index.js

// Copyright (c) 2017 Intel Corporation. All rights reserved.
// Use of this source code is governed by an Apache 2.0 license
// that can be found in the LICENSE file.

'use strict';

const RS2 = require('bindings')('node_librealsense');
const EventEmitter = require('events');
const PNG = require('pngjs').PNG;
const fs = require('fs');

/**
 * UnrecoverableError is the type of error that jeopardized the modue that restart
 * is needed.
 */
class UnrecoverableError extends Error {
  constructor(message) {
    super('Unrecoverable! '+ message);
  }
}

// TODO(tingshao): resolve the potential disabled eslint errors
/* eslint-disable prefer-rest-params, valid-jsdoc, no-unused-vars, camelcase */
/**
 * A RealSense camera
 */
class Device {
  constructor(cxxDev, autoDelete = true) {
    this.cxxDev = cxxDev;
    if (autoDelete) {
      internal.addObject(this);
    }
  }

  /**
   * Check if everything is OK, e.g. if the device object is connected to underlying hardware
   * @return {Boolean}
   */
  get isValid() {
    return (this.cxxDev !== null);
  }

  /**
   * get an array of adjacent sensors, sharing the same physical parent composite device
   * @return {Sensor[]}
   */
  querySensors() {
    let sensors = this.cxxDev.querySensors();
    if (!sensors) return undefined;

    const array = [];
    sensors.forEach((s) => {
      if (s.is(RS2.RS2_EXTENSION_DEPTH_SENSOR)) {
        array.push(new DepthSensor(s));
      } else if (s.is(RS2.RS2_EXTENSION_COLOR_SENSOR)) {
        array.push(new ColorSensor(s));
      } else if (s.is(RS2.RS2_EXTENSION_MOTION_SENSOR)) {
        array.push(new MotionSensor(s));
      } else if (s.is(RS2.RS2_EXTENSION_FISHEYE_SENSOR)) {
        array.push(new FisheyeSensor(s));
      } else {
        array.push(new Sensor(s));
      }
    });
    return array;
  }

  /**
   * Get the first sensor
   * @return {Sensor|undefined}
   */
  get first() {
    let sensors = this.querySensors();
    if (sensors && sensors.length > 0) {
      return sensors[0];
    }
    return undefined;
  }

  /**
   * Information that can be queried from the device.
   * Not all information attributes are available on all camera types.
   * This information is mainly available for camera debug and troubleshooting and should not be
   * used in applications.
   * @typedef {Object} CameraInfoObject
   * @property {String|undefined} name - Device friendly name. <br> undefined is not
   * supported.
   * @property {String|undefined} serialNumber - Device serial number. <br> undefined is not
   * supported.
   * @property {String|undefined} firmwareVersion - Primary firmware version.
   * <br> undefined is not supported.
   * @property {String|undefined} physicalPort - Unique identifier of the port the device is
   * connected to (platform specific). <br> undefined is not supported.
   * @property {String|undefined} debugOpCode - If device supports firmware logging, this is the
   * command to send to get logs from firmware. <br> undefined is not supported.
   * @property {String|undefined} advancedMode - True if the device is in advanced mode.
   * <br> undefined is not supported.
   * @property {String|undefined} productId - Product ID as reported in the USB descriptor.
   * <br> undefined is not supported.
   * @property {Boolean|undefined} cameraLocked - True if EEPROM is locked. <br> undefined is not
   * supported.
   * @property {String|undefined} usbTypeDescriptor - Designated USB specification: USB2/USB3.
   * <br> undefined is not supported.
   * @property {String|undefined} recommendedFirmwareVersion - Latest firmware version.
   * <br> undefined is not supported.
   * @see [Device.getCameraInfo()]{@link Device#getCameraInfo}
   */

  /**
   * Get camera information
   * There are 2 acceptable forms of syntax:
   * <pre><code>
   *  Syntax 1. getCameraInfo()
   *  Syntax 2. getCameraInfo(info)
   * </code></pre>
   *
   * @param {String|Integer} [info] - the camera_info type, see {@link camera_info} for available
   * values
   * @return {CameraInfoObject|String|undefined} if no argument is provided, {CameraInfoObject} is
   * returned. If a camera_info is provided, the specific camera info value string is returned.
   */
  getCameraInfo(info) {
    const funcName = 'Device.getCameraInfo()';
    checkArgumentLength(0, 1, arguments.length, funcName);
    if (arguments.length === 0) {
      let result = {};
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_NAME)) {
        result.name = this.cxxDev.getCameraInfo(camera_info.CAMERA_INFO_NAME);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_SERIAL_NUMBER)) {
        result.serialNumber = this.cxxDev.getCameraInfo(camera_info.CAMERA_INFO_SERIAL_NUMBER);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_FIRMWARE_VERSION)) {
        result.firmwareVersion = this.cxxDev.getCameraInfo(
            camera_info.CAMERA_INFO_FIRMWARE_VERSION);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_PHYSICAL_PORT)) {
        result.physicalPort = this.cxxDev.getCameraInfo(camera_info.CAMERA_INFO_PHYSICAL_PORT);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_DEBUG_OP_CODE)) {
        result.debugOpCode = this.cxxDev.getCameraInfo(camera_info.CAMERA_INFO_DEBUG_OP_CODE);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_ADVANCED_MODE)) {
        result.advancedMode = this.cxxDev.getCameraInfo(camera_info.CAMERA_INFO_ADVANCED_MODE);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_PRODUCT_ID)) {
        result.productId = this.cxxDev.getCameraInfo(camera_info.CAMERA_INFO_PRODUCT_ID);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_CAMERA_LOCKED)) {
        result.cameraLocked = this.cxxDev.getCameraInfo(camera_info.CAMERA_INFO_CAMERA_LOCKED);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_USB_TYPE_DESCRIPTOR)) {
        result.usbTypeDescriptor = this.cxxDev.getCameraInfo(
            camera_info.CAMERA_INFO_USB_TYPE_DESCRIPTOR);
      }
      if (this.cxxDev.supportsCameraInfo(camera_info.CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION)) {
        result.recommendedFirmwareVersion = this.cxxDev.getCameraInfo(
            camera_info.CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION);
      }
      return result;
    } else {
      const val = checkArgumentType(arguments, constants.camera_info, 0, funcName);
      return (this.cxxDev.supportsCameraInfo(val) ? this.cxxDev.getCameraInfo(val) : undefined);
    }
  }

  get cameraInfo() {
    return this.getCameraInfo();
  }

  /**
   * Check if specific camera info is supported.
   * @param {String|Integer} info - info type to query. See {@link camera_info} for available values
   * @return {Boolean|undefined} Returns undefined if an invalid info type was specified.
   * @see enum {@link camera_info}
   * @example <caption>Example of 3 equivalent calls of the same query</caption>
   * device.supportsCameraInfo('name');
   * device.supportsCameraInfo(realsense2.camera_info.camera_info_name);
   * device.supportsCameraInfo(realsense2.camera_info.CAMERA_INFO_NAME);
   */
  supportsCameraInfo(info) {
    const funcName = 'Device.supportsCameraInfo()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.camera_info, 0, funcName);
    return this.cxxDev.supportsCameraInfo(i);
  }

  /**
   * Send hardware reset request to the device.
   * @return {undefined}
   */
  reset() {
    this.cxxDev.reset();
  }

  /**
   * Release resources associated with the object
   */
  destroy() {
    if (this.cxxDev) {
      this.cxxDev.destroy();
      this.cxxDev = undefined;
    }
    this._events = undefined;
  }

  static _internalCreateDevice(cxxDevice) {
    return cxxDevice.isTm2() ? new Tm2(cxxDevice) : new Device(cxxDevice);
  }
}

/**
 * This class represents the tm2 device
 */
class Tm2 extends Device {
  constructor(dev) {
    super(dev);
  }

  /**
   * Enter the given device into loopback operation mode that uses the given file as input for
   * raw data
   * @param {String} file Path to bag file with raw data for loopback
   * @return {undefined}
   */
  enableLoopback(file) {
    const funcName = 'Tm2.enableLoopback()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    checkFileExistence(file);
    this.cxxDev.enableLoopback(file);
  }

  /**
   * Restores the given device into normal operation mode
   * @return {undefined}
   */
  disableLoopback() {
    this.cxxDev.disableLoopback();
  }

  /**
   * Checks if the device is in loopback mode or not
   * @return {Boolean}
   */
  get loopbackEnabled() {
    return this.cxxDev.isLoopbackEnabled();
  }
}

/**
 * Class represents a stream configuration
 */
class StreamProfile {
  constructor(cxxProfile) {
    this.cxxProfile = cxxProfile;
    this.streamValue = this.cxxProfile.stream();
    this.formatValue = this.cxxProfile.format();
    this.fpsValue = this.cxxProfile.fps();
    this.indexValue = this.cxxProfile.index();
    this.uidValue = this.cxxProfile.uniqueID();
    this.isDefaultValue = this.cxxProfile.isDefault();
  }

  /**
   * Get stream index the input profile in case there are multiple streams of the same type
   *
   * @return {Integer}
   */
  get streamIndex() {
    return this.indexValue;
  }

  /**
   * Get stream type
   *
   * @return {Integer}
   */
  get streamType() {
    return this.streamValue;
  }

  /**
   * Get binary data format
   *
   * @return {Integer}
   */
  get format() {
    return this.formatValue;
  }

  /**
   * Expected rate for data frames to arrive, meaning expected number of frames per second
   *
   * @return {Integer}
   */
  get fps() {
    return this.fpsValue;
  }

  /**
   * Get the identifier for the stream profile, unique within the application
   *
   * @return {Integer}
   */
  get uniqueID() {
    return this.uidValue;
  }

  /**
   * Returns non-zero if selected profile is recommended for the sensor
   * This is an optional hint we offer to suggest profiles with best performance-quality tradeof
   *
   * @return {Boolean}
   */
  get isDefault() {
    return this.isDefaultValue;
  }

  /**
   * Extrinsics:
   * @typedef {Object} ExtrinsicsObject
   * @property {Float32[]} rotation - Array(9), Column-major 3x3 rotation matrix
   * @property {Float32[]} translation - Array(3), Three-element translation vector, in meters
   * @see [StreamProfile.getExtrinsicsTo()]{@link StreamProfile#getExtrinsicsTo}
   */

  /**
   * Get extrinsics from a this stream to the target stream
   *
   * @param {StreamProfile} toProfile the target stream profile
   * @return {ExtrinsicsObject}
   */
  getExtrinsicsTo(toProfile) {
    const funcName = 'StreamProfile.getExtrinsicsTo()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, StreamProfile, 0, funcName);
    return this.cxxProfile.getExtrinsicsTo(toProfile.cxxProfile);
  }

  destroy() {
    if (this.cxxProfile) {
      this.cxxProfile.destroy();
      this.cxxProfile = undefined;
    }
  }

  static _internalCreateStreamProfile(cxxProfile) {
    if (cxxProfile.isMotionProfile()) {
      return new MotionStreamProfile(cxxProfile);
    } else if (cxxProfile.isVideoProfile()) {
      return new VideoStreamProfile(cxxProfile);
    } else {
      return new StreamProfile(cxxProfile);
    }
  }
}

/**
 * Motion intrinsics: scale, bias, and variances.
 * @typedef {Object} MotionIntrinsics
 * @property {Float32[]} data - Array(12), Interpret data array values. Indices are:
 *   <br>[0 - Scale X, 1 - cross axis, 2 - cross axis, 3 - Bias X,
 *   <br> 4 - cross axis, 5 - Scale Y, 6 - cross axis, 7 - Bias Y,
 *   <br> 8 - cross axis, 9 - cross axis, 10 - Scale Z, 11 - Bias Z]
 * @property {Float32[]} noiseVariances - Array(3), Variance of noise for X, Y, and Z axis
 * @property {Float32[]} biasVariances - Array(3), Variance of bias for X, Y, and Z axis
 * @see [MotionStreamProfile.getMotionIntrinsics()]{@link MotionStreamProfile#getMotionIntrinsics}
 */

/**
 * This represent the stream profile of motion stream
 */
class MotionStreamProfile extends StreamProfile {
  constructor(cxxProfile) {
    super(cxxProfile);
  }

  /**
   * Returns scale and bias of a motion stream.
   * @return {MotionIntrinsics} {@link MotionIntrinsics}
   */
  getMotionIntrinsics() {
    return this.cxxProfile.getMotionIntrinsics();
  }
}

/**
 * List of devices
 */
class DeviceList {
  constructor(cxxList) {
    this.cxxList = cxxList;
    internal.addObject(this);
  }

  /**
   * Release resources associated with the object
   */
  destroy() {
    if (this.cxxList) {
      this.cxxList.destroy();
      this.cxxList = undefined;
    }
  }

  /**
   * Checks if a specific device is contained inside a device list.
   *
   * @param {Device} device the camera to be checked
   * @return {Boolean} true if the camera is contained in the list, otherwise false
   */
  contains(device) {
    const funcName = 'DeviceList.contains()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, Device, 0, funcName);
    return this.cxxList.contains(device.cxxDev);
  }

  /**
   * Creates a device by index. The device object represents a physical camera and provides the
   * means to manipulate it.
   *
   * @param {Integer} index the zero based index of the device in the device list
   * @return {Device|undefined}
   */
  getDevice(index) {
    const funcName = 'DeviceList.getDevice()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'number', 0, funcName, 0, this.size);
    let dev = this.cxxList.getDevice(index);
    return dev ? Device._internalCreateDevice(dev) : undefined;
  }

  get devices() {
    let len = this.cxxList.size();
    if (!len) {
      return undefined;
    }
    let output = [];
    for (let i = 0; i < len; i++) {
      output[i] = Device._internalCreateDevice(this.cxxList.getDevice(i));
    }
    return output;
  }
  /**
   * Determines number of devices in a list.
   * @return {Integer}
   */
  get size() {
    return this.cxxList.size();
  }

  /**
   * Get the first device
   * @return {Device|undefined}
   */
  get front() {
    return this.getDevice(0);
  }

  /**
   * Get the last device
   * @return {Device|undefined}
   */
  get back() {
    if (this.size > 0) {
      return this.getDevice(this.size - 1);
    }
    return undefined;
  }
}

class VideoStreamProfile extends StreamProfile {
  /**
   * Construct a device object, representing a RealSense camera
   */
  constructor(cxxProfile) {
    super(cxxProfile);

    // TODO(tinshao): determine right width and height value
    this.widthValue = this.cxxProfile.width();
    this.heightValue = this.cxxProfile.height();
  }

  /**
   * Width in pixels of the video stream
   *
   * @return {Integer}
   */
  get width() {
    return this.widthValue;
  }


  /**
   * height in pixels of the video stream
   *
   * @return {Integer}
   */
  get height() {
    return this.heightValue;
  }

  /**
   * Stream intrinsics:
   * @typedef {Object} IntrinsicsObject
   * @property {Integer} width - Width of the image in pixels
   * @property {Integer} height - Height of the image in pixels
   * @property {Float32} ppx - Horizontal coordinate of the principal point of the image, as a
   * pixel offset from the left edge
   * @property {Float32} ppy - Vertical coordinate of the principal point of the image, as a pixel
   * offset from the top edge
   * @property {Float32} fx - Focal length of the image plane, as a multiple of pixel width
   * @property {Float32} fy - Focal length of the image plane, as a multiple of pixel height
   * @property {Integer} model - Distortion model of the image, see
   * @property {Float32[]} coeffs - Array(5), Distortion coefficients
   * @see [StreamProfile.getIntrinsics()]{@link StreamProfile#getIntrinsics}
   */

  /**
   * When called on a VideoStreamProfile, returns the intrinsics of specific stream configuration
   * @return {IntrinsicsObject|undefined}
   */
  getIntrinsics() {
    return this.cxxProfile.getVideoStreamIntrinsics();
  }
}

class Options {
  constructor(cxxObj) {
    this.cxxObj = cxxObj;
  }

  setCxxOptionsObject(cxxObj) {
    this.cxxObj = cxxObj;
  }
  /**
  * Check if particular option is read-only
  * @param {String|Number} option The option to be checked
  * @return {Boolean|undefined} true if option is read-only and undefined if not supported
  */
  isOptionReadOnly(option) {
    const funcName = 'Options.isOptionReadOnly()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const o = checkArgumentType(arguments, constants.option, 0, funcName);
    if (!this.cxxObj.supportsOption(o)) {
      return undefined;
    }

    return this.cxxObj.isOptionReadonly(o);
  }

  /**
   * Read option value from the sensor.
   * @param {String|Number} option  The option to be queried
   * @return {Float32|undefined} The value of the option, or <code>undefined</code> if invalid
   * option
   * @see {@link option}
   */
  getOption(option) {
    const funcName = 'Options.getOption()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const o = checkArgumentType(arguments, constants.option, 0, funcName);
    if (!this.cxxObj.supportsOption(o)) {
      return undefined;
    }

    return this.cxxObj.getOption(o);
  }

  /**
   * @typedef {Object} OptionRangeObject
   * @property {Float32} minValue - the minimum value which will be accepted for this option
   * @property {Float32} maxValue - the maximum value which will be accepted for this option
   * @property {Float32} defaultValue - the default value of the option
   * @property {Float32} step - the granularity of options which accept discrete values, or zero if
   * the option accepts continuous values
   * @see [Sensor.getOptionRange()]{@link Sensor#getOptionRange}
   */

  /**
   * Retrieve the available range of values of a supported option.
   * @param {String|Integer} option - the option that is being queried. See {@link option} for
   * available values
   * @return {OptionRangeObject|undefined} Returns undefined if an invalid option was specified
   * @see {@link OptionRangeObject}
   * @see {@link option}
   *
   * @example <caption>Example of 3 equivalent calls of the same option range</caption>
   * Sensor.getOptionRange('backlight-compensation');
   * Sensor.getOptionRange(realsense2.option.option_backlight_compensation);
   * Sensor.getOptionRange(realsense2.option.OPTION_BACKLIGHT_COMPENSATION);
   */
  getOptionRange(option) {
    const funcName = 'Options.getOptionRange()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const o = checkArgumentType(arguments, constants.option, 0, funcName);
    if (!this.cxxObj.supportsOption(o)) {
      return undefined;
    }
    return this.cxxObj.getOptionRange(o);
  }

  /**
   * Write new value to device option.
   * @param {String|Integer} option - the option that is being queried. See {@link option} for
   * available values
   * @param {Float32} value - the new value to be set
   * @see {@link option}
   * @return {undefined}
   */
  setOption(option, value) {
    const funcName = 'Options.setOption()';
    checkArgumentLength(2, 2, arguments.length, funcName);
    const o = checkArgumentType(arguments, constants.option, 0, funcName);
    checkArgumentType(arguments, 'number', 1, funcName);
    if (!this.cxxObj.supportsOption(o) || this.cxxObj.isOptionReadonly(o)) {
      return undefined;
    }
    if (!this._internalIsOptionValueInRange(o, value)) {
      return undefined;
    }
    this.cxxObj.setOption(o, value);
  }

  /**
   * Check if particular option is supported by a subdevice.
   * @param {String|Integer} option - the option that is being queried. See {@link option} for
   * available values
   * @return {Boolean|undefined} Returns undefined if an invalid option was specified
   * @see {@link option}
   */
  supportsOption(option) {
    const funcName = 'Options.supportsOption()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const o = checkArgumentType(arguments, constants.option, 0, funcName);
    return this.cxxObj.supportsOption(o);
  }

  /**
   * Get option description.
   * @param {String|Integer} option - the option that is being queried. See {@link option} for
   * available values
   * @return {String|undefined} the human readable description of the option. Returns undefined if
   * an invalid option was specified
   * @see {@link option}
   */
  getOptionDescription(option) {
    const funcName = 'Options.getOptionDescription()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const o = checkArgumentType(arguments, constants.option, 0, funcName);
    if (!this.cxxObj.supportsOption(o)) {
      return undefined;
    }
    return this.cxxObj.getOptionDescription(o);
  }

  /**
   * Get option value description (in case specific option value hold special meaning).
   * @param {String|Integer} option - the option that is being queried. See {@link option} for
   * available values
   * @return {String|undefined} the human readable description of the option value. Returns
   * undefined if an invalid option was specified
   * @see {@link option}
   */
  getOptionValueDescription(option, value) {
    const funcName = 'Options.getOptionValueDescription()';
    checkArgumentLength(2, 2, arguments.length, funcName);
    const o = checkArgumentType(arguments, constants.option, 0, funcName);
    checkArgumentType(arguments, 'number', 1, funcName);
    if (!this.cxxObj.supportsOption(o)) {
      return undefined;
    }
    return this.cxxObj.getOptionValueDescription(o, value);
  }

  _internalIsOptionValueInRange(option, value) {
    let range = this.getOptionRange(option);
    return (range && value >= range.minValue && value <= range.maxValue);
  }
}

/**
 * A sensor device in a RealSense camera
 */
class Sensor extends Options {
  /**
   * Construct a Sensor object, representing a RealSense camera subdevice
   * By default, native resources associated with a Sensor object are freed
   * automatically during cleanup.
   */
  constructor(cxxSensor, autoDelete = true) {
    super(cxxSensor);
    this.cxxSensor = cxxSensor;
    this._events = new EventEmitter();
    if (autoDelete === true) {
      internal.addObject(this);
    }
  }

  /**
   * Check if everything is OK, e.g. if the device object is connected to underlying hardware
   * @return {Boolean}
   */
  get isValid() {
    return (this.cxxSensor !== null);
  }

  /**
   * Open subdevice for exclusive access, by committing to a configuration.
   *  There are 2 acceptable forms of syntax:
   * <pre><code>
   *  Syntax 1. open(streamProfile)
   *  Syntax 2. open(profileArray)
   * </code></pre>
   *  Syntax 2 is for opening multiple profiles in one function call and should be used for
   * interdependent streams, such as depth and infrared, that have to be configured together.
   *
   * @param {StreamProfile} streamProfile configuration commited by the device
   * @param {StreamProfile[]} profileArray configurations array commited by the device
   * @see [Sensor.getStreamProfiles]{@link Sensor#getStreamProfiles} for a list of all supported
   * stream profiles
   */
  open(streamProfile) {
    const funcName = 'Sensor.open()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    if (Array.isArray(streamProfile) && streamProfile.length > 0) {
      let cxxStreamProfiles = [];
      for (let i = 0; i < streamProfile.length; i++) {
        if (!(streamProfile[i] instanceof StreamProfile)) {
          throw new TypeError(
              'Sensor.open() expects a streamProfile object or an array of streamProfile objects'); // eslint-disable-line
        }
        cxxStreamProfiles.push(streamProfile[i].cxxProfile);
      }
      this.cxxSensor.openMultipleStream(cxxStreamProfiles);
    } else {
      checkArgumentType(arguments, StreamProfile, 0, funcName);
      this.cxxSensor.openStream(streamProfile.cxxProfile);
    }
  }

  /**
   * Check if specific camera info is supported
   * @param {String|Integer} info - info type to query. See {@link camera_info} for available values
   * @return {Boolean|undefined} Returns undefined if an invalid info type was specified.
   * @see enum {@link camera_info}
   */
  supportsCameraInfo(info) {
    const funcName = 'Sensor.supportsCameraInfo()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.camera_info, 0, funcName);
    return this.cxxSensor.supportsCameraInfo(i);
  }

  /**
   * Get camera information of the sensor
   *
   * @param {String|Integer} info - the camera_info type, see {@link camera_info} for available
   * values
   * @return {String|undefined}
   */
  getCameraInfo(info) {
    const funcName = 'Sensor.getCameraInfo()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.camera_info, 0, funcName);
    return (this.cxxSensor.supportsCameraInfo(i) ? this.cxxSensor.getCameraInfo(i) : undefined);
  }

  /**
  * Stops any streaming and close subdevice.
  * @return {undefined} No return value
  */
  close() {
    this.cxxSensor.close();
  }

  /**
  * Delete the resource for accessing the subdevice. The device would not be accessable from
  * this object after the operation.
  * @return {undefined} No return value
  */
  destroy() {
    this._events = null;
    if (this.cxxSensor) {
      this.cxxSensor.destroy();
      this.cxxSensor = undefined;
    }
  }

  /**
   * This callback is called when a frame is captured
   * @callback FrameCallback
   * @param {Frame} frame - The captured frame
   *
   * @see [Sensor.start]{@link Sensor#start}
   */

  /**
   * Start passing frames into user provided callback
   * There are 2 acceptable syntax:
   * <pre><code>
   *  Syntax 1. start(callback)
   *  Syntax 2. start(Syncer)
   * </code></pre>
   *
   * @param {FrameCallback} callback
   * @param {Syncer} syncer, the syncer to synchronize frames
   *
   * @example <caption>Simply do logging when a frame is captured</caption>
   *  sensor.start((frame) => {
   *    console.log(frame.timestamp, frame.frameNumber, frame.data);
   *  });
   *
   */
  start(callback) {
    const funcName = 'Sensor.start()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    if (arguments[0] instanceof Syncer) {
      this.cxxSensor.startWithSyncer(arguments[0].cxxSyncer, false, 0);
    } else {
      checkArgumentType(arguments, 'function', 0, funcName);
      // create object to hold frames generated from native.
      this.frame = new Frame();
      this.depthFrame = new DepthFrame();
      this.videoFrame = new VideoFrame();
      this.disparityFrame = new DisparityFrame();
      this.motionFrame = new MotionFrame();
      this.poseFrame = new PoseFrame();

      let inst = this;
      this.cxxSensor.frameCallback = function() {
        // When the callback is triggered, the underlying frame bas been saved in the objects
        // created above, we need to update it and callback.
        if (inst.disparityFrame.isValid) {
          inst.disparityFrame.updateProfile();
          callback(inst.disparityFrame);
        } else if (inst.depthFrame.isValid) {
          inst.depthFrame.updateProfile();
          callback(inst.depthFrame);
        } else if (inst.videoFrame.isValid) {
          inst.videoFrame.updateProfile();
          callback(inst.videoFrame);
        } else if (inst.motionFrame.isValid) {
          inst.motionFrame.updateProfile();
          callback(inst.motionFrame);
        } else if (inst.poseFrame.isValid) {
          inst.poseFrame.updateProfile();
          callback(inst.poseFrame);
        } else {
          inst.frame.updateProfile();
          callback(inst.frame);
        }
      };
      this.cxxSensor.startWithCallback('frameCallback', this.frame.cxxFrame,
          this.depthFrame.cxxFrame, this.videoFrame.cxxFrame, this.disparityFrame.cxxFrame,
          this.motionFrame.cxxFrame, this.poseFrame.cxxFrame);
    }
  }

