX_SENSITIVITY, /**< Enable receiver sensitivity according to ambient light, bounded by the Receiver Gain control. */
        RS2_OPTION_TRANSMITTER_FREQUENCY, /**< changes the transmitter frequencies increasing effective range over sharpness. */
        RS2_OPTION_VERTICAL_BINNING, /**< Enables vertical binning which increases the maximal sensed distance. */
        RS2_OPTION_RECEIVER_SENSITIVITY, /**< Control receiver sensitivity to incoming light, both projected and ambient (same as APD on L515). */
        RS2_OPTION_AUTO_EXPOSURE_LIMIT_TOGGLE, /**< Enable / disable color image auto-exposure*/
        RS2_OPTION_AUTO_GAIN_LIMIT_TOGGLE, /**< Enable / disable color image auto-gain*/
        RS2_OPTION_EMITTER_FREQUENCY, /**< Select emitter (laser projector) frequency, see rs2_emitter_frequency for values */
        RS2_OPTION_DEPTH_AUTO_EXPOSURE_MODE, /**< Select depth sensor auto exposure mode see rs2_depth_auto_exposure_mode for values  */
        RS2_OPTION_OHM_TEMPERATURE, /**< Temperature of the Optical Head Sensor */
        RS2_OPTION_SOC_PVT_TEMPERATURE, /**< Temperature of PVT SOC */
        RS2_OPTION_GYRO_SENSITIVITY,/**< Control of the gyro sensitivity level, see rs2_gyro_sensitivity for values */
        RS2_OPTION_REGION_OF_INTEREST,/**< The rectangular area used from the streaming profile */
        RS2_OPTION_ROTATION,/**Rotates frames*/
        RS2_OPTION_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
    } rs2_option;

    /**
    * Returns the option name if the option exists, or "UNKNOWN" otherwise.
    * See rs2_option_from_string() for the reverse.
    * \param[in] option    the option identifier
    */
    const char* rs2_option_to_string(rs2_option option);

    /**
    * Get the specific rs2_option identifier given its name if found, or RS2_OPTION_COUNT if not.
    * See rs2_option_to_string() for the reverse.
    * \param[in] option_name    the case-sensitive option name
    */
    rs2_option rs2_option_from_string( const char * option_name );

    /** \brief Defines known option value types.
    */
    typedef enum rs2_option_type
    {
        RS2_OPTION_TYPE_INTEGER, /**< 64-bit signed integer value */
        RS2_OPTION_TYPE_FLOAT,
        RS2_OPTION_TYPE_STRING,
        RS2_OPTION_TYPE_BOOLEAN,
        RS2_OPTION_TYPE_RECT,

        RS2_OPTION_TYPE_COUNT

    } rs2_option_type;

    /**
    * Returns the option type as a string, or "UNKNOWN" otherwise.
    * \param[in] type    the option type identifier
    */
    const char * rs2_option_type_to_string( rs2_option_type type );

    /**
    * A rectangle expressed in 64 bits, used with rs2_option_value::as_rect.
    * Same semantics as rs2_set_region_of_interest.
    */
    typedef struct rs2_option_rect
    {
        int16_t x1, y1;
        int16_t x2, y2;
    } rs2_option_rect;

    /** \brief The value of an option, in a known option type.
    */
    typedef struct rs2_option_value
    {
        rs2_option id;
        int is_valid;                     /**< 0 if no value available; 1 otherwise */
        rs2_option_type type;
#pragma pack(push,1)
        union
        {
            char const * as_string;       /**< valid only while rs2_option_value is alive! */
            float as_float;
            int64_t as_integer;           /**< including boolean value */
            rs2_option_rect as_rect;
        };
#pragma pack(pop)
    } rs2_option_value;