  /**
   * stop streaming
   * @return {undefined} No return value
   */
  stop() {
    if (this.cxxSensor) {
      this.cxxSensor.stop();
    }
    if (this.frame) this.frame.release();
    if (this.videoFrame) this.videoFrame.release();
    if (this.depthFrame) this.depthFrame.release();
  }

  /**
   * @typedef {Object} NotificationEventObject
   * @property {String} descr - The human readable literal description of the notification
   * @property {Float}  timestamp - The timestamp of the notification
   * @property {String} severity - The severity of the notification
   * @property {String} category - The category of the notification
   * @property {String} serializedData - The serialized data of the notification
   */

  /**
   * This callback is called when there is a device notification
   * @callback NotificationCallback
   * @param {NotificationEventObject} info
   * @param {String} info.descr - See {@link NotificationEventObject} for details
   * @param {Float}  info.timestamp - See {@link NotificationEventObject} for details
   * @param {String} info.severity - See {@link NotificationEventObject} for details
   * @param {String} info.category - See {@link NotificationEventObject} for details
   * @param {String} info.serializedData - See {@link NotificationEventObject} for details
   *
   * @see {@link NotificationEventObject}
   * @see [Sensor.setNotificationsCallback()]{@link Sensor#setNotificationsCallback}
   */

  /**
   * @event Sensor#notification
   * @param {NotificationEventObject} evt
   * @param {String} evt.descr - See {@link NotificationEventObject} for details
   * @param {Float}  evt.timestamp - See {@link NotificationEventObject} for details
   * @param {String} evt.severity - See {@link NotificationEventObject} for details
   * @param {String} evt.category - See {@link NotificationEventObject} for details
   * @param {String} evt.serializedData - See {@link NotificationEventObject} for details
   * @see {@link NotificationEventObject}
   * @see [Sensor.setNotificationsCallback()]{@link Sensor#setNotificationsCallback}
   */

  /**
   * register notifications callback
   * @param {NotificationCallback} callback The user-provied notifications callback
   * @see {@link NotificationEventObject}
   * @see [Sensor 'notification']{@link Sensor#event:notification} event
   * @return {undefined}
   */
  setNotificationsCallback(callback) {
    const funcName = 'Sensor.setNotificationsCallback()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'function', 0, funcName);

    this._events.on('notification', (info) => {
      callback(info);
    });
    let inst = this;
    if (!this.cxxSensor.notificationCallback) {
      this.cxxSensor.notificationCallback = function(info) {
        // convert the severity and category properties from numbers to strings to be
        // consistent with documentation which are more meaningful to users
        info.severity = log_severity.logSeverityToString(info.severity);
        info.category = notification_category.notificationCategoryToString(info.category);
        inst._events.emit('notification', info);
      };
      this.cxxSensor.setNotificationCallback('notificationCallback');
    }
    return undefined;
  }

  /**
   * Get a list of stream profiles that given subdevice can provide. The returned profiles should be
   * destroyed by calling its destroy() method.
   *
   * @return {StreamProfile[]} all of the supported stream profiles
   * See {@link StreamProfile}
   */
  getStreamProfiles() {
    let profiles = this.cxxSensor.getStreamProfiles();
    if (profiles) {
      const array = [];
      profiles.forEach((profile) => {
        array.push(StreamProfile._internalCreateStreamProfile(profile));
      });
      return array;
    }
  }
}

/**
 * Sensor for managing region of interest.
 */
class ROISensor extends Sensor {
  /**
   * Create a ROISensor out of another sensor
   * @param {Sensor} sensor a sensor object
   * @return {ROISensor|undefined} return a ROISensor if the sensor can be
   * treated as a ROISensor, otherwise return undefined.
   */
  static from(sensor) {
    if (sensor.cxxSensor.isROISensor()) {
      return new ROISensor(sensor.cxxSensor);
    }
    return undefined;
  }

  /**
   * Construct a ROISensor object, representing a RealSense camera subdevice
   * The newly created ROISensor object shares native resources with the sensor
   * argument. So the new object shouldn't be freed automatically to make
   * sure resources released only once during cleanup.
   */
   constructor(cxxSensor) {
    super(cxxSensor, false);
  }

  /**
   * @typedef {Object} RegionOfInterestObject
   * @property {Float32} minX - lower horizontal bound in pixels
   * @property {Float32} minY - lower vertical bound in pixels
   * @property {Float32} maxX - upper horizontal bound in pixels
   * @property {Float32} maxY - upper vertical bound in pixels
   * @see [Device.getRegionOfInterest()]{@link Device#getRegionOfInterest}
   */

  /**
   * Get the active region of interest to be used by auto-exposure algorithm.
   * @return {RegionOfInterestObject|undefined} Returns undefined if failed
   * @see {@link RegionOfInterestObject}
   */
  getRegionOfInterest() {
    return this.cxxSensor.getRegionOfInterest();
  }

  /**
   * Set the active region of interest to be used by auto-exposure algorithm
   * There are 2 acceptable forms of syntax:
   * <pre><code>
   *  Syntax 1. setRegionOfInterest(region)
   *  Syntax 2. setRegionOfInterest(minX, minY, maxX, maxY)
   * </code></pre>
   *
   * @param {RegionOfInterestObject} region - the region of interest to be used.
   * @param {Float32} region.minX - see {@link RegionOfInterestObject} for details.
   * @param {Float32} region.minY - see {@link RegionOfInterestObject} for details.
   * @param {Float32} region.maxX - see {@link RegionOfInterestObject} for details.
   * @param {Float32} region.maxY - see {@link RegionOfInterestObject} for details.
   *
   * @param {Float32} minX - see {@link RegionOfInterestObject} for details.
   * @param {Float32} minY - see {@link RegionOfInterestObject} for details.
   * @param {Float32} maxX - see {@link RegionOfInterestObject} for details.
   * @param {Float32} maxY - see {@link RegionOfInterestObject} for details.
   */
  setRegionOfInterest(region) {
    const funcName = 'ROISensor.setRegionOfInterest()';
    checkArgumentLength(1, 4, arguments.length, funcName);
    let minX;
    let minY;
    let maxX;
    let maxY;
    if (arguments.length === 1) {
      checkArgumentType(arguments, 'object', 0, funcName);
      minX = region.minX;
      minY = region.minY;
      maxX = region.maxX;
      maxY = region.maxY;
    } else if (arguments.length === 4) {
      checkArgumentType(arguments, 'number', 0, funcName);
      checkArgumentType(arguments, 'number', 1, funcName);
      checkArgumentType(arguments, 'number', 2, funcName);
      checkArgumentType(arguments, 'number', 3, funcName);
      minX = arguments[0];
      minY = arguments[1];
      maxX = arguments[2];
      maxY = arguments[3];
    } else {
      throw new TypeError(
          'setRegionOfInterest(region) expects a RegionOfInterestObject as argument');
    }
    this.cxxSensor.setRegionOfInterest(minX, minY, maxX, maxY);
  }
}

/**
 * Depth sensor
 */
class DepthSensor extends Sensor {
  /**
   * Construct a device object, representing a RealSense camera
   */
  constructor(sensor) {
    super(sensor);
  }

  /**
   * Retrieves mapping between the units of the depth image and meters.
   *
   * @return {Float} depth in meters corresponding to a depth value of 1
   */
  get depthScale() {
    return this.cxxSensor.getDepthScale();
  }
}

/**
 * Color sensor
 */
class ColorSensor extends Sensor {
  /**
   * Construct a device object, representing a RealSense camera
   */
  constructor(sensor) {
    super(sensor);
  }
}


/**
 * Motion sensor
 */
class MotionSensor extends Sensor {
  /**
   * Construct a device object, representing a RealSense camera
   */
  constructor(sensor) {
    super(sensor);
  }
}


/**
 * Fisheye sensor
 */
class FisheyeSensor extends Sensor {
  /**
   * Construct a device object, representing a RealSense camera
   */
  constructor(sensor) {
    super(sensor);
  }
}


const internal = {
  ctx: [],
  objs: [],

  // Register error callback to native code
  registerErrorCallback: function() {
    RS2.registerErrorCallback(this, 'errorCallback');
  },

  // The callback method called from native side
  errorCallback: function(error) {
    let msg = 'error native function ' + error.nativeFunction + ': ' + error.description;
    if (error.recoverable) {
      throw new Error(msg);
    }
    throw new UnrecoverableError(msg);
  },

  addContext: function(c) {
    this.ctx.push(c);
  },

  addObject: function(o) {
    this.objs.push(o);
  },

  cleanup: function() {
    this.objs.forEach((obj) => {
      obj.destroy();
    });
    this.objs = [];
    this.ctx.forEach((context) => {
      context.destroy();
    });
    this.ctx = [];
  },

  cleanupContext: function() {
    let newArray = [];
    this.ctx.forEach((c) => {
      if (c.cxxCtx) {
        newArray.push(c);
      }
    });
    // Dropping reference to invalid context(s)
    this.ctx = newArray;
  },
};

/**
 * Default librealsense context class,
 */
class Context {
  /**
   * There are only one acceptable form of syntax to create a Context for users:
   * <pre><code>
   *  new Context();
   * </code></pre>
   * other forms are reserved for internal use only.
   */
  constructor(cxxCtx) {
    const funcName = 'Context.constructor()';
    // Internal code will create Context with cxxObject or other params
    checkDiscreteArgumentLength([0, 1, 3, 4], arguments.length, funcName);
    this._events = new EventEmitter();
    if (arguments.length === 0) {
      this.cxxCtx = new RS2.RSContext();
      this.cxxCtx.create();
    } else if (arguments.length === 1) {
      checkArgumentType(arguments, RS2.RSContext, 0, funcName);
      this.cxxCtx = cxxCtx;
    } else {
      checkArgumentType(arguments, 'string', 0, funcName);
      checkDiscreteArgumentValue(arguments, 0, ['recording', 'playback'], funcName);
      this.cxxCtx = new (Function.prototype.bind.apply(
          RS2.RSContext, [null].concat(Array.from(arguments))))();
      this.cxxCtx.create();
    }
    this.cxxCtx._events = this._events;
    internal.addContext(this);
  }

  /**
   * Cleanup underlying C++ context, and release all resources that were created by this context.
   * The JavaScript Context object(s) will not be garbage-collected without call(s) to this function
   */
  destroy() {
    if (this.cxxCtx) {
      this.cxxCtx.destroy();
      this.cxxCtx = undefined;
      internal.cleanupContext();
    }
  }

  /**
   * Get the events object of EventEmitter
   * @return {EventEmitter}
   */
  get events() {
    return this._events;
  }

  /**
  * Create a static snapshot of all connected devices at the time of the call
  * @return {DeviceList|undefined} connected devices at the time of the call
  */
  queryDevices() {
    let list = this.cxxCtx.queryDevices();
    return (list ? new DeviceList(list) : undefined);
  }

  /**
  * Generate an array of all available sensors from all RealSense devices
  * @return {Sensor[]|undefined}
  */
  querySensors() {
    let devList = this.queryDevices();
    if (!devList) {
      return undefined;
    }
    let devices = devList.devices;
    if (devices && devices.length) {
      const array = [];
      devices.forEach((dev) => {
        const sensors = dev.querySensors();
        sensors.forEach((sensor) => {
          array.push(sensor);
        });
      });
      return array;
    }
    return undefined;
  }

  /**
   * Get the device from one of its sensors
   *
   * @param {Sensor} sensor
   * @return {Device|undefined}
   */
  getSensorParent(sensor) {
    const funcName = 'Context.getSensorParent()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, Sensor, 0, funcName);

    let cxxDev = this.cxxCtx.createDeviceFromSensor(sensor.cxxSensor);
    if (!cxxDev) {
      return undefined;
    }
    return Device._internalCreateDevice(cxxDev);
  }

  /**
   * When one or more devices are plugged or unplugged into the system
   * @event Context#device-changed
   * @param {DeviceList} removed - The devices removed from the system
   * @param {DeviceList} added - The devices added to the system
   */

  /**
   * This callback is called when number of devices is changed
   * @callback devicesChangedCallback
   * @param {DeviceList} removed - The devices removed from the system
   * @param {DeviceList} added - The devices added to the system
   *
   * @see [Context.setDevicesChangedCallback]{@link Context#setDevicesChangedCallback}
   */

  /**
   * Register a callback function to receive device-changed notification
   * @param {devicesChangedCallback} callback - devices changed callback
   */
  setDevicesChangedCallback(callback) {
    const funcName = 'Context.setDevicesChangedCallback()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'function', 0, funcName);

    this._events.on('device-changed', (removed, added) => {
      callback(removed, added);
    });
    let inst = this;
    if (!this.cxxCtx.deviceChangedCallback) {
      this.cxxCtx.deviceChangedCallback = function(removed, added) {
        let rmList = (removed ? new DeviceList(removed) : undefined);
        let addList = (added ? new DeviceList(added) : undefined);
        inst._events.emit('device-changed', rmList, addList);
      };
      this.cxxCtx.setDevicesChangedCallback('deviceChangedCallback');
    }
  }

  /**
   * Create a PlaybackDevice to playback recored data file.
   *
   * @param {String} file - the file path
   * @return {PlaybackDevice|undefined}
   */
  loadDevice(file) {
    const funcName = 'Context.loadDevice()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    checkFileExistence(file);
    const cxxDev = this.cxxCtx.loadDeviceFile(file);
    if (!cxxDev) {
      return undefined;
    }
    return new PlaybackDevice(cxxDev, true);
  }

  /**
   * Removes a PlaybackDevice from the context, if exists
   *
   * @param {String} file The file name that was loaded to create the playback device
   */
  unloadDevice(file) {
    const funcName = 'Context.unloadDevice()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    checkFileExistence(file);
    this.cxxCtx.unloadDeviceFile(file);
  }
}

/**
 * This class is for testing purpose.
 * It is used to record all operations over librealsense into a file
 * @extends Context
 */
class RecordingContext extends Context {
  /**
   * @param {String} fileName The file name to store the recorded data
   * @param {String} section The section name within the recording
   * @param {String|Integer} mode Recording mode, default to 'blank-frames'
   * @see [enum recording_mode]{@link recording_mode}
   */
  constructor(fileName, section = '', mode = 'blank-frames') {
    const funcName = 'RecordingContext.constructor()';
    checkArgumentLength(1, 3, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    checkArgumentType(arguments, 'string', 1, funcName);
    let m = checkArgumentType(arguments, constants.recording_mode, 2, funcName);
    m = (m === undefined ? recordingMode2Int(mode) : m);
    super('recording', fileName, section, m);
  }
}

/**
 * This class is for testing purpose.
 * It is used to reproduce the same responses for the same operations as
 * recording. The user must call the same methods as recorded in the file
 * to get correct response.
 * @extends Context
 */
class PlaybackContext extends Context {
  /**
   * @param {String} fileName The file name of the recording
   * @param {String} section The section name used in recording
   */
  constructor(fileName, section = '') {
    const funcName = 'PlaybackContext.constructor()';
    checkArgumentLength(1, 2, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    checkArgumentType(arguments, 'string', 1, funcName);
    checkFileExistence(fileName);
    super('playback', fileName, section);
  }
}

/**
 * This class provides the ability to record a live session of streaming to a file
 *
 * There are 2 ways for users to create a RecorderDevice:
 * <pre><code>
 *  Syntax 1. RecorderDevice.from(device);
 *  Syntax 2. new RecorderDevice(file, device);
 * </code></pre>
 *
 * Syntax 1 can only be applied to device that can be converted to RecorderDevice, see
 * below example:
 * <pre><code>
 *  const file = 'record.bag';
 *  let cfg = new rs2.Config();
 *  cfg.enableRecordToFile(file);
 *  let pipe = new rs2.Pipeline();
 *  pipe.start(cfg);
 *  let device = pipe.getActiveProfile().getDevice();
 *  let recorder = rs2.RecorderDevice.from(device);
 *
 *  // record 10 frames.
 *  for (let i = 0; i < 10; i++) {
 *    let frames = pipe.waitForFrames();
 *  }
 *
 *  pipe.stop();
 *  // cleanup and make sure the recorded frames are flushed to file
 *  rs2.cleanup();
 * </code></pre>
 *
 * Syntax 2 is to create a RecorderDevice from a live device, see below example:
 * <pre><code>
 *  let ctx = new rs2.Context();
 *  let dev = ctx.queryDevices().devices[0];
 *  // record to file record.bag
 *  let recorder = new rs2.RecorderDevice('record.bag', dev);
 *  let sensors = recorder.querySensors();
 *  let sensor = sensors[0];
 *  let profiles = sensor.getStreamProfiles();
 *
 *  for (let i =0; i < profiles.length; i++) {
 *    if (profiles[i].streamType === rs2.stream.STREAM_DEPTH &&
 *        profiles[i].fps === 30 &&
 *        profiles[i].width === 640 &&
 *        profiles[i].height === 480 &&
 *        profiles[i].format === rs2.format.FORMAT_Z16) {
 *      sensor.open(profiles[i]);
 *    }
 *  }
 *
 *  // record 10 frames
 *  let cnt = 0;
 *  sensor.start((frame) => {
 *    cnt++;
 *    if (cnt === 10) {
 *      // stop recording
 *      recorder.reset();
 *      rs2.cleanup();
 *      console.log('Recorded ', cnt, ' frames');
 *    }
 *  })
 * </code></pre>
 * @extends Device
 */
class RecorderDevice extends Device {
  /**
   * Create a RecorderDevice from another device
   *
   * @param {Device} device another existing device
   * @return {RecorderDevice|undefined} If the the input device can be
   * converted to a RecorderDevice, return the newly created RecorderDevice,
   * otherwise, undefined is returned.
   */
  static from(device) {
    return device.cxxDev.isRecorder() ?
        new RecorderDevice(null, null, device.cxxDev, false) : undefined;
  }

  /**
   * @param {String} file the file name to store the recorded data
   * @param {Device} device the actual device to be recorded
   */
  constructor(file, device, cxxDev = undefined, autoDelete = true) {
    const funcName = 'RecorderDevice.constructor()';
    checkArgumentLength(2, 4, arguments.length, funcName);
    if (arguments[0] && arguments[1]) {
      checkArgumentType(arguments, 'string', 0, funcName);
      checkArgumentType(arguments, Device, 1, funcName);
    } else if (arguments[2]) {
      checkArgumentType(arguments, 'object', 2, funcName);
      checkArgumentType(arguments, 'boolean', 3, funcName);
    } else {
      throw new TypeError('Invalid parameters for new RecorderDevice()');
    }
    super(cxxDev ? cxxDev : device.cxxDev.spawnRecorderDevice(file), autoDelete);
  }
  /**
   * Pause the recording device without stopping the actual device from streaming.
   */
  pause() {
    this.cxxDev.pauseRecord();
  }
  /**
   * Resume the recording
   */
  resume() {
    this.cxxDev.resumeRecord();
  }
  /**
   * Gets the name of the file to which the recorder is writing
   * @return {String}
   */
  get fileName() {
    return this.cxxDev.getFileName();
  }
}

/**
 * This class is used to playback the file recorded by RecorderDevice
 * There are 2 ways for users to create a PlaybackDevice:
 * <pre><code>
 *  Syntax 1: PlaybackDevice.from(device)
 *  Syntax 2: Context.loadDevice(filePath)
 * </code></pre>
 *
 * Syntax 1 is to convert an existing device to a PlaybackDevice which can only be
 * applied to device that can be converted. Here is an example:
 * <pre><code>
 *  const file = 'record.bag';
 *  let cfg = new rs2.Config();
 *  cfg.enableDeviceFromFile(file);
 *  let pipe = new rs2.Pipeline();
 *  pipe.start(cfg);
 *  let device = pipe.getActiveProfile().getDevice();
 *  let playback = rs2.PlaybackDevice.from(device);
 *
 *  for (let i = 0; i < 10; i++) {
 *    let frames = pipe.waitForFrames();
 *  }
 *
 *  pipe.stop();
 *  rs2.cleanup();
 * </code></pre>
 *
 * Syntax 2 is to create a PlaybackDevice through Context. Here is an example:
 * <pre><code>
 *  let ctx = new rs2.Context();
 *  // load the recorded file
 *  let dev = ctx.loadDevice('record.bag');
 *  let sensors = dev.querySensors();
 *  let sensor = sensors[0];
 *  let profiles = sensor.getStreamProfiles();
 *  let cnt = 0;
 *
 *  // when received 'stopped' status, stop playback
 *  dev.setStatusChangedCallback((status) => {
 *    console.log('playback status: ', status);
 *    if (status.description === 'stopped') {
 *      dev.stop();
 *      ctx.unloadDevice('record.bag');
 *      rs2.cleanup();
 *      console.log('Playback ', cnt, ' frames');
 *    }
 *  });
 *
 *  // start playback
 *  sensor.open(profiles);
 *  sensor.start((frame) => {
 *    cnt ++;
 *  });
 * </code></pre>
 * @extends Device
 * @see [Context.loadDevice]{@link Context#loadDevice}
 */
class PlaybackDevice extends Device {
  /**
   * Create a PlaybackDevice from another device
   *
   * @param {Device} device another existing device that can be converted to a
   * PlaybackDevice
   * @return {PlaybackDevice|undefined} If the the input device can be
   * converted to a PlaybackDevice, return the newly created PlaybackDevice,
   * otherwise, undefined is returned.
   */
  static from(device) {
    return device.cxxDev.isPlayback() ?
        new PlaybackDevice(device.cxxDev, false) : undefined;
  }

  constructor(cxxdevice, autoDelete) {
    super(cxxdevice, autoDelete);
    this._events = new EventEmitter();
  }
  /**
   * Pauses the playback
   * Calling pause() in "paused" status does nothing
   * If pause() is called while playback status is "playing" or "stopped", the playback will not
   * play until resume() is called
   * @return {undefined}
   */
  pause() {
    this.cxxDev.pausePlayback();
  }
  /**
   * Resumes the playback
   * Calling resume() while playback status is "playing" or "stopped" does nothing
   * @return {undefined}
   */
  resume() {
    this.cxxDev.resumePlayback();
  }
  /**
   * Stops playback
   * @return {undefined}
   */
  stop() {
    this.cxxDev.stopPlayback();
  }
  /**
   * Retrieves the name of the playback file
   * @return {String}
   */
  get fileName() {
    return this.cxxDev.getFileName();
  }
  /**
   * Retrieves the current position of the playback in the file in terms of time. Unit is
   * millisecond
   * @return {Integer}
   */
  get position() {
    return this.cxxDev.getPosition();
  }
  /**
   * Retrieves the total duration of the file, unit is millisecond.
   * @return {Integer}
   */
  get duration() {
    return this.cxxDev.getDuration();
  }
  /**
   * Sets the playback to a specified time point of the played data
   * @param {time} time the target time to seek to, unit is millisecond
   * @return {undefined}
   */
  seek(time) {
    const funcName = 'PlaybackDevice.seek()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'number', 0, funcName);
    this.cxxDev.seek(time);
  }
  /**
   * Indicates if playback is in real time mode or non real time
   * In real time mode, playback will play the same way the file was recorded. If the application
   * takes too long to handle the callback, frames may be dropped.
   * In non real time mode, playback will wait for each callback to finish handling the data before
   * reading the next frame. In this mode no frames will be dropped, and the application controls
   * the frame rate of the playback (according to the callback handler duration).
   * @return {Boolean}
   */
  get isRealTime() {
    return this.cxxDev.isRealTime();
  }
  /**
   * Set the playback to work in real time or non real time
   * @param {boolean} val whether real time mode is used
   * @return {undefined}
   */
  set isRealTime(val) {
    const funcName = 'PlaybackDevice.isRealTime()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'boolean', 0, funcName);
    this.cxxDev.setIsRealTime(val);
  }
  /**
   * Set the playing speed
   * @param {Float} speed indicates a multiplication of the speed to play (e.g: 1 = normal,
   * 0.5 half normal speed)
   */
  setPlaybackSpeed(speed) {
    const funcName = 'PlaybackDevice.setPlaybackSpeed()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'number', 0, funcName);
    this.cxxDev.setPlaybackSpeed(speed);
  }

  /**
   * @typedef {Object} PlaybackStatusObject
   * @property {Integer} status - The status of the notification, see {@link playback_status}
   * for details
   * @property {String} description - The human readable literal description of the status
   */

  /**
   * This callback is called when the status of the playback device changed
   * @callback StatusChangedCallback
   * @param {PlaybackStatusObject} status
   *
   * @see [PlaybackDevice.setStatusChangedCallback]{@link PlaybackDevice#setStatusChangedCallback}
   */

  /**
   * Returns the current state of the playback device
   * @return {PlaybackStatusObject}
   */
  get currentStatus() {
    let cxxStatus = this.cxxDev.getCurrentStatus();
    if (!cxxStatus) {
      return undefined;
    }
    return {status: cxxStatus, description: playback_status.playbackStatusToString(cxxStatus)};
  }

  /**
   * Register a callback to receive the playback device's status changes
   * @param {StatusChangedCallback} callback the callback method
   * @return {undefined}
   */
  setStatusChangedCallback(callback) {
    const funcName = 'PlaybackDevice.setStatusChangedCallback()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'function', 0, funcName);
    this._events.on('status-changed', (status) => {
      callback({status: status, description: playback_status.playbackStatusToString(status)});
    });
    let inst = this;
    if (!this.cxxDev.statusChangedCallback) {
      this.cxxDev.statusChangedCallback = (status) => {
        inst._events.emit('status-changed', status);
      };
      this.cxxDev.setStatusChangedCallbackMethodName('statusChangedCallback');
    }
  }
}

internal.RecordingContext = RecordingContext;
internal.PlaybackContext = PlaybackContext;

/**
 * PointCloud accepts depth frames and outputs Points frames
 * In addition, given non-depth frame, the block will align texture coordinate to the non-depth
 * stream
 */
class PointCloud extends Options {
  constructor() {
    super();
    this.cxxPointCloud = new RS2.RSPointCloud();
    this.setCxxOptionsObject(this.cxxPointCloud);
    this.pointsFrame = new Points();
  }

  /**
   * Calculate to get a frame of type {@link Points}, from the data of specified DepthFrame
   * @param {DepthFrame} depthFrame the depth frame
   * @return {Points|undefined}
   */
  calculate(depthFrame) {
    const funcName = 'PointCloud.calculate()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, DepthFrame, 0, funcName);
    this.pointsFrame.release();
    if (this.cxxPointCloud.calculate(depthFrame.cxxFrame, this.pointsFrame.cxxFrame)) {
      return this.pointsFrame;
    }
    return undefined;
  }

  /**
   * Align texture coordinate to the mappedFrame
   * @param {Frame} mappedFrame the frame being mapped to
   * @return {undefined}
   */
  mapTo(mappedFrame) {
    const funcName = 'PointCloud.mapTo()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, Frame, 0, funcName);
    this.cxxPointCloud.mapTo(mappedFrame.cxxFrame);
  }

  release() {
    if (this.cxxPointCloud) this.cxxPointCloud.destroy();
    if (this.pointsFrame) this.pointsFrame.destroy();
  }

  /**
   * Destroy all resources associated with the object
   */
  destroy() {
    this.release();
    this.cxxPointCloud = undefined;
    this.pointsFrame = undefined;
  }
}

/**
 * The Colorizer can be used to quickly visualize the depth data by tranform data into RGB8 format
 */
class Colorizer extends Options {
  constructor() {
    super();
    this.cxxColorizer = new RS2.RSColorizer();
    this.cxxColorizer.create();
    this.setCxxOptionsObject(this.cxxColorizer);
    this.depthRGB = new VideoFrame();
  }

  release() {
    if (this.cxxColorizer) this.cxxColorizer.destroy();
    if (this.depthRGB) this.depthRGB.destroy();
  }

  /**
   * Destroy all resources associated with the colorizer
   */
  destroy() {
    this.release();
    this.cxxColorizer = undefined;
    this.depthRGB = undefined;
  }

  get colorizedFrame() {
    return this.depthRGB;
  }

  /**
   * Tranform depth data into RGB8 format
   *
   * @param {DepthFrame} depthFrame the depth frame
   * @return {VideoFrame|undefined}
   */
  colorize(depthFrame) {
    const funcName = 'Colorizer.colorize()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    // Though depth frame is expected, color frame could also be processed, so
    // only check whether the type is Frame
    checkArgumentType(arguments, Frame, 0, funcName);
    const success = this.cxxColorizer.colorize(depthFrame.cxxFrame, this.depthRGB.cxxFrame);
    this.depthRGB.updateProfile();
    return success ? this.depthRGB : undefined;
  }
}

/**
 * This class can be used to perform alignment between a depth frame and another frame.
 */
class Align {
  /**
   * @param {Integer|String} stream the stream type to be aligned to. see {@link stream} for
   * avaiable values. To perform alignment of a depth frame to the other frame, set the stream
   * argument to the other stream type. To perform alignment of a non depth frame to a depth frame,
   * set the stream argument to stream type of depth.
   */
  constructor(stream) {
    const funcName = 'Align.constructor()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const s = checkArgumentType(arguments, constants.stream, 0, funcName);
    this.cxxAlign = new RS2.RSAlign(s);
    this.frameSet = new FrameSet();
    internal.addObject(this);
  }

  /**
   * Run the alignment process on the given frameset to get an aligned set of frames
   * @param {FrameSet} frameSet the frames which at least has a depth frame
   * @return {FrameSet}
   */
  process(frameSet) {
    const funcName = 'Align.process()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, FrameSet, 0, funcName);
    this.frameSet.release(); // Destroy all attached-frames (depth/color/etc.)
    if (this.cxxAlign.process(frameSet.cxxFrameSet, this.frameSet.cxxFrameSet)) {
      this.frameSet.__update();
      return this.frameSet;
    }
    return undefined;
  }

  release() {
    if (this.cxxAlign) this.cxxAlign.destroy();
    if (this.frameSet) this.frameSet.destroy();
  }

  /**
   * Destroy resources associated with the object
   */
  destroy() {
    this.release();
    this.cxxAlign = undefined;
    this.frameSet = undefined;
  }
}

/**
 * This class resprents a picture frame
 *
 * @property {Boolean} isValid - True if the frame is valid, otherwise false.
 * @property {Uint16Array|Uint8Array} data - A typed array representing the data.
 *  <br>The type of the typed array depends on the <code>format</code> specified in camera
 * configuration.
 * @property {Integer} width - The width of the frame.
 * @property {Integer} height - The height of the frame.
 * @property {Integer|Int64} frameNumber - An integer or an object representing the frame number.
 *  <br>If the frame number is less than 2^53, then the return value is an integer number;
 *  <br>Otherwise it will be an <code>Int64</code> object defined in npm module "node-int64"
 * @property {Number} timestamp - The timestamp of the frame.
 * @property {Integer} streamType - The stream type of the frame.
 * see <code>enum {@link stream}</code>
 * @property {Integer} bitsPerPixel - The number of bits per pixel
 * @property {Integer} timestampDomain - Get the domain (clock name) of timestamp value.
 */
class Frame {
  constructor(cxxFrame) {
    this.cxxFrame = cxxFrame || new RS2.RSFrame();
    this.updateProfile();
    internal.addObject(this);
    // called from native to reset this.arrayBuffer and this.typedArray when the
    // underlying frame was replaced. The arrayBuffer and typedArray must be reset
    // to avoid deprecated data to be used.
    const jsWrapper = this;
    this.cxxFrame._internalResetBuffer = function() {
      jsWrapper.typedArray = undefined;
      jsWrapper.arrayBuffer = undefined;
    };
  }

  updateProfile() {
    this.streamProfile = undefined;
    if (this.cxxFrame) {
      let cxxProfile = this.cxxFrame.getStreamProfile();
      if (cxxProfile) {
        this.streamProfile = StreamProfile._internalCreateStreamProfile(cxxProfile);
      }
    }
  }

  release() {
    if (this.cxxFrame) this.cxxFrame.destroy();
    if (this.streamProfile) this.streamProfile.destroy();
    this.arrayBuffer = undefined;
    this.typedArray = undefined;
  }

  /**
   * Destroy the frame and its resource
   */
  destroy() {
    this.release();
    this.cxxFrame = undefined;
    this.StreamProfile = undefined;
  }

  /**
   * Retrieve pixel format of the frame
   * @return {Integer} see enum {@link format} for available values
   */
  get format() {
    return this.streamProfile.format;
  }

  /**
   * Retrieve the origin stream type that produced the frame
   * @return {Integer} see {@link stream} for avaiable values
   */
  get streamType() {
    return this.streamProfile.streamType;
  }

  get profile() {
    return this.streamProfile;
  }

  get width() {
    return this.streamProfile.width ? this.streamProfile.width : this.cxxFrame.getWidth();
  }

  get height() {
    return this.streamProfile.height ? this.streamProfile.height : this.cxxFrame.getHeight();
  }

  /**
   * Check if the frame is valid
   * @return {Boolean}
   */
  get isValid() {
    return (this.cxxFrame && this.cxxFrame.isValid());
  }

  /**
   * Retrieve timestamp from the frame in milliseconds
   * @return {Integer}
   */
  get timestamp() {
    return this.cxxFrame.getTimestamp();
  }

  /**
   * Retrieve timestamp domain. timestamps can only be comparable if they are in common domain
   * (for example, depth timestamp might come from system time while color timestamp might come
   * from the device)
   * this method is used to check if two timestamp values are comparable (generated from the same
   * clock)
   * @return {Integer} see {@link timestamp_domain} for avaiable values
   */
  get timestampDomain() {
    return this.cxxFrame.getTimestampDomain();
  }

  /**
   * Retrieve the current value of a single frame metadata
   * @param {String|Number} metadata the type of metadata, see {@link frame_metadata} for avaiable
   * values
   * @return {Uint8Array} The metadata value, 8 bytes, byte order is bigendian.
   */
  frameMetadata(metadata) {
    const funcName = 'Frame.frameMetadata()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const m = checkArgumentType(arguments, constants.frame_metadata, 0, funcName);
    const array = new Uint8Array(8);
    return this.cxxFrame.getFrameMetadata(m, array) ? array : undefined;
  }

  /**
   * Determine if the device allows a specific metadata to be queried
   * @param {String|Number} metadata The type of metadata
   * @return {Boolean} true if supported, and false if not
   */
  supportsFrameMetadata(metadata) {
    const funcName = 'Frame.supportsFrameMetadata()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const m = checkArgumentType(arguments, constants.frame_metadata, 0, funcName);
    return this.cxxFrame.supportsFrameMetadata(m);
  }

  /**
   * Retrieve frame number
   * @return {Integer}
   */
  get frameNumber() {
    return this.cxxFrame.getFrameNumber();
  }

  /**
   * Retrieve the frame data
   * @return {Float32Array|Uint16Array|Uint8Array|undefined}
   * if the frame is from the depth stream, the return value is Uint16Array;
   * if the frame is from the XYZ32F or MOTION_XYZ32F stream, the return value is Float32Array;
   * for other cases, return value is Uint8Array.
   */
  get data() {
    if (this.typedArray) return this.typedArray;

    if (!this.arrayBuffer) {
      this.arrayBuffer = this.cxxFrame.getData();
      this.typedArray = undefined;
    }

    if (!this.arrayBuffer) return undefined;

    this.updateProfile();
    switch (this.format) {
      case constants.format.FORMAT_Z16:
      case constants.format.FORMAT_DISPARITY16:
      case constants.format.FORMAT_Y16:
      case constants.format.FORMAT_RAW16:
        this.typedArray = new Uint16Array(this.arrayBuffer);
        return this.typedArray;
      case constants.format.FORMAT_YUYV:
      case constants.format.FORMAT_UYVY:
      case constants.format.FORMAT_RGB8:
      case constants.format.FORMAT_BGR8:
      case constants.format.FORMAT_RGBA8:
      case constants.format.FORMAT_BGRA8:
      case constants.format.FORMAT_Y8:
      case constants.format.FORMAT_RAW8:
      case constants.format.FORMAT_MOTION_RAW:
      case constants.format.FORMAT_GPIO_RAW:
      case constants.format.FORMAT_RAW10:
      case constants.format.FORMAT_FG:
      case constants.format.FORMAT_Y411:
      case constants.format.FORMAT_ANY:
        this.typedArray = new Uint8Array(this.arrayBuffer);
        return this.typedArray;
      case constants.format.FORMAT_XYZ32F:
      case constants.format.FORMAT_MOTION_XYZ32F:
      case constants.format.FORMAT_6DOF:
      case constants.format.FORMAT_DISPARITY32:
        this.typedArray = new Float32Array(this.arrayBuffer);
        return this.typedArray;
    }
  }

  /**
   * Get the frame buffer data
   *  There are 2 acceptable forms of syntax:
   * <pre><code>
   *  Syntax 1. getData()
   *  Syntax 2. getData(ArrayBuffer)
   * </code></pre>
   *
   * @param {ArrayBuffer} [buffer] The buffer that will be written to.
   * @return {Float32Array|Uint16Array|Uint8Array|undefined}
   *  Returns a <code>TypedArray</code> or <code>undefined</code> for syntax 1,
   *   see {@link Frame#data};
   *  if syntax 2 is used, return value is not used (<code>undefined</code>).
   *
   * @see [VideoFrame.dataByteLength]{@link VideoFrame#dataByteLength} to determine the buffer size
   * in bytes.
   */
  getData(buffer) {
    const funcName = 'Frame.supportsFrameMetadata()';
    checkArgumentLength(0, 1, arguments.length, funcName);
    if (arguments.length === 0) {
      return this.data;
    } else if (arguments.length === 1) {
      checkArgumentType(arguments, 'ArrayBuffer', 0, funcName);
      return this.cxxFrame.writeData(buffer);
    }
  }

  /**
   * communicate to the library you intend to keep the frame alive for a while
   * this will remove the frame from the regular count of the frame pool
   * once this function is called, the SDK can no longer guarantee 0-allocations during frame
   * cycling
   * @return {undefined}
   */
  keep() {
    this.cxxFrame.keep();
  }

  static _internalCreateFrame(cxxFrame) {
    if (!cxxFrame) return undefined;
    if (cxxFrame.isPoseFrame()) return new PoseFrame(cxxFrame);
    if (cxxFrame.isMotionFrame()) return new MotionFrame(cxxFrame);
    if (cxxFrame.isDisparityFrame()) return new DisparityFrame(cxxFrame);
    if (cxxFrame.isDepthFrame()) return new DepthFrame(cxxFrame);
    if (cxxFrame.isVideoFrame()) return new VideoFrame(cxxFrame);
    return new Frame(cxxFrame);
  }
}

/**
 * This class resprents a video frame and is a subclass of Frame
 *
 * @property {Integer} width - The image width in pixels.
 * @property {Integer} height - The image height in pixels.
 * @property {Integer} dataByteLength - The length in bytes
 * @property {Integer} strideInBytes - The stride of the frame. The unit is number of bytes.
 * @property {Integer} bitsPerPixel - The number of bits per pixel
 * @property {Integer} bytesPerPixel - The number of bytes per pixel
 */
class VideoFrame extends Frame {
  constructor(frame) {
    super(frame);
  }

  /**
   * Get image width in pixels
   * @return {Integer}
   */
  get width() {
    return this.cxxFrame.getWidth();
  }

  /**
   * Get image height in pixels
   * @return {Integer}
   */
  get height() {
    return this.cxxFrame.getHeight();
  }

  /**
   * Get the data length in bytes
   * @return {Integer}
   */
  get dataByteLength() {
    return this.strideInBytes * this.height;
  }

  /**
   * Retrieve frame stride, the actual line width in bytes (not the logical image width)
   * @return {Integer}
   */
  get strideInBytes() {
    return this.cxxFrame.getStrideInBytes();
  }

  /**
   * Retrieve count of bits per pixel
   * @return {Integer}
   */
  get bitsPerPixel() {
    return this.cxxFrame.getBitsPerPixel();
  }

  /**
   * Retrieve bytes per pixel
   * @return {Integer}
   */
  get bytesPerPixel() {
    return this.cxxFrame.getBitsPerPixel()/8;
  }
}

/**
 * Class used to get 3D vertices and texture coordinates
 */
class Points extends Frame {
  constructor(cxxFrame) {
    super(cxxFrame);
  }

  /**
   * Get an array of 3D vertices.
   * The coordinate system is: X right, Y up, Z away from the camera. Units: Meters
   *
   * @return {Float32Array|undefined}
   */
  get vertices() {
    if (this.verticesArray) return this.verticesArray;

    if (this.cxxFrame.canGetPoints()) {
      const newLength = this.cxxFrame.getVerticesBufferLen();
      if (!this.verticesData || newLength !== this.verticesData.byteLength) {
        this.verticesData = new ArrayBuffer(newLength);
      }
      if (this.cxxFrame.writeVertices(this.verticesData)) {
        this.verticesArray = new Float32Array(this.verticesData);
        return this.verticesArray;
      }
    }
    return undefined;
  }

  release() {
    if (this.cxxFrame) this.cxxFrame.destroy();
    this.verticesArray = undefined;
    this.verticesCoordArray = undefined;
  }

  destroy() {
    this.release();
    this.verticesData = undefined;
    this.textureCoordData = undefined;
    this.cxxFrame = undefined;
  }

  /**
   * Creates a ply file of the model with the given file name.
   * @param {String} fileName name of the ply file
   * @param {VideoFrame} texture texture frame
   * @return {undefined}
   */
  exportToPly(fileName, texture) {
    const funcName = 'Points.exportToPly()';
    checkArgumentLength(2, 2, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    checkArgumentType(arguments, VideoFrame, 1, funcName);
    if (this.cxxFrame) {
      this.cxxFrame.exportToPly(fileName, texture.cxxFrame);
    }
  }

  /**
   * Get an array of texture coordinates per vertex
   * Each coordinate represent a (u,v) pair within [0,1] range, to be mapped to texture image
   *
   * @return {Int32Array|undefined}
   */
  get textureCoordinates() {
    if (this.verticesCoordArray) return this.verticesCoordArray;

    if (this.cxxFrame.canGetPoints()) {
      const newLength = this.cxxFrame.getTexCoordBufferLen();
      if (!this.textureCoordData || newLength !== this.textureCoordData.byteLength) {
        this.textureCoordData = new ArrayBuffer(newLength);
      }
      if (this.cxxFrame.writeTextureCoordinates(this.textureCoordData)) {
        this.verticesCoordArray = new Int32Array(this.textureCoordData);
        return this.verticesCoordArray;
      }
    }
    return undefined;
  }

  /**
   * Get number of vertices
   *
   * @return {Integer}
   */
  get size() {
    if (this.cxxFrame.canGetPoints()) {
      return this.cxxFrame.getPointsCount();
    }

    throw new TypeError('Can\'t get size due to invalid frame type');
  }
}

/**
 * This class represents depth stream
 */
class DepthFrame extends VideoFrame {
  constructor(cxxFrame) {
    super(cxxFrame);
  }

  /**
   * Get the distance of a point from the camera
   * @param {Integer} x x coordinate of the point
   * @param {Integer} y y coordinate of the point
   * @return {Float}
   */
  getDistance(x, y) {
    const funcName = 'DepthFrame.getDistance()';
    checkArgumentLength(2, 2, arguments.length, funcName);
    checkArgumentType(arguments, 'number', 0, funcName);
    checkArgumentType(arguments, 'number', 1, funcName);
    return this.cxxFrame.getDistance(x, y);
  }
}

/**
 * Disparity Frame
 */
class DisparityFrame extends DepthFrame {
  constructor(cxxFrame) {
    super(cxxFrame);
  }

  /**
   * Retrieve the stereoscopic baseline value. Applicable to stereo-based depth modules
   * @return {Float} Stereoscopic baseline in millimeters
   */
  get baseLine() {
    return this.cxxFrame.getBaseLine();
  }
}

/**
 * 3D vector in Euclidean coordinate space
 * @typedef {Object} Vector
 * @property {Float32} x - value of x coordinate
 * @property {Float32} y - value of y coordinate
 * @property {Float32} z - value of z coordinate
 * @see [MotionFrame.getMotionData()]{@link MotionFrame#getMotionData}
 */

/**
 * Quaternion used to represent rotation
 * @typedef {Object} Quaternion
 * @property {Float32} x
 * @property {Float32} y
 * @property {Float32} z
 * @property {Float32} w
 * @see [PoseFrame.getPoseData()]{@link PoseFrame#getPoseData}
 */

/**
 * This class resprents a motion frame and is a subclass of Frame
 */
class MotionFrame extends Frame {
  constructor(frame) {
    super(frame);
    this._motion = {x: 0, y: 0, z: 0};
  }

  /**
   * Get the motion data
   * @return {Vector} the motion data on x, y and z coordinates
   */
  get motionData() {
    this.cxxFrame.getMotionData(this._motion);
    return this._motion;
  }
}

/**
 * PoseData
 * @typedef {Object} PoseData
 * @property {Vector} translation - X, Y, Z values of translation, in meters (relative to
 * initial position)
 * @property {Vector} velocity - X, Y, Z values of velocity, in meter/sec
 * @property {Vector} acceleration - X, Y, Z values of acceleration, in meter/sec^2
 * @property {Quaternion} rotation - Qi, Qj, Qk, Qr components of rotation as represented
 * in quaternion rotation (relative to initial position)
 * @property {Vector} angularVelocity - X, Y, Z values of angular velocity, in radians/sec
 * @property {Vector} angularAcceleration - X, Y, Z values of angular acceleration, in radians/sec^2
 * @property {Integer} trackerConfidence - pose data confidence 0 - Failed, 1 - Low, 2 - Medium,
 * 3 - High
 * @property {Integer} mapperConfidence - pose data confidence 0 - Failed, 1 - Low, 2 - Medium,
 * 3 - High
 * @see [PoseFrame.getPoseData()]{@link PoseFrame#getPoseData}
 */

/**
 * This class resprents a pose frame and is a subclass of Frame
 */
class PoseFrame extends Frame {
  constructor(frame) {
    super(frame);
    this._pose = {
      translation: {x: 0, y: 0, z: 0},
      velocity: {x: 0, y: 0, z: 0},
      acceleration: {x: 0, y: 0, z: 0},
      rotation: {x: 0, y: 0, z: 0, w: 0},
      angularVelocity: {x: 0, y: 0, z: 0},
      angularAcceleration: {x: 0, y: 0, z: 0},
      trackerConfidence: 0,
      mapperConfidence: 0,
    };
  }

  /**
   * Get the pose data
   * @return {PoseData|undefined}
   */
  get poseData() {
    return (this.cxxFrame.getPoseData(this._pose)) ? this._pose : undefined;
  }
}

/**
 * Class containing a set of frames
 *
 * @property {Integer} size - count of frames.
 * @property {DepthFrame|undefined} depthFrame - The depth frame in the frameset.
 * @property {VideoFrame|undefined} colorFrame - The color frame in the frameset.
 */
class FrameSet {
  constructor(cxxFrameSet) {
    this.cxxFrameSet = cxxFrameSet || new RS2.RSFrameSet();
    this.cache = [];
    this.cacheMetadata = [];
    this.__update();
  }

  /**
   * Count of frames
   *
   * @return {Integer}
   */
  get size() {
    return this.sizeValue;
  }

  /**
   * Get the depth frame
   *
   * @return {DepthFrame|undefined}
   */
  get depthFrame() {
    return this.getFrame(stream.STREAM_DEPTH, 0);
  }

  /**
   * Get the color frame
   *
   * @return {VideoFrame|undefined}
   */
  get colorFrame() {
    return this.getFrame(stream.STREAM_COLOR, 0);
  }

  /**
   * Get the infrared frame
   * @param {Integer} streamIndex index of the expected infrared stream
   * @return {VideoFrame|undefined}
   */
  getInfraredFrame(streamIndex = 0) {
    const funcName = 'FrameSet.getInfraredFrame()';
    checkArgumentLength(0, 1, arguments.length, funcName);
    if (arguments.length === 1) {
      checkArgumentType(arguments, 'integer', 0, funcName);
    }
    return this.getFrame(stream.STREAM_INFRARED, streamIndex);
  }

  /**
   * Get the frame at specified index
   *
   * @param {Integer} index the index of the expected frame (Note: this is not
   * stream index)
   * @return {DepthFrame|VideoFrame|Frame|undefined}
   */
  at(index) {
    const funcName = 'FrameSet.at()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'number', 0, funcName, 0, this.size);
    return this.getFrame(this.cxxFrameSet.indexToStream(index),
        this.cxxFrameSet.indexToStreamIndex(index));
  }

  /**
   * Run the provided callback function with each Frame inside the FrameSet
   * @param {FrameCallback} callback the callback function to process each frame
   * @return {undefined}
   */
  forEach(callback) {
    const funcName = 'FrameSet.forEach()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'function', 0, funcName);
    const size = this.size;
    for (let i = 0; i < size; i++) {
      callback(this.at(i));
    }
  }

  __internalGetFrame(stream, streamIndex) {
    let cxxFrame = this.cxxFrameSet.getFrame(stream, streamIndex);
    return (cxxFrame ? Frame._internalCreateFrame(cxxFrame) : undefined);
  }

  __internalFindFrameInCache(stream, streamIndex) {
    if (stream === stream.STREAM_ANY) {
      return (this.cacheMetadata.size ? 0 : undefined);
    }

    for (const [i, data] of this.cacheMetadata.entries()) {
      if (data.stream !== stream) {
        continue;
      }
      if (!streamIndex || (streamIndex && streamIndex === data.streamIndex)) {
        return i;
      }
    }
    return undefined;
  }

  __internalGetFrameCache(stream, streamIndex, callback) {
    let idx = this.__internalFindFrameInCache(stream, streamIndex);
    if (idx === undefined) {
      let frame = callback(stream, streamIndex);
      if (!frame) return undefined;

      this.cache.push(frame);
      // the stream parameter may be stream.STREAM_ANY, but when we store the frame in
      // cache, we shall store its actual stream type.
      this.cacheMetadata.push({stream: frame.streamType, streamIndex: streamIndex});
      idx = this.cache.length - 1;
    } else {
      let frame = this.cache[idx];
      if (!frame.cxxFrame) {
        frame.cxxFrame = new RS2.RSFrame();
      }

      // as cache metadata entries always use actual stream type, we use the actual
      // stream types to easy native from processing stream.STREAM_ANY
      if (! this.cxxFrameSet.replaceFrame(
          this.cacheMetadata[idx].stream, streamIndex, frame.cxxFrame)) {
        this.cache[idx] = undefined;
        this.cacheMetadata[idx] = undefined;
      }
    }
    return this.cache[idx];
  }

  /**
   * Get the frame with specified stream
   *
   * @param {Integer|String} stream stream type of the frame
   * @param {Integer} streamIndex index of the stream, 0 means the first
   * matching stream
   * @return {DepthFrame|VideoFrame|Frame|undefined}
   */
  getFrame(stream, streamIndex = 0) {
    const funcName = 'FrameSet.getFrame()';
    checkArgumentLength(1, 2, arguments.length, funcName);
    const s = checkArgumentType(arguments, constants.stream, 0, funcName);
    if (arguments.length === 2) {
      checkArgumentType(arguments, 'integer', 1, funcName);
    }
    return this.__internalGetFrameCache(s, streamIndex, this.__internalGetFrame.bind(this));
  }

  __update() {
    this.sizeValue = this.cxxFrameSet.getSize();
  }

  releaseCache() {
    this.cache.forEach((f) => {
      if (f && f.cxxFrame) {
        f.release();
      }
    });
    this.cache = [];
    this.cacheMetadata = [];
  }

  release() {
    this.releaseCache();
    if (this.cxxFrameSet) this.cxxFrameSet.destroy();
  }

  /**
   * Release resources associated with this object
   *
   * @return {undefined}
   */
  destroy() {
    this.release();
    this.cxxFrameSet = undefined;
  }
}