    /** \brief For SR300 devices: provides optimized settings (presets) for specific types of usage. */
    typedef enum rs2_sr300_visual_preset
    {
        RS2_SR300_VISUAL_PRESET_SHORT_RANGE, /**< Preset for short range */
        RS2_SR300_VISUAL_PRESET_LONG_RANGE, /**< Preset for long range */
        RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION, /**< Preset for background segmentation */
        RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION, /**< Preset for gesture recognition */
        RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING, /**< Preset for object scanning */
        RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS, /**< Preset for face analytics */
        RS2_SR300_VISUAL_PRESET_FACE_LOGIN, /**< Preset for face login */
        RS2_SR300_VISUAL_PRESET_GR_CURSOR, /**< Preset for GR cursor */
        RS2_SR300_VISUAL_PRESET_DEFAULT, /**< Camera default settings */
        RS2_SR300_VISUAL_PRESET_MID_RANGE, /**< Preset for mid-range */
        RS2_SR300_VISUAL_PRESET_IR_ONLY, /**< Preset for IR only */
        RS2_SR300_VISUAL_PRESET_COUNT                           /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
    } rs2_sr300_visual_preset;
    const char* rs2_sr300_visual_preset_to_string(rs2_sr300_visual_preset preset);

    /** \brief For RS400 devices: provides optimized settings (presets) for specific types of usage. */
    typedef enum rs2_rs400_visual_preset
    {
        RS2_RS400_VISUAL_PRESET_CUSTOM,
        RS2_RS400_VISUAL_PRESET_DEFAULT,
        RS2_RS400_VISUAL_PRESET_HAND,
        RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY,
        RS2_RS400_VISUAL_PRESET_HIGH_DENSITY,
        RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY,
        RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN,
        RS2_RS400_VISUAL_PRESET_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
    } rs2_rs400_visual_preset;
    const char* rs2_rs400_visual_preset_to_string(rs2_rs400_visual_preset preset);

    /** \brief For L500 devices: provides optimized settings (presets) for specific types of usage. */
    typedef enum rs2_l500_visual_preset
    {
        RS2_L500_VISUAL_PRESET_CUSTOM,
        RS2_L500_VISUAL_PRESET_DEFAULT,
        RS2_L500_VISUAL_PRESET_NO_AMBIENT,
        RS2_L500_VISUAL_PRESET_LOW_AMBIENT,
        RS2_L500_VISUAL_PRESET_MAX_RANGE,
        RS2_L500_VISUAL_PRESET_SHORT_RANGE,
        RS2_L500_VISUAL_PRESET_AUTOMATIC,
        RS2_L500_VISUAL_PRESET_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
    } rs2_l500_visual_preset;
    const char* rs2_l500_visual_preset_to_string(rs2_l500_visual_preset preset);

    /** \brief DEPRECATED! - For setting the camera_mode option */
    typedef enum rs2_sensor_mode
    {
        RS2_SENSOR_MODE_VGA,
        RS2_SENSOR_MODE_XGA,
        RS2_SENSOR_MODE_QVGA,
        RS2_SENSOR_MODE_COUNT /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
    } rs2_sensor_mode;
    const char* rs2_sensor_mode_to_string(rs2_sensor_mode preset);

    /** \brief  DEPRECATED! - Use RS2_OPTION_DIGITAL_GAIN instead. */
    typedef enum rs2_ambient_light
    {
        RS2_AMBIENT_LIGHT_NO_AMBIENT = 1,
        RS2_AMBIENT_LIGHT_LOW_AMBIENT = 2,
    } rs2_ambient_light;
    const char* rs2_ambient_light_to_string(rs2_ambient_light preset);

    /** \brief digital gain for RS2_OPTION_DIGITAL_GAIN option. */
    typedef enum rs2_digital_gain
    {
        RS2_DIGITAL_GAIN_AUTO = 0,
        RS2_DIGITAL_GAIN_HIGH = 1,
        RS2_DIGITAL_GAIN_LOW = 2,
    } rs2_digital_gain;
    const char* rs2_digital_gain_to_string(rs2_digital_gain preset);