/**
 * This class provides a simple way to retrieve frame data
 */
class Pipeline {
  /**
   * Construct a Pipeline object
   * There are 2 acceptable syntax
   *
   * <pre><code>
   *  Syntax 1. new Pipeline()
   *  Syntax 2. new Pipeline(context)
   * </code></pre>
   * Syntax 1 uses the default context.
   * Syntax 2 used the context created by application
   * @param {Context} [context] - the {@link Context} that is being used by the pipeline
   */
  constructor(context) {
    const funcName = 'Pipeline.constructor()';
    checkArgumentLength(0, 1, arguments.length, funcName);
    let ownCtx = true;
    let ctx;

    if (arguments.length === 1) {
      checkArgumentType(arguments, Context, 0, funcName);
      ownCtx = false;
      this.ctx = arguments[0];
    }

    if (ownCtx === true) {
      this.ctx = new Context();
      // get existing sensors params
      let sensores = this.ctx.querySensors();
      if (sensores.length>=2) {
        let depthSensor = sensores[0];
        let colorSensor = sensores[1];
        let cfg = new Config();
        let depthProfiles = depthSensor
          .getStreamProfiles()
          .filter( (s) => s.streamType == stream.STREAM_DEPTH);
        let depthProfile = depthProfiles
          .find( (x) => x.width == 640 && x.height==480) ||
          depthProfiles[depthProfiles.length-1];
        let colorProfiles = colorSensor
          .getStreamProfiles()
          .filter( (s) => s.streamType == stream.STREAM_COLOR);
        let colorProfile = colorProfiles
          .find( (x) => x.width == 640 && x.height==480) ||
          colorProfiles[colorProfiles.length-1];
        console.log('depth: w: ' + depthProfile.width +
            ', h: ' + depthProfile.height +
            ', format: ' + depthProfile.format +
            ', fps: ' + depthProfile.fps
        );
        console.log('color: w: ' + colorProfile.width +
            ', h: ' + colorProfile.height +
            ', format: ' + colorProfile.format +
            ', fps: ' + colorProfile.fps
        );
        cfg.enableStream(
          stream.STREAM_DEPTH,
          -1,
          depthProfile.width,
          depthProfile.height,
          depthProfile.format,
          depthProfile.fps);
        cfg.enableStream(
          stream.STREAM_COLOR,
          -1,
          colorProfile.width,
          colorProfile.height,
          format.FORMAT_RGB8,
          colorProfile.fps
        );
        this.autoConfig = cfg;
      }
    }

    this.cxxPipeline = new RS2.RSPipeline();
    this.cxxPipeline.create(this.ctx.cxxCtx);
    this.started = false;
    this.frameSet = new FrameSet();
    internal.addObject(this);
  }

  /**
   * Destroy the resource associated with this pipeline
   *
   * @return {undefined}
   */
  destroy() {
    if (this.started === true) this.stop();

    if (this.cxxPipeline) {
      this.cxxPipeline.destroy();
      this.cxxPipeline = undefined;
    }

    if (this.ownCtx && this.ctx) {
      this.ctx.destroy();
    }
    this.ctx = undefined;

    if (this.frameSet) {
      this.frameSet.destroy();
    }
    this.frameSet = undefined;
  }

  /**
   * Start streaming
   * There are 2 acceptable syntax
   *
   * <pre><code>
   *  Syntax 1. start()
   *  Syntax 2. start(config)
   * </code></pre>
   * Syntax 1 uses the default configuration.
   * Syntax 2 used the configured streams and or device of the config parameter
   *
   * @param {Config} [config] - the {@link Config} object to use for configuration
   * @return {@link PipelineProfile}
   */
  start() {
    const funcName = 'Pipeline.start()';
    checkArgumentLength(0, 1, arguments.length, funcName);
    if (this.started === true) return undefined;

    if (arguments.length === 0) {
      this.started = true;
      return new PipelineProfile(this.cxxPipeline.start());
    } else {
      checkArgumentType(arguments, Config, 0, funcName);
      this.started = true;
      console.log('Pipeline started with config');
      return new PipelineProfile(this.cxxPipeline.startWithConfig(arguments[0].cxxConfig));
    }
  }

  /**
   * Stop streaming
   *
   * @return {undefined}
   */
  stop() {
    if (this.started === false) return;

    if (this.cxxPipeline ) {
      this.cxxPipeline.stop();
    }
    this.started = false;

    if (this.frameSet) this.frameSet.release();
  }

  /**
   * Wait until a new set of frames becomes available.
   * The returned frameset includes time-synchronized frames of each enabled stream in the pipeline.
   * In case of different frame rates of the streams, the frames set include a matching frame of the
   * slow stream, which may have been included in previous frames set.
   * The method blocks the calling thread, and fetches the latest unread frames set.
   * Device frames, which were produced while the function wasn't called, are dropped.
   * To avoid frame drops, this method should be called as fast as the device frame rate.
   *
   * @param {Integer} timeout - max time to wait, in milliseconds, default to 5000 ms
   * @return {FrameSet|undefined} a FrameSet object or Undefined
   * @see See [Pipeline.latestFrame]{@link Pipeline#latestFrame}
   */
  waitForFrames(timeout = 5000) {
    const funcName = 'Pipeline.waitForFrames()';
    checkArgumentLength(0, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'number', 0, funcName);
    this.frameSet.release();
    if (this.cxxPipeline.waitForFrames(this.frameSet.cxxFrameSet, timeout)) {
      this.frameSet.__update();
      return this.frameSet;
    }
    return undefined;
  }

  get latestFrame() {
    return this.frameSet;
  }

  /**
   * Check if a new set of frames is available and retrieve the latest undelivered set.
   * The frameset includes time-synchronized frames of each enabled stream in the pipeline.
   * The method returns without blocking the calling thread, with status of new frames available
   * or not. If available, it fetches the latest frames set.
   * Device frames, which were produced while the function wasn't called, are dropped.
   * To avoid frame drops, this method should be called as fast as the device frame rate.
   *
   * @return {FrameSet|undefined}
   */
  pollForFrames() {
    this.frameSet.release();
    if (this.cxxPipeline.pollForFrames(this.frameSet.cxxFrameSet)) {
      this.frameSet.__update();
      return this.frameSet;
    }
    return undefined;
  }

  /**
   * Return the active device and streams profiles, used by the pipeline.
   * The pipeline streams profiles are selected during {@link Pipeline.start}. The method returns a
   * valid result only when the pipeline is active -
   * between calls to {@link Pipeline.start} and {@link Pipeline.stop}.
   * After {@link Pipeline.stop} is called, the pipeline doesn't own the device, thus, the pipeline
   * selected device may change in
   * subsequent activations.
   *
   * @return {PipelineProfile} the actual pipeline device and streams profile, which was
   * successfully configured to the streaming device on start.
   */
  getActiveProfile() {
    if (this.started === false) return undefined;

    return new PipelineProfile(this.cxxPipeline.getActiveProfile());
  }
}

/**
 * The pipeline profile includes a device and a selection of active streams, with specific profile.
 * The profile is a selection of the above under filters and conditions defined by the pipeline.
 * Streams may belong to more than one sensor of the device.
 */
class PipelineProfile {
  constructor(profile) {
    this.cxxPipelineProfile = profile;
    internal.addObject(this);
  }

  /**
   * Check if the object is valid
   * @return {Boolean}
   */
  get isValid() {
    return (this.cxxPipelineProfile != null);
  }

  /**
   * Return the selected streams profiles, which are enabled in this profile.
   *
   * @return {StreamProfile[]} an array of StreamProfile
   */
  getStreams() {
    let profiles = this.cxxPipelineProfile.getStreams();
    if (!profiles) return undefined;

    const array = [];
    profiles.forEach((profile) => {
      array.push(StreamProfile._internalCreateStreamProfile(profile));
    });
    return array;
  }

  /**
   * Return the selected stream profile, which are enabled in this profile.
   * @param {Integer|String} streamType the stream type of the desired profile,
   * see {@link stream} for avaiable values
   * @param {Integer} streamIndex stream index of the desired profile, -1 for any matching
   * @return {StreamProfile} the first matching stream profile
   */
  getStream(streamType, streamIndex = -1) {
    const funcName = 'PipelineProfile.getStream()';
    checkArgumentLength(1, 2, arguments.length, funcName);
    const s = checkArgumentType(arguments, constants.stream, 0, funcName);
    checkArgumentType(arguments, 'number', 1, funcName);
    let profiles = this.getStreams();
    if (!profiles) {
      return undefined;
    }
    for (let i = 0; i < profiles.length; i++) {
      if (profiles[i].streamType === s &&
          (streamIndex === -1 || (streamIndex === profiles[i].indexValue))) {
        return profiles[i];
      }
    }
    return undefined;
  }

  /**
   * Retrieve the device used by the pipeline.
   * The device class provides the application access to control camera additional settings -
   * get device information, sensor options information, options value query and set, sensor
   * specific extensions.
   * Since the pipeline controls the device streams configuration, activation state and frames
   * reading, calling the device API functions, which execute those operations, results in
   * unexpected behavior. The pipeline streaming device is selected during {@link Pipeline.start}.
   * Devices of profiles, which are not returned by
   * {@link Pipeline.start} or {@link Pipeline.getActiveProfile}, are not guaranteed to be used by
   * the pipeline.
   *
   * @return {Device} the pipeline selected device
   */
  getDevice() {
    return Device._internalCreateDevice(this.cxxPipelineProfile.getDevice());
  }

  /**
   * Destroy the resource associated with this object
   *
   * @return {undefined}
   */
  destroy() {
    if (this.cxxPipelineProfile) {
      this.cxxPipelineProfile.destroy();
      this.cxxPipelineProfile = undefined;
    }
  }
}

/**
 * The config allows pipeline users to request filters for the pipeline streams and device selection
 * and configuration.
 * This is an optional step in pipeline creation, as the pipeline resolves its streaming device
 * internally.
 * Config provides its users a way to set the filters and test if there is no conflict with the
 * pipeline requirements from the device. It also allows the user to find a matching device for
 * the config filters and the pipeline, in order to select a device explicitly, and modify its
 * controls before streaming starts.
 */
class Config {
  constructor() {
    this.cxxConfig = new RS2.RSConfig();
    internal.addObject(this);
  }

 /**
  * Enable a device stream explicitly, with selected stream parameters.
  * The method allows the application to request a stream with specific configuration. If no stream
  * is explicitly enabled, the pipeline configures the device and its streams according to the
  * attached computer vision modules and processing blocks requirements, or default configuration
  * for the first available device.
  * The application can configure any of the input stream parameters according to its requirement,
  * or set to 0 for don't care value. The config accumulates the application calls for enable
  * configuration methods, until the configuration is applied. Multiple enable stream calls for the
  * same stream override each other, and the last call is maintained.
  * Upon calling {@link Config.resolve}, the config checks for conflicts between the application
  * configuration requests and the attached computer vision modules and processing blocks
  * requirements, and fails if conflicts are found.
  * Before {@link Config.resolve} is called, no conflict check is done.
  *
  * @param {Integer|String} stream  stream type to be enabled
  * @param {Integer} index stream index, used for multiple streams of the same type. -1 indicates
  * any.
  * @param {Integer} width stream image width - for images streams. 0 indicates any.
  * @param {Integer} height stream image height - for images streams. 0 indicates any.
  * @param {Integer|String} format stream data format - pixel format for images streams, of data
  * type for other streams. format.FORMAT_ANY indicates any.
  * @param {Integer} fps stream frames per second. 0 indicates any.
  */
  enableStream(stream, index, width, height, format, fps) {
    const funcName = 'Config.enableStream()';
    checkArgumentLength(6, 6, arguments.length, funcName);
    const s = checkArgumentType(arguments, constants.stream, 0, funcName);
    checkArgumentType(arguments, 'number', 1, funcName);
    checkArgumentType(arguments, 'number', 2, funcName);
    checkArgumentType(arguments, 'number', 3, funcName);
    const f = checkArgumentType(arguments, constants.format, 4, funcName);
    checkArgumentType(arguments, 'number', 5, funcName);
    this.cxxConfig.enableStream(s, index, width, height, f, fps);
  }

  /**
   * Disable a device stream explicitly, to remove any requests on this stream profile.
   */
  disableStream(stream) {
    const funcName = 'Config.disableStream()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const s = checkArgumentType(arguments, constants.stream, 0, funcName);
    this.cxxConfig.disableStream(s);
  }

  /**
   * Enable all device streams explicitly.
   */
  enableAllStreams() {
    this.cxxConfig.enableAllStreams();
  }

  /**
   * Disable all device streams explicitly.
   */
  disableAllStreams() {
    this.cxxConfig.disableAllStreams();
  }

  /**
   * Select a specific device explicitly by its serial number, to be used by the pipeline.
   * The conditions and behavior of this method are similar to those of {@link Config.enableStream}.
   * This method is required if the application needs to set device or sensor settings prior to
   * pipeline streaming, to enforce the pipeline to use the configured device.
   *
   * @param {String} serial device serial number, as returned by
   * Device.getCameraInfo(camera_info.CAMERA_INFO_SERIAL_NUMBER).
   */
  enableDevice(serial) {
    const funcName = 'Config.enableDevice()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    this.cxxConfig.enableDevice(serial);
  }

  /**
   * Select a recorded device from a file, to be used by the pipeline through playback.
   * The device available streams are as recorded to the file, and {@link Config.resolve} considers
   * only this device and configuration as available.
   * This request cannot be used if {@link Config.enableRecordToFile} is called for the current
   * config, and vise versa
   *
   * @param {String} fileName the playback file of the device
   * @param {Boolean} repeat whether to repeat the playback automatically
   */
  enableDeviceFromFile(fileName, repeat = true) {
    const funcName = 'Config.enableDeviceFromFile()';
    checkArgumentLength(1, 2, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    checkArgumentType(arguments, 'boolean', 1, funcName);
    checkFileExistence(fileName);
    this.cxxConfig.enableDeviceFromFileRepeatOption(fileName, repeat);
  }

  /**
   * Requires that the resolved device would be recorded to file
   * This request cannot be used if {@link Config.enableDeviceFromFile} is called for the current
   * config, and vise versa as available.
   *
   * @param {String} fileName the desired file for the output record
   */
  enableRecordToFile(fileName) {
    const funcName = 'Config.enableRecordToFile()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'string', 0, funcName);
    this.cxxConfig.enableRecordToFile(fileName);
  }

  /**
   * Resolve the configuration filters, to find a matching device and streams profiles.
   * The method resolves the user configuration filters for the device and streams, and combines
   * them with the requirements of the computer vision modules and processing blocks attached to the
   * pipeline. If there are no conflicts of requests,
   * it looks for an available device, which can satisfy all requests, and selects the first
   * matching streams configuration. In the absence of any request, the config selects the first
   * available device and the first color and depth streams configuration.
   * The pipeline profile selection during {@link Pipeline.start} follows the same method. Thus,
   * the selected profile is the same, if no change occurs to the available devices occurs.
   * Resolving the pipeline configuration provides the application access to the pipeline selected
   * device for advanced control.
   * The returned configuration is not applied to the device, so the application doesn't own the
   * device sensors. However, the application can call {@link Cofnig.enableDevice}, to enforce the
   * device returned by this method is selected by pipeline start, and configure the device and
   * sensors options or extensions before streaming starts.
   *
   * @param {Pipeline} pipeline the pipeline for which the selected filters are applied
   * @return {PipelineProfile|undefined} a matching device and streams profile, which satisfies the
   * filters and pipeline requests.
   */
  resolve(pipeline) {
    const funcName = 'Config.resolve()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, Pipeline, 0, funcName);
    return new PipelineProfile(this.cxxConfig.resolve(arguments[0].cxxPipeline));
  }

  /**
   * Check if the config can resolve the configuration filters, to find a matching device and
   * streams profiles. The resolution conditions are as described in {@link Config.resolve}.
   *
   * @param {Pipeline} pipeline the pipeline for which the selected filters are applied
   * @return {boolean} true if a valid profile selection exists, false if no selection can be found
   * under the config filters and the available devices.
   */
  canResolve(pipeline) {
    const funcName = 'Config.canResolve()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, Pipeline, 0, funcName);
    return this.cxxConfig.canResolve(arguments[0].cxxPipeline);
  }

  /**
   * Release resources associated with the object
   */
  destroy() {
    if (this.cxxConfig) {
      this.cxxConfig.destroy();
      this.cxxConfig = null;
    }
  }
}

/**
 * Syncer class, which is used to group synchronized frames into coherent frame-sets.
 */
class Syncer {
  constructor() {
    this.cxxSyncer = new RS2.RSSyncer();
    this.frameSet = new FrameSet();
  }

  /*
   * Wait until coherent set of frames becomes available
   * @param {Number} timeout Max time in milliseconds to wait until an exception will be thrown
   * @return {Frame[]|undefined} Set of coherent frames or undefined if no frames.
   */
  waitForFrames(timeout = 5000) {
    const funcName = 'Syncer.waitForFrames()';
    checkArgumentLength(0, 1, arguments.length, funcName);
    checkArgumentType(arguments, 'number', 0, funcName);
    this.frameSet.release();
    if (this.cxxSyncer.waitForFrames(this.frameSet.cxxFrameSet, timeout)) {
      this.frameSet.__update();
      return this.frameSet;
    }
    return undefined;
  }

  /**
   * Check if a coherent set of frames is available, if yes return them
   * @return {Frame[]|undefined} an array of frames if available and undefined if not.
   */
  pollForFrames() {
    this.frameSet.release();
    if (this.cxxSyncer.pollForFrames(this.frameSet.cxxFrameSet)) {
      this.frameSet.__update();
      return this.frameSet;
    }
    return undefined;
  }

  /**
   * Release resources associated with the object
   */
  destroy() {
    if (this.cxxSyncer) {
      this.cxxSyncer.destroy();
      this.cxxSyncer = undefined;
    }

    if (this.frameset) {
      this.frameSet.destroy();
      this.frameSet = undefined;
    }
  }
}

/**
 * Encapsulate the handling of 'device-changed' notification, when devices are conncted or
 * disconnected. It can connect to the existing device(s) in system, and/or wait for the
 * arrival/removal of devices.
 */
class DeviceHub {
  /**
   * @param {Context} context - a librealsense2 Context
   */
  constructor(context) {
    const funcName = 'DeviceHub.constructor()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, Context, 0, funcName);
    this.context = context;
    this.cxxHub = new RS2.RSDeviceHub(context.cxxCtx);
    internal.addObject(this);
  }

  /**
   * If any device is connected return it, otherwise wait until next RealSense device connects.
   * Calling this method multiple times will cycle through connected devices
   * @return {Device|undefined}
   */
  waitForDevice() {
    let dev = this.cxxHub.waitForDevice();
    return (dev ? Device._internalCreateDevice(dev) : undefined);
  }

  /**
   * Check if a device is connected
   * @return {Boolean}
   */
  isConnected(device) {
    const funcName = 'DeviceHub.isConnected()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, Device, 0, funcName);
    return this.cxxHub.isConnected(device.cxxDev);
  }

  /**
   * Release resources associated with the object
   */
  destroy() {
    if (this.cxxHub) {
      this.cxxHub.destroy();
      this.cxxHub = undefined;
    }
  }
}

/**
 * Base class of specific filter classes, see {@link DecimationFilter}.
 * Don't create Filter objects directly from this class, use child classes,
 */
class Filter extends Options {
  constructor(type) {
    super(new RS2.RSFilter(type));
    internal.addObject(this);
  }

  _internalGetInputType() {
    return DepthFrame;
  }

  _internalPrepareOutputFrame() {
    if (!this.frame) {
      this.frame = new DepthFrame();
    }
  }
  /**
   * Apply the filter processing on the frame and return the processed frame
   * @param {Frame} frame the depth frame to be processed
   * @return {Frame}
   */
  process(frame) {
    const funcName = 'Filter.process()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    checkArgumentType(arguments, this._internalGetInputType(), 0, funcName);
    this._internalPrepareOutputFrame();
    if (this.cxxObj && this.cxxObj.process(frame.cxxFrame, this.frame.cxxFrame)) {
      this.frame.updateProfile();
      return this.frame;
    }
    return undefined;
  }

  /**
   * Release resources associated with the object
   */
  destroy() {
    if (this.cxxObj) {
      this.cxxObj.destroy();
      this.cxxObj = null;
    }
    if (this.frame) {
      this.frame.destroy();
      this.frame = undefined;
    }
  }
}

/**
 * Depth post-processing filter block. This block can apply decimation filter on depth frame.
 */
class DecimationFilter extends Filter {
  constructor() {
    super('decimation');
  }
  // override base implementation
  _internalGetInputType() {
    return VideoFrame;
  }
  _internalPrepareOutputFrame() {
    if (!this.frame) {
      this.frame = new VideoFrame();
    }
  }
}

/**
 * Depth post-processing filter block. This block can apply temporal filter on depth frame.
 */
class TemporalFilter extends Filter {
  constructor() {
    super('temporal');
  }
}

/**
 * Depth post-processing filter block. This block can apply spatial filter on depth frame.
 */
class SpatialFilter extends Filter {
  constructor() {
    super('spatial');
  }
}

/**
 * Depth post-processing filter block. This block replaces empty pixels with data from adjacent
 * pixels based on the method selected.
 */
class HoleFillingFilter extends Filter {
  constructor() {
    super('hole-filling');
  }
}

/**
 * Post processing block that could transform disparity frame to depth frame
 */
class DisparityToDepthTransform extends Filter {
  constructor() {
    super('disparity-to-depth');
  }

  // override base implementation
  _internalGetInputType() {
    return DisparityFrame;
  }
}

/**
 * Post processing block that could transform depth frame to disparity frame
 */
class DepthToDisparityTransform extends Filter {
  constructor() {
    super('depth-to-disparity');
  }

  // override base implementation
  _internalPrepareOutputFrame() {
    if (!this.frame) {
      this.frame = new DisparityFrame();
    }
  }
}

/**
 * <code>util.preset_preference</code>: The enum for preset preference values.
 * @readonly
 * @enum {String}
 */
const preset_preference = {
  /**
   * String literal of <code>'best-quality'</code>. <br>Prefers the best overall quality that is
   * available in the camera. <br>Equivalent to its uppercase counterpart.
   */
  best_quality: 'best-quality',
  /**
   * String literal of <code>'largest-image'</code>. <br>Prefers the largest image dimension that is
   * available in the camera. <br>Equivalent to its uppercase counterpart.
   */
  largest_image: 'largest-image',
  /**
   * String literal of <code>'highest-framerate'</code>. <br>Prefers the highest frame rate that is
   * available in the camera. <br>Equivalent to its uppercase counterpart.
   */
  highest_framerate: 'highest-framerate',

  /**
   * Prefers the best overall quality that is available in the camera <br>Equivalent to its
   * lowercase counterpart.
   * @type {Integer}
   */
  BEST_QUALITY: 0,
  /**
   * Prefers the largest image dimension that is available in the camera <br>Equivalent to its
   * lowercase counterpart.
   * @type {Integer}
   */
  LARGEST_IMAGE: 1,
  /**
   * Prefers the highest frame rate that is available in the camera <br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  HIGHEST_FRAMERATE: 2,

  PRESET_BEGIN: 0,
  PRESET_END: 3,
};

const util = {};

util.preset_preference = preset_preference;

Object.defineProperty(util, '__stack', {
  get: function() {
    let orig = Error.prepareStackTrace;
    Error.prepareStackTrace = function(_, stack) {
   return stack;
  };
    let err = new Error();
    // TODO(kenny-y): fix the jshint error
    /* jshint ignore:start */
    Error.captureStackTrace(err, arguments.callee); // eslint-disable-line
    /* jshint ignore:end */
    let stack = err.stack;
    Error.prepareStackTrace = orig;
    return stack;
  },
});

Object.defineProperty(util, '__line', {
  get: function() {
    // TODO(kenny-y): fix the jshint error
    /* jshint ignore:start */
    return __stack[1].getLineNumber();
    /* jshint ignore:end */
  },
});

Object.defineProperty(util, '__file', {
  get: function() {
    // TODO(kenny-y): fix the jshint error
    /* jshint ignore:start */
    return __stack[1].getFileName().split('/').slice(-1)[0];
    /* jshint ignore:end */
  },
});

function isString(s) {
  return (typeof s === 'string');
}

function isNumber(s) {
  return (typeof s === 'number');
}

function checkStringNumber(v, rangeStart, rangeEnd, convertFunc, typeErrMsg, rangeErrMsg) {
  let r;
  if (isString(v)) {
    r = convertFunc(v);
  } else if (isNumber(v)) {
    r = parseInt(v);
  } else {
    throw new TypeError(typeErrMsg);
  }
  if (r < rangeStart || r >= rangeEnd || typeof r === 'undefined') {
    throw new RangeError(rangeErrMsg);
  }
  return r;
}

function checkArgumentLength(minLengh, maxLength, actualLength, funcName) {
  if (actualLength >= minLengh && actualLength <= maxLength) {
    return;
  }

  if (minLengh === maxLength) {
    throw new TypeError(funcName + ' expects ' + minLengh + ' arguments');
  } else {
    throw new TypeError(funcName + ' expects ' + minLengh + '~' + maxLength + ' arguments');
  }
}

function checkArgumentType(args, expectedType, argIndex, funcName, start, end) {
  if (argIndex >= args.length) {
    return undefined;
  }
  let arg = args[argIndex];
  let errMsgPrefix = 'argument ' + argIndex + ' of ' + funcName;
  let wrongTypeErrMsgPrefix = errMsgPrefix + ' should be a/an ';
  let unsupportedErrMsg = errMsgPrefix + ' is an unsupported type';
  let rangeErrMsg = errMsgPrefix + ' has an invalid value';

  switch (expectedType) {
    case 'number':
    case 'string':
    case 'object':
    case 'boolean':
    case 'function':
      if (typeof arg !== expectedType) {
        throw new TypeError(wrongTypeErrMsgPrefix + expectedType);
      }
      if (expectedType === 'number' && (start !== undefined) && (end !== undefined)) {
        if (arg < start || arg > end) {
          throw new TypeError(rangeErrMsg);
        }
      }
      break;
    case 'ArrayBuffer':
      if (!(isArrayBuffer(arg))) {
        throw new TypeError(wrongTypeErrMsgPrefix + expectedType);
      }
      break;
    case 'integer':
      if (!Number.isInteger(arg)) {
        throw new TypeError(wrongTypeErrMsgPrefix + expectedType);
      }
      break;
    default:
      if (typeof expectedType === 'function') {
        if (!(arg instanceof expectedType)) {
          throw new TypeError(wrongTypeErrMsgPrefix + expectedType.name);
        }
      } else if (typeof expectedType === 'object') {
        for (let mem in constants) {
          if (constants[mem] === expectedType) {
            return checkEnumObjectArgument(args, expectedType, argIndex, funcName, start, end);
          }
        }
        throw new TypeError(unsupportedErrMsg);
      } else {
        throw new TypeError(unsupportedErrMsg);
      }
      break;
  }
}

function checkEnumObjectArgument(args, expectedType, argIndex, funcName, start, end) {
  let rangeStart;
  let rangeEnd;
  let convertFunc;
  let errMsgPrefix = 'argument ' + argIndex + ' of ' + funcName;
  let wrongTypeErrMsgPrefix = errMsgPrefix + ' should be a/an ';
  let unsupportedErrMsg = errMsgPrefix + ' is an unsupported type';
  let rangeErrMsg = errMsgPrefix + ' has an invalid value';
  let typeErrMsg;

  switch (expectedType) {
    case constants.stream:
      rangeStart = constants.stream.STREAM_ANY;
      rangeEnd = constants.stream.STREAM_COUNT;
      convertFunc = stream2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'stream';
      break;
    case constants.format:
      rangeStart = constants.format.FORMAT_ANY;
      rangeEnd = constants.format.FORMAT_COUNT;
      convertFunc = format2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'format';
      break;
    case constants.option:
      rangeStart = constants.option.OPTION_BACKLIGHT_COMPENSATION;
      rangeEnd = constants.option.OPTION_COUNT;
      convertFunc = option2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'option';
      break;
    case constants.camera_info:
      rangeStart = constants.camera_info.CAMERA_INFO_NAME;
      rangeEnd = constants.camera_info.CAMERA_INFO_COUNT;
      convertFunc = cameraInfo2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'camera_info';
      break;
    case constants.recording_mode:
      rangeStart = constants.recording_mode.RECORDING_MODE_BLANK_FRAMES;
      rangeEnd = constants.recording_mode.RECORDING_MODE_COUNT;
      convertFunc = recordingMode2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'recording_mode';
      break;
    case constants.frame_metadata:
      rangeStart = constants.frame_metadata.FRAME_METADATA_FRAME_COUNTER;
      rangeEnd = constants.frame_metadata.FRAME_METADATA_COUNT;
      convertFunc = frameMetadata2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'frame_metadata';
      break;
    case constants.distortion:
      rangeStart = constants.distortion.DISTORTION_NONE;
      rangeEnd = constants.distortion.DISTORTION_COUNT;
      convertFunc = distortion2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'distortion';
      break;
    case constants.notification_category:
      rangeStart = constants.notification_category.NOTIFICATION_CATEGORY_FRAMES_TIMEOUT;
      rangeEnd = constants.notification_category.NOTIFICATION_CATEGORY_COUNT;
      convertFunc = notificationCategory2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'notification_category';
      break;
    case constants.timestamp_domain:
      rangeStart = constants.timestamp_domain.TIMESTAMP_DOMAIN_HARDWARE_CLOCK;
      rangeEnd = constants.timestamp_domain.TIMESTAMP_DOMAIN_COUNT;
      convertFunc = timestampDomain2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'timestamp_domain';
      break;
    case constants.playback_status:
      rangeStart = constants.playback_status.PLAYBACK_STATUS_UNKNOWN;
      rangeEnd = constants.playback_status.PLAYBACK_STATUS_COUNT;
      convertFunc = playbackStatus2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'playback_status';
      break;
    case constants.sr300_visual_preset:
      rangeStart = constants.sr300_visual_preset.SR300_VISUAL_PRESET_SHORT_RANGE;
      rangeEnd = constants.sr300_visual_preset.SR300_VISUAL_PRESET_COUNT;
      convertFunc = sr300VisualPreset2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'sr300_visual_preset';
      break;
    case constants.rs400_visual_preset:
      rangeStart = constants.rs400_visual_preset.RS2_RS400_VISUAL_PRESET_CUSTOM;
      rangeEnd = constants.rs400_visual_preset.RS400_VISUAL_PRESET_COUNT;
      convertFunc = rs400VisualPreset2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'rs400_visual_preset';
      break;
    case constants.log_severity:
      rangeStart = constants.log_severity.LOG_SEVERITY_DEBUG;
      rangeEnd = constants.log_severity.LOG_SEVERITY_COUNT;
      convertFunc = logSeverity2Int;
      typeErrMsg = wrongTypeErrMsgPrefix + 'log_severity';
      break;
    default:
      throw new TypeError(unsupportedErrMsg);
  }
  return checkStringNumber(
      args[argIndex], rangeStart, rangeEnd, convertFunc, typeErrMsg, rangeErrMsg);
}

function checkNumberRange(arg, start, end, argIndex, funcName) {
  if (arg < start || arg > end) {
    throw new TypeError('argument ' + argIndex + ' of ' + funcName + ' is invalid');
  }
}

function checkDiscreteArgumentValue(args, argIndex, valueArray, funcName) {
  if (valueArray.indexOf(args[argIndex]) === -1) {
    throw new TypeError('argument ' + argIndex + ' of ' + funcName + ' is invalid');
  }
}

function checkDiscreteArgumentLength(lenthArray, actualLength, funcName) {
  if (lenthArray.indexOf(actualLength) === -1) {
    throw new TypeError(funcName + ' expects ' + lenthArray.toString() + ' arguments');
  }
}

function equalsToEither(arg, strConst, numConst) {
  return (typeof arg === 'string' && arg === strConst) ||
         (typeof arg === 'number' && arg === numConst);
}

function checkFileExistence(file) {
  if (!fs.existsSync(file)) {
    throw new TypeError('Can\'t open file: ' + file);
  }
}

/**
 * Given a point in 3D space, compute the corresponding pixel coordinates in an image with no
 * distortion or forward distortion coefficients produced by the same camera.
 * @param {Intrinsics} intrinsics - The intrinsics of the image stream
 * @param {Object} pointCoordinate - The 3D space coordinate of the point, linke {x: 0, y: 0, z:1}.
 * @return {Object} like {x: 0, y:0}.
 */
util.projectPointToPixel = function(intrinsics, pointCoordinate) {
  const funcName = 'util.projectPointToPixel';
  checkArgumentLength(2, 2, arguments.length, funcName);
  checkArgumentType(arguments, 'object', 0, funcName);
  checkArgumentType(arguments, 'object', 1, funcName);
  if (equalsToEither(intrinsics.model,
      distortion.distortion_inverse_brown_conrady,
      distortion.DISTORTION_INVERSE_BROWN_CONRADY)) {
    throw new TypeError('projectPointToPixel cannot project to an inverse-distorted image');
  }

  let x = pointCoordinate.x / pointCoordinate.z;
  let y = pointCoordinate.y / pointCoordinate.z;

  if (equalsToEither(intrinsics.model,
      distortion.distortion_modified_brown_conrady,
      distortion.DISTORTION_MODIFIED_BROWN_CONRADY)) {
    const r2 = x * x + y * y;
    const f = 1 + intrinsics.coeffs[0] * r2 + intrinsics.coeffs[1] * r2 * r2 +
        intrinsics.coeffs[4] * r2 * r2 * r2;
    x *= f;
    y *= f;
    const dx = x + 2 * intrinsics.coeffs[2] * x * y + intrinsics.coeffs[3] * (r2 + 2 * x * x);
    const dy = y + 2 * intrinsics.coeffs[3] * x * y + intrinsics.coeffs[2] * (r2 + 2 * y * y);
    x = dx;
    y = dy;
  }

  if (equalsToEither(intrinsics.model,
      distortion.distortion_ftheta,
      distortion.DISTORTION_FTHETA)) {
    const r = Math.sqrt(x * x + y * y);
    const rd = (1.0 / intrinsics.coeffs[0] * Math.atan(2 * r * Math.tan(
        intrinsics.coeffs[0] / 2.0)));
    x *= rd / r;
    y *= rd / r;
  }
  return {x: x * intrinsics.fx + intrinsics.ppx, y: y * intrinsics.fy + intrinsics.ppy};
};

/**
 * Given pixel coordinates and depth in an image with no distortion or inverse distortion
 * coefficients, compute the corresponding point in 3D space relative to the same camera
 * @param {Intrinsics} intrinsics - The intrinsics of the depth stream
 * @param {Object} pixelCoordinate - The pixel coordinate of the point, linke {x: 0, y: 0}.
 * @param {Number} depth - The depth value of the point
 * @return {Object} like {x: 0, y:0, z:0}.
 */
util.deprojectPixelToPoint = function(intrinsics, pixelCoordinate, depth) {
  const funcName = 'util.deprojectPixelToPoint';
  checkArgumentLength(3, 3, arguments.length, funcName);
  checkArgumentType(arguments, 'object', 0, funcName);
  checkArgumentType(arguments, 'object', 1, funcName);
  checkArgumentType(arguments, 'number', 2, funcName);
  if (equalsToEither(intrinsics.model,
      distortion.distortion_modified_brown_conrady,
      distortion.DISTORTION_MODIFIED_BROWN_CONRADY)) {
    throw new TypeError('deprojectPixelToPoint cannot deproject from a forward-distorted image');
  }

  if (equalsToEither(intrinsics.model,
      distortion.distortion_ftheta,
      distortion.DISTORTION_FTHETA)) {
    throw new TypeError('deprojectPixelToPoint cannot deproject to an ftheta image');
  }

  let x = (pixelCoordinate.x - intrinsics.ppx) / intrinsics.fx;
  let y = (pixelCoordinate.y - intrinsics.ppy) / intrinsics.fy;

  if (equalsToEither(intrinsics.model,
      distortion.distortion_inverse_brown_conrady,
      distortion.DISTORTION_INVERSE_BROWN_CONRADY)) {
    const r2 = x * x + y * y;
    const f = 1 + intrinsics.coeffs[0] * r2 + intrinsics.coeffs[1] * r2 * r2 +
        intrinsics.coeffs[4] * r2 * r2 * r2;
    const ux = x * f + 2 * intrinsics.coeffs[2] * x * y + intrinsics.coeffs[3] * (r2 + 2 * x * x);
    const uy = y * f + 2 * intrinsics.coeffs[3] * x * y + intrinsics.coeffs[2] * (r2 + 2 * y * y);
    x = ux;
    y = uy;
  }

  return {x: depth * x, y: depth * y, z: depth};
};

/**
 * Transform 3D coordinates relative to one sensor to 3D coordinates relative to another viewpoint
 * @param {ExtrinsicsObject} extrinsics - The exrinsics from the original stream to the target
 * stream
 * @param {Object} pointCoordinate - The 3D space coordinate of the original point,
 * like {x: 0, y: 0, z:1}.
 * @return {Object} The tranformed 3D coordinate, like {x:0, y:0, z:0}.
 */
util.transformPointToPoint = function(extrinsics, pointCoordinate) {
  const funcName = 'util.transformPointToPoint';
  checkArgumentLength(2, 2, arguments.length, funcName);
  checkArgumentType(arguments, 'object', 0, funcName);
  checkArgumentType(arguments, 'object', 1, funcName);
  const x = extrinsics.rotation[0] * pointCoordinate.x +
            extrinsics.rotation[3] * pointCoordinate.y +
            extrinsics.rotation[6] * pointCoordinate.z +
            extrinsics.translation[0];
  const y = extrinsics.rotation[1] * pointCoordinate.x +
            extrinsics.rotation[4] * pointCoordinate.y +
            extrinsics.rotation[7] * pointCoordinate.z +
            extrinsics.translation[1];
  const z = extrinsics.rotation[2] * pointCoordinate.x +
            extrinsics.rotation[5] * pointCoordinate.y +
            extrinsics.rotation[8] * pointCoordinate.z +
            extrinsics.translation[2];
  return {x: x, y: y, z: z};
};

/**
 * Save the frame to a file asynchronously
 *
 * @param {string} path target file path
 * @param {Frame} frame frame to be saved
 * @param {string} fileFormat the target file format, currently only 'png' is supported
 * @return {Promise}
 */
util.writeFrameToFileAsync = function(path, frame, fileFormat = 'png') {
  const funcName = 'util.writeFrameToFileAsync';
  checkArgumentLength(3, 3, arguments.length, funcName);
  checkArgumentType(arguments, 'string', 0, funcName);
  checkArgumentType(arguments, Frame, 1, funcName);
  checkArgumentType(arguments, 'string', 2, funcName);
  if (fileFormat.toLowerCase() === 'png') {
    let png = new PNG({
      width: frame.width,
      height: frame.height,
      inputColorType: 2,
      inputHasAlpha: false});
    png.data = frame.getData();
    return new Promise((resolve, reject) => {
      png.pack().pipe(fs.createWriteStream(path)).on('finish', () => {
        resolve();
      });
    });
  } else {
    throw new TypeError('util.writeFrameToFileAsync expects a string as the 3rd argument and only \'png\' is supported now.'); // eslint-disable-line
  }
};

/**
 * Field of view (FOV) info:
 * @typedef {Object} FOVObject
 * @property {Float32} h - horizontal field of view
 * @property {Float32} v - vertical field of view
 * @see [util.fov]{@link util#fov}
 */

/**
 * Get the field of view from an IntrinsicsObject
 * @param {IntrinsicsObject} intrinsics the intrinsics to calculate field of view.
 * @return {FOVObject}
 */
util.fov = function(intrinsics) {
  const funcName = 'util.fov';
  checkArgumentLength(1, 1, arguments.length, funcName);
  checkArgumentType(arguments, 'object', 0, funcName);
  let ppx = intrinsics.ppx;
  let ppy = intrinsics.ppy;
  let width = intrinsics.width;
  let height = intrinsics.height;
  let fx = intrinsics.fx;
  let fy = intrinsics.fy;
  let h = (Math.atan(ppx + 0.5, fx) + Math.atan(width - ppx - 0.5, fx)) * 57.2957795;
  let v = (Math.atan(ppy + 0.5, fy) + Math.atan(height - ppy - 0.5, fy)) * 57.2957795;
  return {h: h, v: v};
};

/**
 * Save the frame to a file synchronously
 *
 * @param {string} path target file path
 * @param {Frame} frame frame to be saved
 * @param {string} fileFormat the target file format, currently only 'png' is supported
 * @return {undefined}
 */
util.writeFrameToFile = function(path, frame, fileFormat = 'png') {
  const funcName = 'util.writeFrameToFile';
  checkArgumentLength(3, 3, arguments.length, funcName);
  checkArgumentType(arguments, 'string', 0, funcName);
  checkArgumentType(arguments, Frame, 1, funcName);
  checkArgumentType(arguments, 'string', 2, funcName);
  if (fileFormat.toLowerCase() === 'png') {
    const opt = {
      width: frame.width,
      height: frame.height,
      inputColorType: 2,
      inputHasAlpha: false};
    const png = new PNG(opt);
    png.data = frame.getData();
    const buf = PNG.sync.write(png, opt);
    fs.writeFileSync(path, buf);
  } else {
    throw new TypeError('util.writeFrameToFile expects a string as the 3rd argument and only \'png\' is supported now.'); // eslint-disable-line
  }
};

/**
 * Get all the frame metadata representation as a string
 *
 * @param {frame} frame frame to be saved
 * @return {String} the string representation of all supported frame metadata.
 */
function frameMetadataContent(frame) {
  const funcName = 'frameMetadataContent';
  checkArgumentLength(1, 1, arguments.length, funcName);
  checkArgumentType(arguments, Frame, 0, funcName);
  let content = 'Stream,' + stream.streamToString(frame.profile.streamType)+'\nMetadata Attribute,Value\n'; // eslint-disable-line
  for (let i = 0; i < frame_metadata.FRAME_METADATA_COUNT; i++) {
    if (frame.supportsFrameMetadata(i)) {
      content += frame_metadata.frameMetadataToString(i) + ',' + frame.frameMetadata(i) + '\n';
    }
  }
  return content;
}

/**
 * Save the frame metadata string representation to a file asynchronously
 *
 * @param {string} path target file path
 * @param {Frame} frame frame to extract metadata from
 * @return {undefined}
 */
util.writeFrameMetadataToFileAsync = function(path, frame) {
  const funcName = 'util.writeFrameMetadataToFileAsync';
  checkArgumentLength(2, 2, arguments.length, funcName);
  checkArgumentType(arguments, 'string', 0, funcName);
  checkArgumentType(arguments, Frame, 1, funcName);
  return new Promise((resolve, reject) => {
    const content = frameMetadataContent(frame);
    fs.writeFile(path, content, (err) => {
      if (err) {
        reject(err);
      } else {
        resolve();
      }
    });
  });
};

/**
 * Save the frame metadata string representation to a file asynchronously
 *
 * @param {String} path target file path
 * @param {Frame} frame to extract metadata from
 * @return {undefined}
 */
util.writeFrameMetadataToFile = function(path, frame) {
  const funcName = 'util.writeFrameMetadataToFile';
  checkArgumentLength(2, 2, arguments.length, funcName);
  checkArgumentType(arguments, 'string', 0, funcName);
  checkArgumentType(arguments, Frame, 1, funcName);
  const content = frameMetadataContent(frame);
  const fd = fs.openSync(path, 'w');
  fs.writeSync(fd, content);
  fs.closeSync(fd);
};

/**
 * Enum for format values.
 * @readonly
 * @enum {String}
 */
const format = {

  /**
   * String literal of <code>'any'</code>. <br>When passed to enable stream, librealsense will try
   * to provide best suited format. <br>Equivalent to its uppercase counterpart.
   */
  format_any: 'any',
  /**
   * String literal of <code>'z16'</code>. <br>16-bit linear depth values. The depth is meters is
   * equal to depth scale * pixel value. <br>Equivalent to its uppercase counterpart.
   */
  format_z16: 'z16',
  /**
   * String literal of <code>'disparity16'</code>. <br>16-bit linear disparity values. The depth in
   * meters is equal to depth scale / pixel value. <br>Equivalent to its uppercase counterpart.
   */
  format_disparity16: 'disparity16',
  /**
   * String literal of <code>'xyz32f'</code>. <br>32-bit floating point 3D coordinates.
   * <br>Equivalent to its uppercase counterpart.
   */
  format_xyz32f: 'xyz32f',
  /**
   * String literal of <code>'yuyv'</code>. <br>32-bit y0, u, y1, v data for every two pixels.
   * Similar to YUV422 but packed in a different order - https://en.wikipedia.org/wiki/YUV
   * <br>Equivalent to its uppercase counterpart.
   */
  format_yuyv: 'yuyv',
  /**
   * String literal of <code>'rgb8'</code>. <br>8-bit red, green and blue channels.
   * <br>Equivalent to its uppercase counterpart.
   */
  format_rgb8: 'rgb8',
  /**
   * String literal of <code>'bgr8'</code>. <br>8-bit blue, green, and red channels -- suitable for
   * OpenCV. <br>Equivalent to its uppercase counterpart.
   */
  format_bgr8: 'bgr8',
  /**
   * String literal of <code>'rgba8'</code>. <br>8-bit red, green and blue channels + constant
   * alpha channel equal to FF. <br>Equivalent to its uppercase counterpart.
   */
  format_rgba8: 'rgba8',
  /**
   * String literal of <code>'bgra8'</code>. <br>8-bit blue, green, and red channels + constant
   * alpha channel equal to FF. <br>Equivalent to its uppercase counterpart.
   */
  format_bgra8: 'bgra8',
  /**
   * String literal of <code>'y8'</code>. <br>8-bit per-pixel grayscale image.
   * <br>Equivalent to its uppercase counterpart.
   */
  format_y8: 'y8',
  /**
   * String literal of <code>'y16'</code>. <br>16-bit per-pixel grayscale image.
   * <br>Equivalent to its uppercase counterpart.
   */
  format_y16: 'y16',
  /**
   * String literal of <code>'raw10'</code>. <br>Four 10-bit luminance values encoded into
   * a 5-byte macropixel. <br>Equivalent to its uppercase counterpart.
   */
  format_raw10: 'raw10',
  /**
   * String literal of <code>'raw16'</code>. <br>16-bit raw image. <br>Equivalent to
   * its uppercase counterpart.
   */
  format_raw16: 'raw16',
  /**
   * String literal of <code>'raw8'</code>. <br>8-bit raw image. <br>Equivalent to
   * its uppercase counterpart.
   */
  format_raw8: 'raw8',
  /**
   * String literal of <code>'uyvy'</code>. <br>Similar to the standard YUYV pixel
   * format, but packed in a different order. <br>Equivalent to its uppercase counterpart.
   */
  format_uyvy: 'uyvy',
  /**
   * String literal of <code>'motion_raw'</code>. <br>Raw data from the motion sensor.
   * <br>Equivalent to its uppercase counterpart.
   */
  format_motion_raw: 'motion-raw',
  /**
   * String literal of <code>'motion_xyz32f'</code>. <br>Motion data packed as 3 32-bit
   * float values, for X, Y, and Z axis. <br>Equivalent to its uppercase counterpart.
   */
  format_motion_xyz32f: 'motion-xyz32f',
  /**
   * String literal of <code>'gpio-raw'</code>. <br>Raw data from the external sensors
   * hooked to one of the GPIO's. <br>Equivalent to its uppercase counterpart.
   */
  format_gpio_raw: 'gpio-raw',
  /**
   * String literal of <code>'6dof'</code>. <br>Pose data packed as floats array, containing
   * translation vector, rotation quaternion and prediction velocities and accelerations vectors
   * <br>Equivalent to its uppercase counterpart.
   */
  format_6dof: '6dof',
  /**
   * String literal of <code>'disparity32'</code>. <br>32-bit float-point disparity values.
   * Depth->Disparity conversion : Disparity = Baseline*FocalLength/Depth.
   * <br>Equivalent to its uppercase counterpart.
   */
  format_disparity32: 'disparity32',
   /**
   * String literal of <code>'mjpeg'</code>.
   * <br>Bitstream encoding for video in which an image of each frame is encoded as JPEG-DIB.
   */
  format_mjpeg: 'mjpeg',
   /**
   * String literal of <code>'y8i'</code>. <br>8-bit per pixel interleaved. 8-bit left, 8-bit right.
   */
  format_y8i: 'y8i',
   /**
   * String literal of <code>'y12i'</code>.
   * <br>12-bit per pixel interleaved. 12-bit left, 12-bit right.
   * Each pixel is stored in a 24-bit word in little-endian order.
   */
  format_y12i: 'y12i',
   /**
   * String literal of <code>'inzi'</code>. <br>multi-planar Depth 16bit + IR 10bit.
   */
  format_inzi: 'inzi',
   /**
   * String literal of <code>'invi'</code>. <br>8-bit IR stream
   */
  format_invi: 'invi',
   /**
   * String literal of <code>'w10'</code>.
   * <br>Grey-scale image as a bit-packed array. 4 pixel data stream taking 5 bytes
   */
  format_w10: 'w10',
  /**
  * String literal of <code>'FG'</code>.
  * <br>16-bit per-pixel frame grabber format.
  */
  format_FG: 'FG',
  /**
  * String literal of <code>'Y411'</code>.
  * <br>12-bit per-pixel. 6 pixel data stream taking 4 bytes.
  */
  format_Y411: 'Y411',
  /**
   * When passed to enable stream, librealsense will try to provide best suited
   * format. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_ANY: RS2.RS2_FORMAT_ANY,
  /**
   * 16-bit linear depth values. The depth is meters is equal to depth
   * scale * pixel value. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_Z16: RS2.RS2_FORMAT_Z16,
  /**
   * 16-bit linear disparity values. The depth in meters is equal to depth
   * scale / pixel value. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_DISPARITY16: RS2.RS2_FORMAT_DISPARITY16,
  /**
   * 32-bit floating point 3D coordinates. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_XYZ32F: RS2.RS2_FORMAT_XYZ32F,
  /**
   * 32-bit y0, u, y1, v data for every two pixels. Similar to YUV422 but packed in a different
   * order - https://en.wikipedia.org/wiki/YUV.
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_YUYV: RS2.RS2_FORMAT_YUYV,
  /**
   * 8-bit red, green and blue channels. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_RGB8: RS2.RS2_FORMAT_RGB8,
  /**
   * 8-bit blue, green, and red channels -- suitable for OpenCV. <br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  FORMAT_BGR8: RS2.RS2_FORMAT_BGR8,
  /**
   * 8-bit red, green and blue channels + constant alpha channel equal to FF. <br>Equivalent to
   * its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_RGBA8: RS2.RS2_FORMAT_RGBA8,
  /**
   * 8-bit blue, green, and red channels + constant alpha channel equal to FF. <br>Equivalent to
   * its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_BGRA8: RS2.RS2_FORMAT_BGRA8,
  /**
   * 8-bit per-pixel grayscale image. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_Y8: RS2.RS2_FORMAT_Y8,
  /**
   * 16-bit per-pixel grayscale image. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_Y16: RS2.RS2_FORMAT_Y16,
  /**
   * Four 10-bit luminance values encoded into a 5-byte macropixel. <br>Equivalent to its
   * lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_RAW10: RS2.RS2_FORMAT_RAW10,
  /**
   * 16-bit raw image. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_RAW16: RS2.RS2_FORMAT_RAW16,
  /**
   * 8-bit raw image. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_RAW8: RS2.RS2_FORMAT_RAW8,
  /**
   * Similar to the standard YUYV pixel format, but packed in a different order. <br>Equivalent to
   * its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_UYVY: RS2.RS2_FORMAT_UYVY,
  /**
   * Raw data from the motion sensor. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_MOTION_RAW: RS2.RS2_FORMAT_MOTION_RAW,
  /**
   * Motion data packed as 3 32-bit float values, for X, Y, and Z axis. <br>Equivalent to its
   * lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_MOTION_XYZ32F: RS2.RS2_FORMAT_MOTION_XYZ32F,
  /**
   * Raw data from the external sensors hooked to one of the GPIO's. <br>Equivalent to its
   * lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_GPIO_RAW: RS2.RS2_FORMAT_GPIO_RAW,
  /**
   * Pose data packed as floats array, containing translation vector, rotation quaternion
   * and prediction velocities and accelerations vectors
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_6DOF: RS2.RS2_FORMAT_6DOF,
  /**
   * 32-bit float-point disparity values. Depth->Disparity conversion :
   * Disparity = Baseline*FocalLength/Depth. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FORMAT_DISPARITY32: RS2.RS2_FORMAT_DISPARITY32,
   /**
   * Bitstream encoding for video in which an image of each frame is encoded as JPEG-DIB.
   * @type {Integer}
   */
  FORMAT_MJPEG: RS2.RS2_FORMAT_MJPEG,
   /**
   * 8-bit per pixel interleaved. 8-bit left, 8-bit right.
   * @type {Integer}
   */
  FORMAT_Y8I: RS2.RS2_FORMAT_Y8I,
   /**
   * 12-bit per pixel interleaved. 12-bit left, 12-bit right.
   * Each pixel is stored in a 24-bit word in little-endian order.
   * @type {Integer}
   */
  FORMAT_Y12I: RS2.RS2_FORMAT_Y12I,
   /**
   * multi-planar Depth 16bit + IR 10bit.
   * @type {Integer}
   */
  FORMAT_INZI: RS2.RS2_FORMAT_INZI,
   /**
   * 8-bit IR stream.
   * @type {Integer}
   */
  FORMAT_INVI: RS2.RS2_FORMAT_INVI,
   /**
   * Grey-scale image as a bit-packed array. 4 pixel data stream taking 5 bytes.
   * @type {Integer}
   */
  FORMAT_W10: RS2.RS2_FORMAT_W10,
   /**
  * 16-bit per-pixel frame grabber format.
  * @type {Integer}
  */
  FORMAT_FG: RS2.RS2_FORMAT_FG,
  /**
  * 12-bit per-pixel. 4 pixel data stream taking 6 bytes.
  * @type {Integer}
  */
  FORMAT_Y411: RS2.RS2_FORMAT_Y411,
  /**
  * Number of enumeration values. Not a valid input: intended to be used in for-loops.
  * <br>Equivalent to its lowercase counterpart.
  * @type {Integer}
  */
  FORMAT_COUNT: RS2.RS2_FORMAT_COUNT,