    /** \brief values for RS2_OPTION_HOST_PERFORMANCE option. */
    typedef enum rs2_host_perf_mode
    {
        RS2_HOST_PERF_DEFAULT = 0,  /**< no change in settings, use device defaults */
        RS2_HOST_PERF_LOW = 1,      /**< low performance host mode, if host cannot keep up with workload, this option may improve stability, for example, it sets larger USB transaction granularity, reduces number of transactions and improve performance and stability on relatively weak hosts as compared to the workload */
        RS2_HOST_PERF_HIGH = 2,     /**< high performance host mode, if host is strong as compared to the work and can handle workload without delay, this option sets smaller USB transactions granularity and as result larger number of transactions and workload on host, but reduces chance in device frame drops */
        RS2_HOST_PERF_COUNT         /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
    } rs2_host_perf_mode;
    const char* rs2_host_perf_mode_to_string( rs2_host_perf_mode perf );

    /** \brief values for RS2_EMITTER_FREQUENCY option. */
    typedef enum rs2_emitter_frequency_mode
    {
        RS2_EMITTER_FREQUENCY_57_KHZ = 0,  /**< Emitter frequency shall be 57 [KHZ] */
        RS2_EMITTER_FREQUENCY_91_KHZ = 1,  /**< Emitter frequency shall be 91 [KHZ] */
        RS2_EMITTER_FREQUENCY_COUNT        /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
    } rs2_emitter_frequency_mode;
    const char* rs2_emitter_frequency_mode_to_string( rs2_emitter_frequency_mode mode );

    /** \brief values for RS2_OPTION_DEPTH_AUTO_EXPOSURE_MODE option. */
    typedef enum rs2_depth_auto_exposure_mode
    {
        RS2_DEPTH_AUTO_EXPOSURE_REGULAR = 0,  /**< Choose regular algorithm for auto exposure */
        RS2_DEPTH_AUTO_EXPOSURE_ACCELERATED = 1,  /**< Choose accelerated algorithm for auto exposure */
        RS2_DEPTH_AUTO_EXPOSURE_COUNT        /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
    } rs2_depth_auto_exposure_mode;
    const char* rs2_depth_auto_exposure_mode_to_string( rs2_depth_auto_exposure_mode mode );

      /** \brief values for RS2_OPTION_GYRO_SENSITIVITY option. */
    typedef enum rs2_gyro_sensitivity
    {
        RS2_GYRO_SENSITIVITY_61_0_MILLI_DEG_SEC = 0,
        RS2_GYRO_SENSITIVITY_30_5_MILLI_DEG_SEC = 1,
        RS2_GYRO_SENSITIVITY_15_3_MILLI_DEG_SEC = 2,
        RS2_GYRO_SENSITIVITY_7_6_MILLI_DEG_SEC = 3,
        RS2_GYRO_SENSITIVITY_3_8_MILLI_DEG_SEC = 4,
        RS2_GYRO_SENSITIVITY_COUNT
    } rs2_gyro_sensitivity;
    const char * rs2_gyro_sensitivity_to_string( rs2_gyro_sensitivity mode );

    /**
    * check if an option is read-only
    * \param[in] options  the options container
    * \param[in] option   option id to be checked
    * \param[out] error   if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return true if option is read-only
    */
    int rs2_is_option_read_only(const rs2_options* options, rs2_option option, rs2_error** error);

    /**
    * read option value from the sensor
    * \param[in] options  the options container
    * \param[in] option   option id to be queried
    * \param[out] error   if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return value of the option
    */
    float rs2_get_option(const rs2_options* options, rs2_option option, rs2_error** error);

    /**
    * read option value from the sensor
    * \param[in] options    the options container
    * \param[in] option_id  option id to be queried
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return pointer to the value structure of the option; use rs2_delete_option_value to clean up
    */
    rs2_option_value const * rs2_get_option_value( const rs2_options * options, rs2_option option_id, rs2_error ** error );

    /**
    * write new value to sensor option
    * \param[in] options    the options container
    * \param[in] option     option id to be queried
    * \param[in] value      new value for the option
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    */
    void rs2_set_option(const rs2_options* options, rs2_option option, float value, rs2_error** error);