  /**
   * Get the string representation out of the integer format type
   * @param {Integer} format the format type
   * @return {String}
   */
  formatToString: function(format) {
    const funcName = 'format.formatToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.format, 0, funcName);
    switch (i) {
      case this.FORMAT_ANY:
        return this.format_any;
      case this.FORMAT_Z16:
        return this.format_z16;
      case this.FORMAT_DISPARITY16:
        return this.format_disparity16;
      case this.FORMAT_XYZ32F:
        return this.format_xyz32f;
      case this.FORMAT_YUYV:
        return this.format_yuyv;
      case this.FORMAT_RGB8:
        return this.format_rgb8;
      case this.FORMAT_BGR8:
        return this.format_bgr8;
      case this.FORMAT_RGBA8:
        return this.format_rgba8;
      case this.FORMAT_BGRA8:
        return this.format_bgra8;
      case this.FORMAT_Y8:
        return this.format_y8;
      case this.FORMAT_Y16:
        return this.format_y16;
      case this.FORMAT_RAW10:
        return this.format_raw10;
      case this.FORMAT_RAW16:
        return this.format_raw16;
      case this.FORMAT_RAW8:
        return this.format_raw8;
      case this.FORMAT_UYVY:
        return this.format_uyvy;
      case this.FORMAT_MOTION_RAW:
        return this.format_motion_raw;
      case this.FORMAT_MOTION_XYZ32F:
        return this.format_motion_xyz32f;
      case this.FORMAT_GPIO_RAW:
        return this.format_gpio_raw;
      case this.FORMAT_6DOF:
        return this.format_6dof;
      case this.FORMAT_DISPARITY32:
        return this.format_disparity32;
      case this.RS2_FORMAT_MJPEG:
        return this.format_mjpeg;
      case this.RS2_FORMAT_Y8I:
        return this.format_y8i;
      case this.RS2_FORMAT_Y12I:
        return this.format_y12i;
      case this.RS2_FORMAT_INZI:
        return this.format_inzi;
      case this.RS2_FORMAT_INVI:
        return this.format_invi;
      case this.RS2_FORMAT_W10:
        return this.format_w10;
      case this.RS2_FORMAT_FG:
        return this.format_FG;
      case this.RS2_FORMAT_Y411:
        return this.format_Y411;
    }
  },
};


/**
 * Enum for stream values.
 * @readonly
 * @enum {String}
 */
const stream = {
    /**
     * String literal of <code>'any'</code>. <br>Any stream. <br>Equivalent
     * to its uppercase counterpart.
     */
    stream_any: 'any',
    /**
     * String literal of <code>'depth'</code>. <br>Native stream of depth data
     * produced by RealSense device . <br>Equivalent to its uppercase counterpart.
     */
    stream_depth: 'depth',
    /**
     * String literal of <code>'color'</code>. <br>Native stream of color data
     * captured by RealSense device . <br>Equivalent to its uppercase counterpart.
     */
    stream_color: 'color',
    /**
     * String literal of <code>'infrared'</code>. <br>Native stream of infrared data
     * captured by RealSense device . <br>Equivalent to its uppercase counterpart.
     */
    stream_infrared: 'infrared',
    /**
     * String literal of <code>'fisheye'</code>. <br>Native stream of fish-eye(wide) data
     * captured from the dedicate motion camera . <br>Equivalent to its uppercase counterpart.
     */
    stream_fisheye: 'fisheye',
    /**
     * String literal of <code>'gyro'</code>. <br>Native stream of gyroscope motion
     * data produced by RealSense device . <br>Equivalent to its uppercase counterpart.
     */
    stream_gyro: 'gyro',
    /**
     * String literal of <code>'accel'</code>. <br>Native stream of accelerometer motion
     * data produced by RealSense device . <br>Equivalent to its uppercase counterpart.
     */
    stream_accel: 'accel',
    /**
     * String literal of <code>'gpio'</code>. <br>Signals from external device connected
     * through GPIO . <br>Equivalent to its uppercase counterpart.
     */
    stream_gpio: 'gpio',
    /**
     * String literal of <code>'pose'</code>. <br>6 Degrees of Freedom pose data, calculated by
     * RealSense device. <br>Equivalent to its uppercase counterpart.
     */
    stream_pose: 'pose',
    /**
     * String literal of <code>'confidence'</code>. <br>Confidence stream
     * <br>Equivalent to its uppercase counterpart.
     */
    stream_confidence: 'confidence',

    /**
     * Any stream. <br>Equivalent to its lowercase counterpart.
     * @type {Integer}
     */
    STREAM_ANY: RS2.RS2_STREAM_ANY,
    /**
     * Native stream of depth data produced by RealSense device. <br>Equivalent to its
     * lowercase counterpart.
     * @type {Integer}
     */
    STREAM_DEPTH: RS2.RS2_STREAM_DEPTH,
    /**
     * Native stream of color data captured by RealSense device. <br>Equivalent to its
     * lowercase counterpart.
     * @type {Integer}
     */
    STREAM_COLOR: RS2.RS2_STREAM_COLOR,
    /**
     * Native stream of infrared data captured by RealSense device. <br>Equivalent to its
     * lowercase counterpart.
     * @type {Integer}
     */
    STREAM_INFRARED: RS2.RS2_STREAM_INFRARED,
    /**
     * Native stream of fish-eye (wide) data captured from the dedicate motion camera.
     * <br>Equivalent to its lowercase counterpart.
     * @type {Integer}
     */
    STREAM_FISHEYE: RS2.RS2_STREAM_FISHEYE,
    /**
     * Native stream of gyroscope motion data produced by RealSense device. <br>Equivalent to
     * its lowercase counterpart.
     * @type {Integer}
     */
    STREAM_GYRO: RS2.RS2_STREAM_GYRO,
    /**
     * Native stream of accelerometer motion data produced by RealSense device. <br>Equivalent to
     * its lowercase counterpart.
     * @type {Integer}
     */
    STREAM_ACCEL: RS2.RS2_STREAM_ACCEL,
    /**
     * Signals from external device connected through GPIO. <br>Equivalent to its
     * lowercase counterpart.
     * @type {Integer}
     */
    STREAM_GPIO: RS2.RS2_STREAM_GPIO,
    /**
     * 6 Degrees of Freedom pose data, calculated by RealSense device. <br>Equivalent to its
     * lowercase counterpart.
     * @type {Integer}
     */
    STREAM_POSE: RS2.RS2_STREAM_POSE,
    /**
     * Confidence stream. <br>Equivalent to its lowercase counterpart.
     * @type {Integer}
     */
    STREAM_CONFIDENCE: RS2.RS2_STREAM_CONFIDENCE,
    /**
     * Number of enumeration values. Not a valid input: intended to be used in for-loops.
     * @type {Integer}
    */
    STREAM_COUNT: RS2.RS2_STREAM_COUNT,

    /**
     * Get the string representation out of the integer stream type
     * @param {Integer} stream the stream type
     * @return {String}
     */
    streamToString: function(stream) {
      const funcName = 'stream.streamToString()';
      checkArgumentLength(1, 1, arguments.length, funcName);
      const i = checkArgumentType(arguments, constants.stream, 0, funcName);
      switch (i) {
        case this.STREAM_ANY:
          return this.stream_any;
        case this.STREAM_DEPTH:
          return this.stream_depth;
        case this.STREAM_COLOR:
          return this.stream_color;
        case this.STREAM_INFRARED:
          return this.stream_infrared;
        case this.STREAM_FISHEYE:
          return this.stream_fisheye;
        case this.STREAM_GYRO:
          return this.stream_gyro;
        case this.STREAM_ACCEL:
          return this.stream_accel;
        case this.STREAM_GPIO:
          return this.stream_gpio;
        case this.STREAM_POSE:
          return this.stream_pose;
        case this.STREAM_CONFIDENCE:
          return this.stream_confidence;
      }
    },
};

/**
 * Enum for recording options
 * @readonly
 * @enum {String}
 * @see See [RecordingContext.constructor()]{@link RecordingContext} for usage
 */
const recording_mode = {
  /**
   * String literal of <code>'blank-frames'</code>. <br>Frame metadata will be recorded,
   * but pixel data will be replaced with zeros to save space. <br>Equivalent to its uppercase
   * counterpart.
   */
  recording_mode_blank_frames: 'blank-frames',
  /**
   * String literal of <code>'compressed'</code>. <br>Frames will be encoded using a proprietary
   * lossy encoding, aiming at x5 compression at some CPU expense. <br>Equivalent to its uppercase
   * counterpart.
   */
  recording_mode_compressed: 'compressed',
  /**
   * String literal of <code>'best-quality'</code>. <br>Frames will not be compressed,
   * but rather stored as-is. This gives best quality and low CPU overhead, but you might run out
   * of memory. <br>Equivalent to its uppercase counterpart.
   */
  recording_mode_best_quality: 'best-quality',

  /**
   * Frame metadata will be recorded, but pixel data will be replaced with zeros to save space.
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  RECORDING_MODE_BLANK_FRAMES: RS2.RS2_RECORDING_MODE_BLANK_FRAMES,
  /**
   * Frames will be encoded using a proprietary lossy encoding, aiming at x5 compression at some
   * CPU expense.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  RECORDING_MODE_COMPRESSED: RS2.RS2_RECORDING_MODE_COMPRESSED,
  /**
   * Frames will not be compressed, but rather stored as-is. This gives best quality and low CPU
   * overhead, but you might run out of memory.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  RECORDING_MODE_BEST_QUALITY: RS2.RS2_RECORDING_MODE_BEST_QUALITY,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
  */
  RECORDING_MODE_COUNT: RS2.RS2_RECORDING_MODE_COUNT,
};

/**
 * Enum for option values.
 * @readonly
 * @enum {String}
 * @see [Sensor.isOptionReadOnly()]{@link Sensor#isOptionReadOnly}
 * @see [Sensor.getOption()]{@link Sensor#getOption}
 * @see [Sensor.getOptionRange()]{@link Sensor#getOptionRange}
 * @see [Sensor.setOption()]{@link Sensor#setOption}
 * @see [Sensor.supportsOption()]{@link Sensor#supportsOption}
 * @see [Sensor.getOptionDescription()]{@link Sensor#getOptionDescription}
 * @see [Sensor.getOptionValueDescription()]{@link Sensor#getOptionValueDescription}
 */

const option = {
  /**
   * String literal of <code>'backlight-compensation'</code>. <br>Enable / disable color
   * backlight compensation. <br>Equivalent to its uppercase counterpart.
   */
  option_backlight_compensation: 'backlight-compensation',
  /**
   * String literal of <code>'brightness'</code>. <br>Color image brightness. <br>Equivalent
   * to its uppercase counterpart.
   */
  option_brightness: 'brightness',
  /**
   * String literal of <code>'contrast'</code>. <br>Color image contrast. <br>Equivalent
   * to its uppercase counterpart.
   */
  option_contrast: 'contrast',
  /**
   * String literal of <code>'exposure'</code>. <br>Controls exposure time of color camera
   *. Setting any value will disable auto exposure. <br>Equivalent to its uppercase counterpart.
   */
  option_exposure: 'exposure',
  /**
   * String literal of <code>'gain'</code>. <br>Color image gain. <br>Equivalent to its
   * uppercase counterpart.
   */
  option_gain: 'gain',
  /**
   * String literal of <code>'gamma'</code>. <br>Color image gamma setting. <br>Equivalent
   * to its uppercase counterpart.
   */
  option_gamma: 'gamma',
  /**
   * String literal of <code>'hue'</code>. <br>Color image hue. <br>Equivalent to its
   * uppercase counterpart.
   */
  option_hue: 'hue',
  /**
   * String literal of <code>'saturation'</code>. <br>Color image saturation setting.
   * <br>Equivalent to its uppercase counterpart.
   */
  option_saturation: 'saturation',
  /**
   * String literal of <code>'sharpness'</code>. <br>Color image sharpness setting.
   * <br>Equivalent to its uppercase counterpart.
   */
  option_sharpness: 'sharpness',
  /**
   * String literal of <code>'white-balance'</code>. <br>Controls white balance of color
   * image. Setting any value will disable auto white balance. <br>Equivalent to its uppercase
   * counterpart.
   */
  option_white_balance: 'white-balance',
  /**
   * String literal of <code>'enable-auto-exposure'</code>. <br>Enable / disable color
   * image auto-exposure. <br>Equivalent to its uppercase counterpart.
   */
  option_enable_auto_exposure: 'enable-auto-exposure',
  /**
   * String literal of <code>'enable-auto-white-balance'</code>. <br>Enable / disable
   * color image auto-white-balance. <br>Equivalent to its uppercase counterpart.
   */
  option_enable_auto_white_balance: 'enable-auto-white-balance',
  /**
   * String literal of <code>'visual-preset'</code>. <br>Provide access to several recommend
   * sets of option presets for the depth camera . <br>Equivalent to its uppercase counterpart.
   */
  option_visual_preset: 'visual-preset',
  /**
   * String literal of <code>'laser-power'</code>. <br>Power of the F200 / SR300 projector
   *, with 0 meaning projector off. <br>Equivalent to its uppercase counterpart.
   */
  option_laser_power: 'laser-power',
  /**
   * String literal of <code>'accuracy'</code>. <br>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.
   * <br>Equivalent to its uppercase counterpart.
   */
  option_accuracy: 'accuracy',
  /**
   * String literal of <code>'motion-range'</code>. <br>Motion vs. Range trade-off, with
   * lower values allowing for better motion sensitivity and higher values allowing for better
   * depth range. <br>Equivalent to its uppercase counterpart.
   */
  option_motion_range: 'motion-range',
  /**
   * String literal of <code>'filter-option'</code>. <br>Set the filter to apply to each
   * depth frame. Each one of the filter is optimized per the application requirements.
   * <br>Equivalent to its uppercase counterpart.
   */
  option_filter_option: 'filter-option',
  /**
   * String literal of <code>'confidence-threshold'</code>. <br>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. <br>Equivalent to its uppercase counterpart.
   */
  option_confidence_threshold: 'confidence-threshold',
  /**
   * String literal of <code>'emitter-enabled'</code>. <br>Laser Emitter enabled .
   * <br>Equivalent to its uppercase counterpart.
   */
  option_emitter_enabled: 'emitter-enabled',
  /**
   * String literal of <code>'frames-queue-size'</code>. <br>Number of frames the user
   * is allowed to keep per stream. Trying to hold-on to more frames will cause frame-drops.
   * <br>Equivalent to its uppercase counterpart.
   */
  option_frames_queue_size: 'frames-queue-size',
  /**
   * String literal of <code>'total-frame-drops'</code>. <br>Total number of detected
   * frame drops from all streams . <br>Equivalent to its uppercase counterpart.
   */
  option_total_frame_drops: 'total-frame-drops',
  /**
   * String literal of <code>'auto-exposure-mode'</code>. <br>Auto-Exposure modes: Static
   *, Anti-Flicker and Hybrid . <br>Equivalent to its uppercase counterpart.
   */
  option_auto_exposure_mode: 'auto-exposure-mode',
  /**
   * String literal of <code>'power-line-frequency'</code>. <br>Power Line Frequency control
   * for anti-flickering, Off/50Hz/60Hz/Auto. <br>Equivalent to its uppercase counterpart.
   */
  option_power_line_frequency: 'power-line-frequency',
  /**
   * String literal of <code>'asic-temperature'</code>. <br>Current Asic Temperature .
   * <br>Equivalent to its uppercase counterpart.
   */
  option_asic_temperature: 'asic-temperature',
  /**
   * String literal of <code>'error-polling-enabled'</code>. <br>disable error handling
   * . <br>Equivalent to its uppercase counterpart.
   */
  option_error_polling_enabled: 'error-polling-enabled',
  /**
   * String literal of <code>'projector-temperature'</code>. <br>Current Projector Temperature
   * . <br>Equivalent to its uppercase counterpart.
   */
  option_projector_temperature: 'projector-temperature',
  /**
   * String literal of <code>'output-trigger-enabled'</code>. <br>Enable / disable trigger
   * to be outputed from the camera to any external device on every depth frame.
   * <br>Equivalent to its uppercase counterpart.
   */
  option_output_trigger_enabled: 'output-trigger-enabled',
  /**
   * String literal of <code>'motion-module-temperature'</code>. <br>Current Motion-Module
   * Temperature . <br>Equivalent to its uppercase counterpart.
   */
  option_motion_module_temperature: 'motion-module-temperature',
  /**
   * String literal of <code>'depth-units'</code>. <br>Number of meters represented by
   * a single depth unit . <br>Equivalent to its uppercase counterpart.
   */
  option_depth_units: 'depth-units',
  /**
   * String literal of <code>'enable-motion-correction'</code>. <br>Enable/Disable automatic
   * correction of the motion data . <br>Equivalent to its uppercase counterpart.
   */
  option_enable_motion_correction: 'enable-motion-correction',
  /**
   * String literal of <code>'auto-exposure-priority'</code>.
   * <br>Allows sensor to dynamically ajust the frame rate
   * depending on lighting conditions <br>Equivalent to its uppercase counterpart
   */
  option_auto_exposure_priority: 'auto-exposure-priority',

  /**
   * String literal of <code>''color-scheme'</code>. <br>Color scheme for data visualization
   * <br>Equivalent to its uppercase counterpart
   */
  option_color_scheme: 'color-scheme',

  /**
   * String literal of <code>''histogram-equalization-enabled'</code>. <br>Perform histogram
   * equalization post-processing on the depth data <br>Equivalent to its uppercase counterpart
   */
  option_histogram_equalization_enabled: 'histogram-equalization-enabled',

  /**
   * String literal of <code>''min-distance'</code>. <br>Minimal distance to the target
   * <br>Equivalent to its uppercase counterpart
   */
  option_min_distance: 'min-distance',

  /**
   * String literal of <code>''max-distance'</code>. <br>Maximum distance to the target
   * <br>Equivalent to its uppercase counterpart
   */
  option_max_distance: 'max-distance',
  /**
   * String literal of <code>'texture-source'</code>. <br>Texture mapping stream unique ID
   * <br> Equivalent to its uppercase counterpart.
   */
  option_texture_source: 'texture-source',
  /**
   * String literal of <code>'filter-magnitude'</code>. <br>The 2D-filter effect. The specific
   * interpretation is given within the context of the filter
   * <br> Equivalent to its uppercase counterpart.
   */
  option_filter_magnitude: 'filter-magnitude',
  /**
   * String literal of <code>'filter-smooth-alpha'</code>. <br>2D-filter parameter controls
   * the weight/radius for smoothing.
   * <br> Equivalent to its uppercase counterpart.
   */
  option_filter_smooth_alpha: 'filter-smooth-alpha',
  /**
   * String literal of <code>'filter-smooth-delta'</code>. <br>2D-filter range/validity threshold
   * <br> Equivalent to its uppercase counterpart.
   */
  option_filter_smooth_delta: 'filter-smooth-delta',
  /**
   * String literal of <code>'holes-fill'</code>. <br>Enhance depth data post-processing
   * with holes filling where appropriate
   * <br> Equivalent to its uppercase counterpart.
   */
  option_holes_fill: 'holes-fill',
  /**
   * String literal of <code>'stereo-baseline'</code>. <br>The distance in mm between the first
   * and the second imagers in stereo-based depth cameras
   * <br>Equivalent to its uppercase counterpart.
   */
  option_stereo_baseline: 'stereo-baseline',
  /**
   * String literal of <code>'auto-exposure-converage-step'</code>. <br>Allows dynamically ajust
   * the converge step value of the target exposure in Auto-Exposure algorithm
   * <br>Equivalent to its uppercase counterpart.
   */
  option_auto_exposure_converge_step: 'auto-exposure-converge-step',
  /**
   * String literal of <code>'inter-cam-sync-mode'. <br>Impose Inter-camera HW synchronization mode.
   * Applicable for D400/Rolling Shutter SKUs
   * <br>Equivalent to its uppercase counterpart.
   */
  option_inter_cam_sync_mode: 'inter-cam-sync-mode',
  option_stream_filter: 'stream-filter',
  option_stream_format_filter: 'stream-format-filter',
  option_stream_index_filter: 'stream-index-filter',
  option_emitter_on_off: 'emitter-on-off',
  option_zero_order_point_x: 'zero-order-point-x', /* Deprecated */
  option_zero_order_point_y: 'zero-order-point-y', /* Deprecated */
  option_lld_temperature: 'lld-temperature',
  option_mc_temperature: 'mc-temperature',
  option_ma_temperature: 'ma-temperature',
  option_apd_temperature: 'apd-temperature',
  option_hardware_preset: 'hardware-preset',
  option_global_time_enabled: 'global-time-enabled',
  option_enable_mapping: 'enable-mapping',
  option_enable_relocalization: 'enable-relocalization',
  option_enable_pose_jumping: 'enable-pose-jumping',
  option_enable_dynamic_calibration: 'enable-dynamic-calibration',
  option_depth_offset: 'depth-offset',
  option_led_power: 'led-power',
  option_zero_order_enabled: 'zero-order-enabled', /* Deprecated */
  option_enable_map_preservation: 'enable-map-preservation',
  /**
   * Enable / disable color backlight compensatio.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_BACKLIGHT_COMPENSATION: RS2.RS2_OPTION_BACKLIGHT_COMPENSATION,
  /**
   * Color image brightnes.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_BRIGHTNESS: RS2.RS2_OPTION_BRIGHTNESS,
  /**
   * Color image contras.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_CONTRAST: RS2.RS2_OPTION_CONTRAST,
  /**
   * Controls exposure time of color camera. Setting any value will disable auto exposur.
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_EXPOSURE: RS2.RS2_OPTION_EXPOSURE,
  /**
   * Color image gai.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_GAIN: RS2.RS2_OPTION_GAIN,
  /**
   * Color image gamma settin.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_GAMMA: RS2.RS2_OPTION_GAMMA,
  /**
   * Color image hu.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_HUE: RS2.RS2_OPTION_HUE,
  /**
   * Color image saturation settin.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_SATURATION: RS2.RS2_OPTION_SATURATION,
  /**
   * Color image sharpness settin.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_SHARPNESS: RS2.RS2_OPTION_SHARPNESS,
  /**
   * Controls white balance of color image. Setting any value will disable auto white balanc.
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_WHITE_BALANCE: RS2.RS2_OPTION_WHITE_BALANCE,
  /**
   * Enable / disable color image auto-exposur.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_ENABLE_AUTO_EXPOSURE: RS2.RS2_OPTION_ENABLE_AUTO_EXPOSURE,
  /**
   * Enable / disable color image auto-white-balanc.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_ENABLE_AUTO_WHITE_BALANCE: RS2.RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE,
  /**
   * Provide access to several recommend sets of option presets for the depth camera.
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_VISUAL_PRESET: RS2.RS2_OPTION_VISUAL_PRESET,
  /**
   * Power of the F200 / SR300 projector, with 0 meaning projector of.
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_LASER_POWER: RS2.RS2_OPTION_LASER_POWER,
  /**
   * 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.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_ACCURACY: RS2.RS2_OPTION_ACCURACY,
  /**
   * Motion vs. Range trade-off, with lower values allowing for better motion sensitivity and
   * higher values allowing for better depth rang.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_MOTION_RANGE: RS2.RS2_OPTION_MOTION_RANGE,
  /**
   * Set the filter to apply to each depth frame. Each one of the filter is optimized per the
   * application requirement.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_FILTER_OPTION: RS2.RS2_OPTION_FILTER_OPTION,
  /**
   * 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 rang.<br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  OPTION_CONFIDENCE_THRESHOLD: RS2.RS2_OPTION_CONFIDENCE_THRESHOLD,
  /**
   * Laser Emitter enabled.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_EMITTER_ENABLED: RS2.RS2_OPTION_EMITTER_ENABLED,
  /**
   * Number of frames the user is allowed to keep per stream. Trying to hold-on to more frames will
   * cause frame-drops.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_FRAMES_QUEUE_SIZE: RS2.RS2_OPTION_FRAMES_QUEUE_SIZE,
  /**
   * Total number of detected frame drops from all streams.<br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  OPTION_TOTAL_FRAME_DROPS: RS2.RS2_OPTION_TOTAL_FRAME_DROPS,
  /**
   * Auto-Exposure modes: Static, Anti-Flicker and Hybrid.<br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  OPTION_AUTO_EXPOSURE_MODE: RS2.RS2_OPTION_AUTO_EXPOSURE_MODE,
  /**
   * Power Line Frequency control for anti-flickering, Off/50Hz/60Hz/Auto.<br>Equivalent to its
   * lowercase counterpart.
   * @type {Integer}
   */
  OPTION_POWER_LINE_FREQUENCY: RS2.RS2_OPTION_POWER_LINE_FREQUENCY,
  /**
   * Current Asic Temperature.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_ASIC_TEMPERATURE: RS2.RS2_OPTION_ASIC_TEMPERATURE,
  /**
   * disable error handling.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_ERROR_POLLING_ENABLED: RS2.RS2_OPTION_ERROR_POLLING_ENABLED,
  /**
   * Current Projector Temperature.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_PROJECTOR_TEMPERATURE: RS2.RS2_OPTION_PROJECTOR_TEMPERATURE,
  /**
   * Enable / disable trigger to be outputed from the camera to any external device on every depth
   * frame.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_OUTPUT_TRIGGER_ENABLED: RS2.RS2_OPTION_OUTPUT_TRIGGER_ENABLED,
  /**
   * Current Motion-Module Temperature.<br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_MOTION_MODULE_TEMPERATURE: RS2.RS2_OPTION_MOTION_MODULE_TEMPERATURE,
  /**
   * Number of meters represented by a single depth unit.<br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  OPTION_DEPTH_UNITS: RS2.RS2_OPTION_DEPTH_UNITS,
  /**
   * Enable/Disable automatic correction of the motion data.<br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  OPTION_ENABLE_MOTION_CORRECTION: RS2.RS2_OPTION_ENABLE_MOTION_CORRECTION,
  /**
   * Allows sensor to dynamically ajust the frame rate depending on lighting conditions.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_AUTO_EXPOSURE_PRIORITY: RS2.RS2_OPTION_AUTO_EXPOSURE_PRIORITY,

  /**
   * Color scheme for data visualization <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_COLOR_SCHEME: RS2.RS2_OPTION_COLOR_SCHEME,

  /**
   * Perform histogram equalization post-processing on the depth data.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_HISTOGRAM_EQUALIZATION_ENABLED: RS2.RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED,

  /**
   * Minimal distance to the target <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_MIN_DISTANCE: RS2.RS2_OPTION_MIN_DISTANCE,

  /**
   * Maximum distance to the target <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_MAX_DISTANCE: RS2.RS2_OPTION_MAX_DISTANCE,
  /**
   * Texture mapping stream unique ID <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_TEXTURE_SOURCE: RS2.RS2_OPTION_TEXTURE_SOURCE,
  /**
   * The 2D-filter effect. The specific interpretation is given within the context of the filter
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_FILTER_MAGNITUDE: RS2.RS2_OPTION_FILTER_MAGNITUDE,
  /**
   * 2D-filter parameter controls the weight/radius for smoothing.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_FILTER_SMOOTH_ALPHA: RS2.RS2_OPTION_FILTER_SMOOTH_ALPHA,
  /**
   * 2D-filter range/validity threshold<br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_FILTER_SMOOTH_DELTA: RS2.RS2_OPTION_FILTER_SMOOTH_DELTA,
  /**
   * Enhance depth data post-processing with holes filling where appropriate
   * <br> Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  OPTION_HOLES_FILL: RS2.RS2_OPTION_HOLES_FILL,
  /**
   * The distance in mm between the first and the second imagers in stereo-based depth cameras
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_STEREO_BASELINE: RS2.RS2_OPTION_STEREO_BASELINE,
  /**
   * Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure
   * algorithm
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_AUTO_EXPOSURE_CONVERGE_STEP: RS2.RS2_OPTION_AUTO_EXPOSURE_CONVERGE_STEP,
  /**
   * Impose Inter-camera HW synchronization mode.
   * Applicable for D400/Rolling Shutter SKUs
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_INTER_CAM_SYNC_MODE: RS2.RS2_OPTION_INTER_CAM_SYNC_MODE,
  OPTION_STREAM_FILTER: RS2.RS2_OPTION_STREAM_FILTER,
  OPTION_STREAM_FORMAT_FILTER: RS2.RS2_OPTION_STREAM_FORMAT_FILTER,
  OPTION_STREAM_INDEX_FILTER: RS2.RS2_OPTION_STREAM_INDEX_FILTER,
  OPTION_EMITTER_ON_OFF: RS2.RS2_OPTION_EMITTER_ON_OFF,
  OPTION_ZERO_ORDER_POINT_X: RS2.RS2_OPTION_ZERO_ORDER_POINT_X,
  OPTION_ZERO_ORDER_POINT_Y: RS2.RS2_OPTION_ZERO_ORDER_POINT_Y,
  OPTION_LLD_TEMPERATURE: RS2.RS2_OPTION_LLD_TEMPERATURE,
  OPTION_MC_TEMPERATURE: RS2.RS2_OPTION_MC_TEMPERATURE,
  OPTION_MA_TEMPERATURE: RS2.RS2_OPTION_MA_TEMPERATURE,
  OPTION_HARDWARE_PRESET: RS2.RS2_OPTION_HARDWARE_PRESET,
  OPTION_GLOBAL_TIME_ENABLED: RS2.RS2_OPTION_GLOBAL_TIME_ENABLED,
  OPTION_APD_TEMPERATURE: RS2.RS2_OPTION_APD_TEMPERATURE,
  OPTION_ENABLE_MAPPING: RS2.RS2_OPTION_ENABLE_MAPPING,
  OPTION_ENABLE_RELOCALIZATION: RS2.RS2_OPTION_ENABLE_RELOCALIZATION,
  OPTION_ENABLE_POSE_JUMPING: RS2.RS2_OPTION_ENABLE_POSE_JUMPING,
  OPTION_ENABLE_DYNAMIC_CALIBRATION: RS2.RS2_OPTION_ENABLE_DYNAMIC_CALIBRATION,
  OPTION_DEPTH_OFFSET: RS2.RS2_OPTION_DEPTH_OFFSET,
  OPTION_LED_POWER: RS2.RS2_OPTION_LED_POWER,
  OPTION_ZERO_ORDER_ENABLED: RS2.RS2_OPTION_ZERO_ORDER_ENABLED,
  OPTION_ENABLE_MAP_PRESERVATION: RS2.RS2_OPTION_ENABLE_MAP_PRESERVATION,
  OPTION_FREEFALL_DETECTION_ENABLED: RS2.RS2_OPTION_FREEFALL_DETECTION_ENABLED,
  OPTION_DIGITAL_GAIN: RS2.RS2_OPTION_DIGITAL_GAIN,
  /**
   * Enable Laser On constantly (GS SKU Only)
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  OPTION_EMITTER_ALWAYS_ON: RS2.RS2_OPTION_EMITTER_ALWAYS_ON,
  OPTION_THERMAL_COMPENSATION: RS2.RS2_OPTION_THERMAL_COMPENSATION,
  OPTION_TRIGGER_CAMERA_ACCURACY_HEALTH: RS2.RS2_OPTION_TRIGGER_CAMERA_ACCURACY_HEALTH,
  OPTION_RESET_CAMERA_ACCURACY_HEALTH: RS2.RS2_OPTION_RESET_CAMERA_ACCURACY_HEALTH,
  OPTION_HOST_PERFORMANCE: RS2.RS2_OPTION_HOST_PERFORMANCE,
  OPTION_HDR_ENABLED: RS2.RS2_OPTION_HDR_ENABLED,
  OPTION_SEQUENCE_NAME: RS2.RS2_OPTION_SEQUENCE_NAME,
  OPTION_SEQUENCE_SIZE: RS2.RS2_OPTION_SEQUENCE_SIZE,
  OPTION_SEQUENCE_ID: RS2.RS2_OPTION_SEQUENCE_ID,
  OPTION_HUMIDITY_TEMPERATURE: RS2.RS2_OPTION_HUMIDITY_TEMPERATURE,
  OPTION_ENABLE_MAX_USABLE_RANGE: RS2.RS2_OPTION_ENABLE_MAX_USABLE_RANGE,
  OPTION_ALTERNATE_IR: RS2.RS2_OPTION_ALTERNATE_IR,
  OPTION_NOISE_ESTIMATION: RS2.RS2_OPTION_NOISE_ESTIMATION,
  OPTION_ENABLE_IR_REFLECTIVITY: RS2.RS2_OPTION_ENABLE_IR_REFLECTIVITY,
  /**
   * Set or get auto exposure limit in microsecond.
   * @type {Integer}
   */
  OPTION_AUTO_EXPOSURE_LIMIT: RS2.RS2_OPTION_AUTO_EXPOSURE_LIMIT,
  /**
   * Set or get auto gain limit.
   * @type {Integer}
   */
  OPTION_AUTO_GAIN_LIMIT: RS2.RS2_OPTION_AUTO_GAIN_LIMIT,
  /**
   * Set or get auto rx sensitivity.
   * @type {Integer}
   */
  OPTION_AUTO_RX_SENSITIVITY: RS2.RS2_OPTION_AUTO_RX_SENSITIVITY,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  OPTION_COUNT: RS2.RS2_OPTION_COUNT,

  /**
   * Get the string representation out of the integer option type
   * @param {Integer} option the option type
   * @return {String}
   */
  optionToString: function(option) {
    const funcName = 'option.optionToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.option, 0, funcName);
    switch (i) {
      case this.OPTION_BACKLIGHT_COMPENSATION:
        return this.option_backlight_compensation;
      case this.OPTION_BRIGHTNESS:
        return this.option_brightness;
      case this.OPTION_CONTRAST:
        return this.option_contrast;
      case this.OPTION_EXPOSURE:
        return this.option_exposure;
      case this.OPTION_GAIN:
        return this.option_gain;
      case this.OPTION_GAMMA:
        return this.option_gamma;
      case this.OPTION_HUE:
        return this.option_hue;
      case this.OPTION_SATURATION:
        return this.option_saturation;
      case this.OPTION_SHARPNESS:
        return this.option_sharpness;
      case this.OPTION_WHITE_BALANCE:
        return this.option_white_balance;
      case this.OPTION_ENABLE_AUTO_EXPOSURE:
        return this.option_enable_auto_exposure;
      case this.OPTION_ENABLE_AUTO_WHITE_BALANCE:
        return this.option_enable_auto_white_balance;
      case this.OPTION_VISUAL_PRESET:
        return this.option_visual_preset;
      case this.OPTION_LASER_POWER:
        return this.option_laser_power;
      case this.OPTION_ACCURACY:
        return this.option_accuracy;
      case this.OPTION_MOTION_RANGE:
        return this.option_motion_range;
      case this.OPTION_FILTER_OPTION:
        return this.option_filter_option;
      case this.OPTION_CONFIDENCE_THRESHOLD:
        return this.option_confidence_threshold;
      case this.OPTION_EMITTER_ENABLED:
        return this.option_emitter_enabled;
      case this.OPTION_FRAMES_QUEUE_SIZE:
        return this.option_frames_queue_size;
      case this.OPTION_TOTAL_FRAME_DROPS:
        return this.option_total_frame_drops;
      case this.OPTION_AUTO_EXPOSURE_MODE:
        return this.option_auto_exposure_mode;
      case this.OPTION_POWER_LINE_FREQUENCY:
        return this.option_power_line_frequency;
      case this.OPTION_ASIC_TEMPERATURE:
        return this.option_asic_temperature;
      case this.OPTION_ERROR_POLLING_ENABLED:
        return this.option_error_polling_enabled;
      case this.OPTION_PROJECTOR_TEMPERATURE:
        return this.option_projector_temperature;
      case this.OPTION_OUTPUT_TRIGGER_ENABLED:
        return this.option_output_trigger_enabled;
      case this.OPTION_MOTION_MODULE_TEMPERATURE:
        return this.option_motion_module_temperature;
      case this.OPTION_DEPTH_UNITS:
        return this.option_depth_units;
      case this.OPTION_ENABLE_MOTION_CORRECTION:
        return this.option_enable_motion_correction;
      case this.OPTION_AUTO_EXPOSURE_PRIORITY:
        return this.option_auto_exposure_priority;
      case this.OPTION_COLOR_SCHEME:
        return this.option_color_scheme;
      case this.OPTION_HISTOGRAM_EQUALIZATION_ENABLED:
        return this.option_histogram_equalization_enabled;
      case this.OPTION_MIN_DISTANCE:
        return this.option_min_distance;
      case this.OPTION_MAX_DISTANCE:
        return this.option_max_distance;
      case this.OPTION_TEXTURE_SOURCE:
        return this.option_texture_source;
      case this.OPTION_FILTER_MAGNITUDE:
        return this.option_filter_magnitude;
      case this.OPTION_FILTER_SMOOTH_ALPHA:
        return this.option_filter_smooth_alpha;
      case this.OPTION_FILTER_SMOOTH_DELTA:
        return this.option_filter_smooth_delta;
      case this.OPTION_HOLES_FILL:
        return this.option_holes_fill;
      case this.OPTION_STEREO_BASELINE:
        return this.option_stereo_baseline;
      case this.OPTION_AUTO_EXPOSURE_CONVERGE_STEP:
        return this.option_auto_exposure_converge_step;
      case this.OPTION_INTER_CAM_SYNC_MODE:
        return this.option_inter_cam_sync_mode;
      case this.OPTION_STREAM_FILTER:
        return this.option_stream_filter;
      case this.OPTION_STREAM_FORMAT_FILTER:
        return this.option_stream_format_filter;
      case this.OPTION_STREAM_INDEX_FILTER:
        return this.option_stream_index_filter;
      case this.OPTION_EMITTER_ON_OFF:
        return this.option_emitter_on_off;
      case this.OPTION_ZERO_ORDER_POINT_X:
        return this.option_zero_order_point_x;
      case this.OPTION_ZERO_ORDER_POINT_Y:
        return this.option_zero_order_point_y;
      case this.OPTION_LLD_TEMPERATURE:
        return this.option_lld_temperature;
      case this.OPTION_MC_TEMPERATURE:
        return this.option_mc_temperature;
      case this.OPTION_MA_TEMPERATURE:
        return this.option_ma_temperature;
      case this.OPTION_HARDWARE_PRESET:
        return this.option_hardware_preset;
      case this.OPTION_GLOBAL_TIME_ENABLED:
        return this.option_global_time_enabled;
      case this.OPTION_APD_TEMPERATURE:
        return this.option_apd_temperature;
      case this.OPTION_ENABLE_MAPPING:
        return this.option_enable_mapping;
      case this.OPTION_ENABLE_RELOCALIZATION:
        return this.option_enable_relocalization;
      case this.OPTION_ENABLE_POSE_JUMPING:
        return this.option_enable_pose_jumping;
      case this.OPTION_ENABLE_DYNAMIC_CALIBRATION:
        return this.option_enable_dynamic_calibration;
      case this.OPTION_DEPTH_OFFSET:
        return this.option_depth_offset;
      case this.OPTION_LED_POWER:
        return this.option_led_power;
      case this.OPTION_ZERO_ORDER_ENABLED:
        return this.option_zero_order_enabled;
      case this.OPTION_ENABLE_MAP_PRESERVATION:
        return this.option_enable_map_preservation;
      case this.OPTION_FREEFALL_DETECTION_ENABLED:
        return this.option_freefall_detection_enabled;
      case this.OPTION_DIGITAL_GAIN:
        return this.option_digital_gain;
      case this.OPTION_EMITTER_ALWAYS_ON:
        return this.option_emitter_always_on;
      case this.OPTION_THERMAL_COMPENSATION:
        return this.option_thermal_compensation;
      case this.OPTION_HUMIDITY_TEMPERATURE:
        return this.option_humidity_temperature;
      case this.OPTION_ENABLE_MAX_USABLE_RANGE:
        return this.option_enable_max_usable_range;
      case this.OPTION_ALTERNATE_IR:
        return this.option_alternate_ir;
      case this.OPTION_NOISE_ESTIMATION:
        return this.option_noise_estimation;
      case this.ENABLE_IR_REFLECTIVITY:
        return this.option_enable_ir_reflectivity;
      default:
        throw new TypeError(
            'option.optionToString(option) expects a valid value as the 1st argument');
    }
  },
};

/**
 * Enum for camera info types
 * @readonly
 * @enum {String}
 * @see [Device.supportsCameraInfo()]{@link Device#supportsCameraInfo}
 */
const camera_info = {
  /**
   * String literal of <code>'name'</code>. <br>Device friendly name. <br>Equivalent to its
   * uppercase counterpart.
   *
   */
  camera_info_name: 'name',
  /**
   * String literal of <code>'serial-number'</code>. <br>Serial number. <br>Equivalent to its
   * uppercase counterpart.
   *
   */
  camera_info_serial_number: 'serial-number',
  /**
   * String literal of <code>'firmware-version'</code>. <br>Primary firmware version.
   * <br>Equivalent to its uppercase counterpart.
   */
  camera_info_firmware_version: 'firmware-version',
  /**
   * String literal of <code>'recommended-firmware-version'</code>. <br>Latest firmware version
   * available. <br>Equivalent to its uppercase counterpart.
   */
  camera_info_recommended_firmware_version: 'recommended-firmware-version',
  /**
   * String literal of <code>'port'</code>. <br>Unique identifier of the port the device is
   * connected to (platform specific). <br>Equivalent to its uppercase counterpart.
   *
   */
  camera_info_physical_port: 'physical-port',
  /**
   * String literal of <code>'debug-op-code'</code>. <br>If device supports firmware logging,
   * this is the command to send to get logs from firmware. <br>Equivalent to its uppercase
   * counterpart.
   */
  camera_info_debug_op_code: 'debug-op-code',
  /**
   * String literal of <code>'advanced-mode'</code>. <br>True iff the device is in advanced
   * mode. <br>Equivalent to its uppercase counterpart.
   *
   */
  camera_info_advanced_mode: 'advanced-mode',
  /**
   * String literal of <code>'product-id'</code>. <br>Product ID as reported in the USB
   * descriptor. <br>Equivalent to its uppercase counterpart.
   *
   */
  camera_info_product_id: 'product-id',
  /**
   * String literal of <code>'camera-locked'</code>. <br>True if EEPROM is locked.
   * <br>Equivalent to its uppercase counterpart.
   */
  camera_info_camera_locked: 'camera-locked',
  /**
   * String literal of <code>'usb-type-descriptor'</code>. <br>Designated USB specification:
   * USB2/USB3. <br>Equivalent to its uppercase counterpart.
   */
  camera_info_usb_type_descriptor: 'usb-type-descriptor',
  /**
   * Device friendly name. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_NAME: RS2.RS2_CAMERA_INFO_NAME,
  /**
   * Device serial number. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_SERIAL_NUMBER: RS2.RS2_CAMERA_INFO_SERIAL_NUMBER,
  /**
   * Primary firmware version. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_FIRMWARE_VERSION: RS2.RS2_CAMERA_INFO_FIRMWARE_VERSION,
  /**
   * Latest firmware version available. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION: RS2.RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION,
  /**
   * Unique identifier of the port the device is connected to (platform specific). <br>Equivalent to
   * its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_PHYSICAL_PORT: RS2.RS2_CAMERA_INFO_PHYSICAL_PORT,
  /**
   * If device supports firmware logging, this is the command to send to get logs from firmware.
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_DEBUG_OP_CODE: RS2.RS2_CAMERA_INFO_DEBUG_OP_CODE,
  /**
   * True iff the device is in advanced mode. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_ADVANCED_MODE: RS2.RS2_CAMERA_INFO_ADVANCED_MODE,
  /**
   * Product ID as reported in the USB descriptor. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_PRODUCT_ID: RS2.RS2_CAMERA_INFO_PRODUCT_ID,
  /**
   * True if EEPROM is locked. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_CAMERA_LOCKED: RS2.RS2_CAMERA_INFO_CAMERA_LOCKED,
  /**
   * Designated USB specification: USB2/USB3. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  CAMERA_INFO_USB_TYPE_DESCRIPTOR: RS2.RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  CAMERA_INFO_COUNT: RS2.RS2_CAMERA_INFO_COUNT,

  /**
   * Get the string representation out of the integer camera_info type
   * @param {Integer} info the camera_info type
   * @return {String}
   */
  cameraInfoToString: function(info) {
    const funcName = 'camera_info.cameraInfoToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.camera_info, 0, funcName);
    switch (i) {
      case this.CAMERA_INFO_NAME:
        return this.camera_info_name;
      case this.CAMERA_INFO_SERIAL_NUMBER:
        return this.camera_info_serial_number;
      case this.CAMERA_INFO_FIRMWARE_VERSION:
        return this.camera_info_firmware_version;
      case this.CAMERA_INFO_PHYSICAL_PORT:
        return this.camera_info_physical_port;
      case this.CAMERA_INFO_DEBUG_OP_CODE:
        return this.camera_info_debug_op_code;
      case this.CAMERA_INFO_ADVANCED_MODE:
        return this.camera_info_advanced_mode;
      case this.CAMERA_INFO_PRODUCT_ID:
        return this.camera_info_product_id;
      case this.CAMERA_INFO_CAMERA_LOCKED:
        return this.camera_info_camera_locked;
      case this.CAMERA_INFO_USB_TYPE_DESCRIPTOR:
        return this.camera_info_usb_type_descriptor;
      case this.CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION:
        return this.camera_info_recommended_firmware_version;
    }
  },
};

/**
 * Enum for frame metadata types
 * @readonly
 * @enum {String}
 * @see [Frame.supportsFrameMetadata()]{@link Frame#supportsFrameMetadata}
 */
const frame_metadata = {
  /**
   * String literal of <code>'frame-counter'</code>. <br>A sequential index managed
   * per-stream. Integer value <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_frame_counter: 'frame-counter',
  /**
   * String literal of <code>'frame-timestamp'</code>. <br>Timestamp set by device
   * clock when data readout and transmit commence. usec <br>Equivalent to its uppercase
   * counterpart
   */
  frame_metadata_frame_timestamp: 'frame-timestamp',
  /**
   * String literal of <code>'sensor-timestamp'</code>. <br>Timestamp of the middle
   * of sensor's exposure calculated by device. usec <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_sensor_timestamp: 'sensor-timestamp',
  /**
   * String literal of <code>'actual-exposure'</code>. <br>Sensor's exposure width.
   * When Auto Exposure (AE) is on the value is controlled by firmware. usec <br>Equivalent to
   * its uppercase counterpart
   */
  frame_metadata_actual_exposure: 'actual-exposure',
  /**
   * String literal of <code>'gain-level'</code>. <br>A relative value increasing
   * which will increase the Sensor's gain factor. When AE is set On, the value is controlled by
   * firmware. Integer value <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_gain_level: 'gain-level',
  /**
   * String literal of <code>'auto-exposure'</code>. <br>Auto Exposure Mode
   * indicator. Zero corresponds to AE switched off.  <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_auto_exposure: 'auto-exposure',
  /**
   * String literal of <code>'white-balance'</code>. <br>White Balance setting as a
   * color temperature. Kelvin degrees <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_white_balance: 'white-balance',
  /**
   * String literal of <code>'time-of-arrival'</code>. <br>Time of arrival in
   * system clock  <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_time_of_arrival: 'time-of-arrival',
  /**
   * Temperature of the device, measured at the time of the frame capture. Celsius degrees
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_temperature: 'temperature',
  /**
   * Timestamp get from uvc driver. usec
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_backend_timestamp: 'backend-timestamp',
  /**
   * Actual fps
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_actual_fps: 'actual-fps',
  /**
   * Laser power value 0-360.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_frame_laser_power: 'frame-laser-power',
  /**
   * Laser power mode. Zero corresponds to Laser power switched off and one for switched on.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_frame_laser_power_mode: 'frame-laser-power-mode',
  /**
   * Exposure priority.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_exposure_priority: 'exposure-priority',
  /**
   * Left region of interest for the auto exposure Algorithm.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_exposure_roi_left: 'exposure-roi-left',
  /**
   * Right region of interest for the auto exposure Algorithm.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_exposure_roi_right: 'exposure-roi-right',
  /**
   * Top region of interest for the auto exposure Algorithm.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_exposure_roi_top: 'exposure-roi-top',
  /**
   * Bottom region of interest for the auto exposure Algorithm.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_exposure_roi_bottom: 'exposure-roi-bottom',
  /**
   * Color image brightness.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_brightness: 'brightness',
  /**
   * Color image contrast.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_contrast: 'contrast',
  /**
   * Color image saturation.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_saturation: 'saturation',
  /**
   * Color image sharpness.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_sharpness: 'sharpness',
  /**
   * Auto white balance temperature Mode indicator. Zero corresponds to automatic mode switched off.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_auto_white_balance_temperature: 'auto-white-balance-temperature',
  /**
   * Color backlight compensation. Zero corresponds to switched off.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_backlight_compensation: 'backlight-compensation',
  /**
   * Color image hue.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_hue: 'hue',
  /**
   * Color image gamma.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_gamma: 'gamma',
  /**
   * Color image white balance.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_manual_white_balance: 'manual-white-balance',
  /**
   * Power Line Frequency for anti-flickering Off/50Hz/60Hz/Auto.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_power_line_frequency: 'power-line-frequency',
  /**
   * Color lowlight compensation. Zero corresponds to switched off.
   * <br>Equivalent to its uppercase counterpart
   */
  frame_metadata_low_light_compensation: 'low-light-compensation',
  /**
   * A sequential index managed per-stream. Integer value <br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  FRAME_METADATA_FRAME_COUNTER: RS2.RS2_FRAME_METADATA_FRAME_COUNTER,
  /**
   * Timestamp set by device clock when data readout and transmit commence. usec <br>Equivalent
   * to its lowercase counterpart.
   * @type {Integer}
   */
  FRAME_METADATA_FRAME_TIMESTAMP: RS2.RS2_FRAME_METADATA_FRAME_TIMESTAMP,
  /**
   * Timestamp of the middle of sensor's exposure calculated by device. usec <br>Equivalent to
   * its lowercase counterpart.
   * @type {Integer}
   */
  FRAME_METADATA_SENSOR_TIMESTAMP: RS2.RS2_FRAME_METADATA_SENSOR_TIMESTAMP,
  /**
   * Sensor's exposure width. When Auto Exposure (AE) is on the value is controlled by
   * firmware. usec <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FRAME_METADATA_ACTUAL_EXPOSURE: RS2.RS2_FRAME_METADATA_ACTUAL_EXPOSURE,
  /**
   * A relative value increasing which will increase the Sensor's gain factor. When AE is set
   * On, the value is controlled by firmware. Integer value <br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  FRAME_METADATA_GAIN_LEVEL: RS2.RS2_FRAME_METADATA_GAIN_LEVEL,
  /**
   * Auto Exposure Mode indicator. Zero corresponds to AE switched off.  <br>Equivalent to its
   * lowercase counterpart.
   * @type {Integer}
   */
  FRAME_METADATA_AUTO_EXPOSURE: RS2.RS2_FRAME_METADATA_AUTO_EXPOSURE,
  /**
   * White Balance setting as a color temperature. Kelvin degrees <br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  FRAME_METADATA_WHITE_BALANCE: RS2.RS2_FRAME_METADATA_WHITE_BALANCE,
  /**
   * Time of arrival in system clock  <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  FRAME_METADATA_TIME_OF_ARRIVAL: RS2.RS2_FRAME_METADATA_TIME_OF_ARRIVAL,
  /**
   * Temperature of the device, measured at the time of the frame capture. Celsius degrees
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_TEMPERATURE: RS2.RS2_FRAME_METADATA_TEMPERATURE,
  /**
  * Timestamp get from uvc driver. usec
  * <br>Equivalent to its lowercase counterpart
  * @type {Integer}
  */
  FRAME_METADATA_BACKEND_TIMESTAMP: RS2.RS2_FRAME_METADATA_BACKEND_TIMESTAMP,
  /**
  * Actual fps
  * <br>Equivalent to its lowercase counterpart
  * @type {Integer}
  */
  FRAME_METADATA_ACTUAL_FPS: RS2.RS2_FRAME_METADATA_ACTUAL_FPS,
  /**
   * Laser power value 0-360.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_FRAME_LASER_POWER: RS2.RS2_FRAME_METADATA_FRAME_LASER_POWER,
  /**
   * Laser power mode. Zero corresponds to Laser power switched off and one for switched on.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_FRAME_LASER_POWER_MODE: RS2.RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE,
  /**
   * Exposure priority.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_EXPOSURE_PRIORITY: RS2.RS2_FRAME_METADATA_EXPOSURE_PRIORITY,
  /**
   * Left region of interest for the auto exposure Algorithm.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_EXPOSURE_ROI_LEFT: RS2.RS2_FRAME_METADATA_EXPOSURE_ROI_LEFT,
  /**
   * Right region of interest for the auto exposure Algorithm.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_EXPOSURE_ROI_RIGHT: RS2.RS2_FRAME_METADATA_EXPOSURE_ROI_RIGHT,
  /**
   * Top region of interest for the auto exposure Algorithm.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_EXPOSURE_ROI_TOP: RS2.RS2_FRAME_METADATA_EXPOSURE_ROI_TOP,
  /**
   * Bottom region of interest for the auto exposure Algorithm.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_EXPOSURE_ROI_BOTTOM: RS2.RS2_FRAME_METADATA_EXPOSURE_ROI_BOTTOM,
  /**
   * Color image brightness.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_BRIGHTNESS: RS2.RS2_FRAME_METADATA_BRIGHTNESS,
  /**
   * Color image contrast.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_CONTRAST: RS2.RS2_FRAME_METADATA_CONTRAST,
  /**
   * Color image saturation.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_SATURATION: RS2.RS2_FRAME_METADATA_SATURATION,
  /**
   * Color image sharpness.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_SHARPNESS: RS2.RS2_FRAME_METADATA_SHARPNESS,
  /**
   * Auto white balance temperature Mode indicator. Zero corresponds to automatic mode switched off.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE:
      RS2.RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE,
  /**
   * Color backlight compensation. Zero corresponds to switched off.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_BACKLIGHT_COMPENSATION: RS2.RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION,
  /**
   * Color image hue.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_HUE: RS2.RS2_FRAME_METADATA_HUE,
  /**
   * Color image gamma.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_GAMMA: RS2.RS2_FRAME_METADATA_GAMMA,
  /**
   * Color image white balance.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_MANUAL_WHITE_BALANCE: RS2.RS2_FRAME_METADATA_MANUAL_WHITE_BALANCE,
  /**
   * Power Line Frequency for anti-flickering Off/50Hz/60Hz/Auto.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_POWER_LINE_FREQUENCY: RS2.RS2_FRAME_METADATA_POWER_LINE_FREQUENCY,
  /**
   * Color lowlight compensation. Zero corresponds to switched off.
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  FRAME_METADATA_LOW_LIGHT_COMPENSATION: RS2.RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  FRAME_METADATA_COUNT: RS2.RS2_FRAME_METADATA_COUNT,