    /**
    * write new value to sensor option
    * \param[in] options       the options container
    * \param[in] option_value  option id, type, and value to be set
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    */
    void rs2_set_option_value( rs2_options const * options, rs2_option_value const * option_value, rs2_error ** error );

   /**
   * get the list of supported options of options container
   * \param[in] options    the options container
   * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
   */
    rs2_options_list* rs2_get_options_list(const rs2_options* options, rs2_error** error);

    /**
   * get the size of options list
   * \param[in] options    the option list
   * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
   */
    int rs2_get_options_list_size(const rs2_options_list* options, rs2_error** error);

    /**
    * get option name
    * \param[in] options    the options container
    * \param[in] option     option id to be checked
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return human-readable option name
    */
    const char* rs2_get_option_name(const rs2_options* options, rs2_option option, rs2_error** error);

    /**
    * get the specific option from options list
    * \param[in] i    the index of the option
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return the option ID
    */
    rs2_option rs2_get_option_from_list(const rs2_options_list* options, int i, rs2_error** error);

    /**
    * get the specific option from options list
    * \param[in] i    the index of the option
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return temporary (goes away with the options-list) pointer to the option-value struct
    */
    rs2_option_value const * rs2_get_option_value_from_list( const rs2_options_list * options, int i, rs2_error ** error );

    /**
    * Clean up a value and all it points to
    * \param[in] handle value to delete
    */
    void rs2_delete_option_value( rs2_option_value const * handle );

    /**
    * Deletes options list
    * \param[in] list list to delete
    */
    void rs2_delete_options_list(rs2_options_list* list);

    /**
    * check if particular option is supported by a subdevice
    * \param[in] options    the options container
    * \param[in] option     option id to be checked
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return true if option is supported
    */
    int rs2_supports_option(const rs2_options* options, rs2_option option, rs2_error** error);

    /**
    * retrieve the available range of values of a supported option
    * \param[in] sensor  the RealSense device
    * \param[in] option  the option whose range should be queried
    * \param[out] min    the minimum value which will be accepted for this option
    * \param[out] max    the maximum value which will be accepted for this option
    * \param[out] step   the granularity of options which accept discrete values, or zero if the option accepts continuous values
    * \param[out] def    the default value of the option
    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    */
    void rs2_get_option_range(const rs2_options* sensor, rs2_option option, float* min, float* max, float* step, float* def, rs2_error** error);

    /**
    * get option description
    * \param[in] options    the options container
    * \param[in] option     option id to be checked
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return human-readable option description
    */
    const char* rs2_get_option_description(const rs2_options* options, rs2_option option, rs2_error ** error);

    /**
    * get option value description (in case specific option value hold special meaning)
    * \param[in] options    the options container
    * \param[in] option     option id to be checked
    * \param[in] value      value of the option
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    * \return human-readable description of a specific value of an option or null if no special meaning
    */
    const char* rs2_get_option_value_description(const rs2_options* options, rs2_option option, float value, rs2_error ** error);

    /**
    * Sets a callback in case an option in this options container value is updated.
    * Will create a thread that will periodically check the options in the container for updates.
    * The update period is determined by the context's 'options-update-interval' setting.
    * \param[in] options    the options container
    * \param[in] callback   callback function pointer to update on value changes
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    */
    void rs2_set_options_changed_callback( rs2_options * options,
                                           rs2_options_changed_callback_ptr callback,
                                           rs2_error ** error );

    /**
    * Sets a callback in case an option in this options container value is updated
    * \param[in] options    the options container
    * \param[in] callback   callback object created from c++ application. ownership over the callback object is moved to librealsense
    * \param[out] error     if non-null, receives any error that occurs during this call, otherwise, errors are ignored
    */
    void rs2_set_options_changed_callback_cpp( rs2_options * options,
                                               rs2_options_changed_callback * callback,
                                               rs2_error ** error );

#ifdef __cplusplus
}
#endif
#endif