  /**
   * Get the string representation out of the integer frame metadata type
   * @param {Integer} metadata the frame metadata type
   * @return {String}
   */
  frameMetadataToString: function(metadata) {
    const funcName = 'frame_metadata.frameMetadataToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.frame_metadata, 0, funcName);
    switch (i) {
      case this.FRAME_METADATA_FRAME_COUNTER:
        return this.frame_metadata_frame_counter;
      case this.FRAME_METADATA_FRAME_TIMESTAMP:
        return this.frame_metadata_frame_timestamp;
      case this.FRAME_METADATA_SENSOR_TIMESTAMP:
        return this.frame_metadata_sensor_timestamp;
      case this.FRAME_METADATA_ACTUAL_EXPOSURE:
        return this.frame_metadata_actual_exposure;
      case this.FRAME_METADATA_GAIN_LEVEL:
        return this.frame_metadata_gain_level;
      case this.FRAME_METADATA_AUTO_EXPOSURE:
        return this.frame_metadata_auto_exposure;
      case this.FRAME_METADATA_WHITE_BALANCE:
        return this.frame_metadata_white_balance;
      case this.FRAME_METADATA_TIME_OF_ARRIVAL:
        return this.frame_metadata_time_of_arrival;
      case this.FRAME_METADATA_TEMPERATURE:
        return this.frame_metadata_temperature;
      case this.FRAME_METADATA_BACKEND_TIMESTAMP:
        return this.frame_metadata_backend_timestamp;
      case this.FRAME_METADATA_ACTUAL_FPS:
        return this.frame_metadata_actual_fps;
      case this.FRAME_METADATA_FRAME_LASER_POWER:
        return this.frame_metadata_frame_laser_power;
      case this.FRAME_METADATA_FRAME_LASER_POWER_MODE:
        return this.frame_metadata_frame_laser_power_mode;
      case this.FRAME_METADATA_EXPOSURE_PRIORITY:
        return this.frame_metadata_exposure_priority;
      case this.FRAME_METADATA_EXPOSURE_ROI_LEFT:
        return this.frame_metadata_exposure_roi_left;
      case this.FRAME_METADATA_EXPOSURE_ROI_RIGHT:
        return this.frame_metadata_exposure_roi_right;
      case this.FRAME_METADATA_EXPOSURE_ROI_TOP:
        return this.frame_metadata_exposure_roi_top;
      case this.FRAME_METADATA_EXPOSURE_ROI_BOTTOM:
        return this.frame_metadata_exposure_roi_bottom;
      case this.FRAME_METADATA_BRIGHTNESS:
        return this.frame_metadata_brightness;
      case this.FRAME_METADATA_CONTRAST:
        return this.frame_metadata_contrast;
      case this.FRAME_METADATA_SATURATION:
        return this.frame_metadata_saturation;
      case this.FRAME_METADATA_SHARPNESS:
        return this.frame_metadata_sharpness;
      case this.FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE:
        return this.frame_metadata_auto_white_balance_temperature;
      case this.FRAME_METADATA_BACKLIGHT_COMPENSATION:
        return this.frame_metadata_backlight_compensation;
      case this.FRAME_METADATA_HUE:
        return this.frame_metadata_hue;
      case this.FRAME_METADATA_GAMMA:
        return this.frame_metadata_gamma;
      case this.FRAME_METADATA_MANUAL_WHITE_BALANCE:
        return this.frame_metadata_manual_white_balance;
      case this.FRAME_METADATA_POWER_LINE_FREQUENCY:
        return this.frame_metadata_power_line_frequency;
      case this.FRAME_METADATA_LOW_LIGHT_COMPENSATION:
        return this.frame_metadata_low_light_compensation;
    }
  },
};

/**
 * Enum for distortion types
 * @readonly
 * @enum {String}
 */
const distortion = {
  /**
   * String literal of <code>'none'</code>. <br>Rectilinear images. No distortion compensation
   * required. <br> Equivalent to its uppercase counterpart.
   */
  distortion_none: 'none',
  /**
   * String literal of <code>'modified-brown-conrady'</code>. <br>Equivalent to Brown-Conrady
   * distortion, except that tangential distortion is applied to radially distorted points
   * <br> Equivalent to its uppercase counterpart.
   */
  distortion_modified_brown_conrady: 'modified-brown-conrady',
  /**
   * String literal of <code>'inverse-brown-conrady'</code>. <br>Equivalent to Brown-Conrady
   * distortion, except undistorts image instead of distorting it
   * <br> Equivalent to its uppercase counterpart.
   */
  distortion_inverse_brown_conrady: 'inverse-brown-conrady',
  /**
   * String literal of <code>'ftheta'</code>. <br>F-Theta fish-eye distortion model
   * <br>Equivalent to its uppercase counterpart.
   */
  distortion_ftheta: 'ftheta',
  /**
   * String literal of <code>'brown-conrady'</code>. <br>Unmodified Brown-Conrady distortion
   * model <br> Equivalent to its uppercase counterpart.
   */
  distortion_brown_conrady: 'brown-conrady',

  /** Rectilinear images. No distortion compensation required. <br>Equivalent to its lowercase
   * counterpart
   * @type {Integer}
   */
  DISTORTION_NONE: RS2.RS2_DISTORTION_NONE,
  /** Equivalent to Brown-Conrady distortion, except that tangential distortion is applied to
   * radially distorted points <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  DISTORTION_MODIFIED_BROWN_CONRADY: RS2.RS2_DISTORTION_MODIFIED_BROWN_CONRADY,
  /** Equivalent to Brown-Conrady distortion, except undistorts image instead of distorting it
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  DISTORTION_INVERSE_BROWN_CONRADY: RS2.RS2_DISTORTION_INVERSE_BROWN_CONRADY,
  /** F-Theta fish-eye distortion model <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  DISTORTION_FTHETA: RS2.RS2_DISTORTION_FTHETA,
  /** Unmodified Brown-Conrady distortion model <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  DISTORTION_BROWN_CONRADY: RS2.RS2_DISTORTION_BROWN_CONRADY,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  DISTORTION_COUNT: RS2.RS2_DISTORTION_COUNT,

  /**
   * Get the string representation out of the integer distortion type
   * @param {Integer} distortionVal the distortion type
   * @return {String}
   */
  distortionToString: function(distortionVal) {
    const funcName = 'distortion.distortionToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.distortion, 0, funcName);
    switch (i) {
      case this.DISTORTION_NONE:
        return this.distortion_none;
      case this.DISTORTION_MODIFIED_BROWN_CONRADY:
        return this.distortion_modified_brown_conrady;
      case this.DISTORTION_INVERSE_BROWN_CONRADY:
        return this.distortion_inverse_brown_conrady;
      case this.DISTORTION_FTHETA:
        return this.distortion_ftheta;
      case this.DISTORTION_BROWN_CONRADY:
        return this.distortion_brown_conrady;
    }
  },
};

/**
 * Enum for notification severity
 * @readonly
 * @enum {String}
 */
const log_severity = {
  /**
   * String literal of <code>'debug'</code>. <br>Detailed information about ordinary operations.
   * <br>Equivalent to its uppercase counterpart.
   */
  log_severity_debug: 'debug',
  /**
   * String literal of <code>'info'</code>. <br>Terse information about ordinary operations.
   * <br>Equivalent to its uppercase counterpart.
   */
  log_severity_info: 'info',
  /**
   * String literal of <code>'warn'</code>. <br>Indication of possible failure.
   * <br>Equivalent to its uppercase counterpart.
   */
  log_severity_warn: 'warn',
  /**
   * String literal of <code>'error'</code>. <br>Indication of definite failure.
   * <br>Equivalent to its uppercase counterpart.
   */
  log_severity_error: 'error',
  /**
   * String literal of <code>'fatal'</code>. <br>Indication of unrecoverable failure.
   * <br>Equivalent to its uppercase counterpart.
   */
  log_severity_fatal: 'fatal',
  /**
   * String literal of <code>'none'</code>. <br>No logging will occur.
   * <br>Equivalent to its uppercase counterpart.
   */
  log_severity_none: 'none',

  /**
   * Detailed information about ordinary operations. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  LOG_SEVERITY_DEBUG: RS2.RS2_LOG_SEVERITY_DEBUG,
  /**
   * Terse information about ordinary operations. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  LOG_SEVERITY_INFO: RS2.RS2_LOG_SEVERITY_INFO,
  /**
   * Indication of possible failure. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  LOG_SEVERITY_WARN: RS2.RS2_LOG_SEVERITY_WARN,
  /**
   * Indication of definite failure. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  LOG_SEVERITY_ERROR: RS2.RS2_LOG_SEVERITY_ERROR,
  /**
   * Indication of unrecoverable failure. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  LOG_SEVERITY_FATAL: RS2.RS2_LOG_SEVERITY_FATAL,
  /**
   * No logging will occur. <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  LOG_SEVERITY_NONE: RS2.RS2_LOG_SEVERITY_NONE,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  LOG_SEVERITY_COUNT: RS2.RS2_LOG_SEVERITY_COUNT,
  /**
   * Get the string representation out of the integer log_severity type
   * @param {Integer} severity the log_severity value
   * @return {String}
   */
  logSeverityToString: function(severity) {
    const funcName = 'log_severity.logSeverityToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.log_severity, 0, funcName);
    switch (i) {
      case this.LOG_SEVERITY_DEBUG:
        return this.log_severity_debug;
      case this.LOG_SEVERITY_INFO:
        return this.log_severity_info;
      case this.LOG_SEVERITY_WARN:
        return this.log_severity_warn;
      case this.LOG_SEVERITY_ERROR:
        return this.log_severity_error;
      case this.LOG_SEVERITY_FATAL:
        return this.log_severity_fatal;
      case this.LOG_SEVERITY_NONE:
        return this.log_severity_none;
    }
  },
};

/**
 * Enum for notification category
 * @readonly
 * @enum {String}
 */
const notification_category = {
  /**
   * String literal of <code>'frames-timeout'</code>. <br>Frames didn't arrived within 5 seconds
   * <br>Equivalent to its uppercase counterpart.
   */
  notification_category_frames_timeout: 'frames-timeout',
  /**
   * String literal of <code>'frame-corrupted'</code>. <br>Received partial/incomplete frame
   * <br>Equivalent to its uppercase counterpart.
   */
  notification_category_frame_corrupted: 'frame-corrupted',
  /**
   * String literal of <code>'hardware-error'</code>. <br>Error reported from the device
   * <br>Equivalent to its uppercase counterpart.
   */
  notification_category_hardware_error: 'hardware-error',
  /**
   * String literal of <code>'hardware-event'</code>. <br>General hardware notification reported
   * from the sensor <br>Equivalent to its uppercase counterpart.
   */
  notification_category_hardware_event: 'hardware-event',
  /**
   * String literal of <code>'unknown-error'</code>. <br>Received unknown error from the device
   * <br>Equivalent to its uppercase counterpart.
   */
  notification_category_unknown_error: 'unknown-error',
  /**
   * String literal of <code>'firmware-update-recommended'</code>. <br>Current firmware version
   * installed is not the latest available. <br>Equivalent to its uppercase counterpart.
   */
  notification_category_firmware_update_recommended: 'firmware-update-recommended',
  /**
   * Frames didn't arrived within 5 seconds <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  NOTIFICATION_CATEGORY_FRAMES_TIMEOUT: RS2.RS2_NOTIFICATION_CATEGORY_FRAMES_TIMEOUT,
  /**
   * Received partial/incomplete frame <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  NOTIFICATION_CATEGORY_FRAME_CORRUPTED: RS2.RS2_NOTIFICATION_CATEGORY_FRAME_CORRUPTED,
  /**
   * Error reported from the device <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  NOTIFICATION_CATEGORY_HARDWARE_ERROR: RS2.RS2_NOTIFICATION_CATEGORY_HARDWARE_ERROR,
  /**
   * General hardware notification reported from the sensor <br>Equivalent to its lowercase
   * counterpart
   * @type {Integer}
   */
  NOTIFICATION_CATEGORY_HARDWARE_EVENT: RS2.RS2_NOTIFICATION_CATEGORY_HARDWARE_EVENT,
  /**
   * Received unknown error from the device <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  NOTIFICATION_CATEGORY_UNKNOWN_ERROR: RS2.RS2_NOTIFICATION_CATEGORY_UNKNOWN_ERROR,
  /**
   * Current firmware version installed is not the latest available <br>Equivalent to its lowercase
   * counterpart
   * @type {Integer}
   */
  NOTIFICATION_CATEGORY_FIRMWARE_UPDATE_RECOMMENDED:
      RS2.RS2_NOTIFICATION_CATEGORY_FIRMWARE_UPDATE_RECOMMENDED,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  NOTIFICATION_CATEGORY_COUNT: RS2.RS2_NOTIFICATION_CATEGORY_COUNT,
  /**
   * Get the string representation out of the integer notification_category type
   * @param {Integer} notification the notification_category type
   * @return {String}
   */
  notificationCategoryToString: function(notification) {
    const funcName = 'notification_category.notificationCategoryToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.notification_category, 0, funcName);
    switch (i) {
      case this.NOTIFICATION_CATEGORY_FRAMES_TIMEOUT:
        return this.notification_category_frames_timeout;
      case this.NOTIFICATION_CATEGORY_FRAME_CORRUPTED:
        return this.notification_category_frame_corrupted;
      case this.NOTIFICATION_CATEGORY_HARDWARE_ERROR:
        return this.notification_category_hardware_error;
      case this.NOTIFICATION_CATEGORY_HARDWARE_EVENT:
        return this.notification_category_hardware_event;
      case this.NOTIFICATION_CATEGORY_UNKNOWN_ERROR:
        return this.notification_category_unknown_error;
      case this.NOTIFICATION_CATEGORY_FIRMWARE_UPDATE_RECOMMENDED:
        return this.notification_category_firmware_update_recommended;
    }
  },
};

/**
 * Enum for timestamp domain.
 * @readonly
 * @enum {String}
 */
const timestamp_domain = {
  /**
   * String literal of <code>'hardware-clock'</code>. <br>Frame timestamp was measured in
   * relation to the camera clock <br>Equivalent to its uppercase counterpart.
   */
  timestamp_domain_hardware_clock: 'hardware-clock',
  /**
   * String literal of <code>'system-time'</code>. <br>Frame timestamp was measured in relation
   * to the OS system clock <br>Equivalent to its uppercase counterpart.
   */
  timestamp_domain_system_time: 'system-time',

  /**
   * Frame timestamp was measured in relation to the camera clock <br>Equivalent to its lowercase
   * counterpart.
   * @type {Integer}
   */
  TIMESTAMP_DOMAIN_HARDWARE_CLOCK: RS2.RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK,
  /**
   * Frame timestamp was measured in relation to the OS system clock <br>Equivalent to its
   * lowercase counterpart.
   * @type {Integer}
   */
  TIMESTAMP_DOMAIN_SYSTEM_TIME: RS2.RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  TIMESTAMP_DOMAIN_COUNT: RS2.RS2_TIMESTAMP_DOMAIN_COUNT,
  /**
   * Get the string representation out of the integer timestamp_domain type
   * @param {Integer} domainVal the timestamp_domain type
   * @return {String}
   */
  timestampDomainToString: function(domainVal) {
    const funcName = 'timestamp_domain.timestampDomainToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.timestamp_domain, 0, funcName);
    switch (i) {
      case this.TIMESTAMP_DOMAIN_HARDWARE_CLOCK:
        return this.timestamp_domain_hardware_clock;
      case this.TIMESTAMP_DOMAIN_SYSTEM_TIME:
        return this.timestamp_domain_system_time;
      default:
        throw new TypeError('timestamp_domain.timestampDomainToString() expects a valid value as the 1st argument'); // eslint-disable-line
    }
  },
};

/**
 * Enum for calibration target type.
 * @readonly
 * @enum {String}
 */
const calib_target_type = {
    /**
     * String literal of <code>'rect-gaussian-dot-vertices'</code>.
     * <br>Target with rectangle vertices as 
     * the centers of gaussuian dots <br>Equivalent to its uppercase counterpart.
     */
    calib_target_rect_gaussian_dot_vertices: 'rect-gaussian-dot-vertices',

    /**
     * Frame timestamp was measured in relation to the camera clock <br>Equivalent to its lowercase
     * counterpart.
     * @type {Integer}
     */
    CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES: RS2.RS2_CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES,
    /**
     * Number of enumeration values. Not a valid input: intended to be used in for-loops.
     * @type {Integer}
     */
    CALIB_TARGET_COUNT: RS2.RS2_CALIB_TARGET_COUNT,

    calibTargetTypeToString: function(domainVal) {
        const funcName = 'calib_target_type.calibTargetTypeToString()';
        checkArgumentLength(1, 1, arguments.length, funcName);
        const i = checkArgumentType(arguments, constants.calib_target_type, 0, funcName);
        switch (i) {
            case this.CALIB_TARGET_RECT_GAUSSIAN_DOT_VERTICES:
                return this.calib_target_rect_gaussian_dot_vertices;
            default:
                throw new TypeError('calib_target_type.calibTargetTypeToString() expects a valid value as the 1st argument'); // eslint-disable-line
        }
    },
};

/**
 * Enum for visual preset of SR300 devices: provides optimized settings (presets) for specific
 * types of usage.
 * @readonly
 * @enum {String}
 */
const sr300_visual_preset = {
  /**
   * String literal of <code>'short-range'</code>. <br>Preset for short range.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_short_range: 'short-range',
  /**
   * String literal of <code>'long-range'</code>. <br>Preset for long range.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_long_range: 'long-range',
  /**
   * String literal of <code>'background-segmentation'</code>. <br>Preset for background
   * segmentation.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_background_segmentation: 'background-segmentation',
  /**
   * String literal of <code>'gesture-recognition'</code>. <br>Preset for gesture recognition.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_gesture_recognition: 'gesture-recognition',
  /**
   * String literal of <code>'object-scanning'</code>. <br>Preset for object scanning.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_object_scanning: 'object-scanning',
  /**
   * String literal of <code>'face-analytics'</code>. <br>Preset for face analytics.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_face_analytics: 'face-analytics',
  /**
   * String literal of <code>'face-login'</code>. <br>Preset for face login.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_face_login: 'face-login',
  /**
   * String literal of <code>'gr-cursor'</code>. <br>Preset for GR cursor.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_gr_cursor: 'gr-cursor',
  /**
   * String literal of <code>'default'</code>. <br>Preset for default.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_default: 'default',
  /**
   * String literal of <code>'mid-range'</code>. <br>Preset for mid-range.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_mid_range: 'mid-range',
  /**
   * String literal of <code>'ir-only'</code>. <br>Preset for IR only.
   * <br>Equivalent to its uppercase counterpart
   */
  sr300_visual_preset_ir_only: 'ir-only',

  /**
   * Preset for short range
   * <br> Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_SHORT_RANGE: RS2.RS2_SR300_VISUAL_PRESET_SHORT_RANGE,
  /**
   * Preset for long range
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_LONG_RANGE: RS2.RS2_SR300_VISUAL_PRESET_LONG_RANGE,
  /**
   * Preset for background segmentation
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION: RS2.RS2_SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION,
  /**
   * Preset for gesture recognition
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_GESTURE_RECOGNITION: RS2.RS2_SR300_VISUAL_PRESET_GESTURE_RECOGNITION,
  /**
   * Preset for object scanning
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_OBJECT_SCANNING: RS2.RS2_SR300_VISUAL_PRESET_OBJECT_SCANNING,
  /**
   * Preset for face analytics
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_FACE_ANALYTICS: RS2.RS2_SR300_VISUAL_PRESET_FACE_ANALYTICS,
  /**
   * Preset for face login
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_FACE_LOGIN: RS2.RS2_SR300_VISUAL_PRESET_FACE_LOGIN,
  /**
   * Preset for GR cursor
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_GR_CURSOR: RS2.RS2_SR300_VISUAL_PRESET_GR_CURSOR,
  /**
   * Preset for default
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_DEFAULT: RS2.RS2_SR300_VISUAL_PRESET_DEFAULT,
  /**
   * Preset for mid-range
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_MID_RANGE: RS2.RS2_SR300_VISUAL_PRESET_MID_RANGE,
  /**
   * Preset for IR only
   * <br>Equivalent to its lowercase counterpart.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_IR_ONLY: RS2.RS2_SR300_VISUAL_PRESET_IR_ONLY,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  SR300_VISUAL_PRESET_COUNT: RS2.RS2_SR300_VISUAL_PRESET_COUNT,
  /**
   * Get the string representation out of the integer sr300_visual_preset type
   * @param {Integer} preset the sr300_visual_preset type
   * @return {String}
   */
  sr300VisualPresetToString: function(preset) {
    const funcName = 'sr300_visual_preset.sr300VisualPresetToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.sr300_visual_preset, 0, funcName);
    switch (i) {
      case this.SR300_VISUAL_PRESET_SHORT_RANGE:
        return this.sr300_visual_preset_short_range;
      case this.SR300_VISUAL_PRESET_LONG_RANGE:
        return this.sr300_visual_preset_long_range;
      case this.SR300_VISUAL_PRESET_BACKGROUND_SEGMENTATION:
        return this.sr300_visual_preset_background_segmentation;
      case this.SR300_VISUAL_PRESET_GESTURE_RECOGNITION:
        return this.sr300_visual_preset_gesture_recognition;
      case this.SR300_VISUAL_PRESET_OBJECT_SCANNING:
        return this.sr300_visual_preset_object_scanning;
      case this.SR300_VISUAL_PRESET_FACE_ANALYTICS:
        return this.sr300_visual_preset_face_analytics;
      case this.SR300_VISUAL_PRESET_FACE_LOGIN:
        return this.sr300_visual_preset_face_login;
      case this.SR300_VISUAL_PRESET_GR_CURSOR:
        return this.sr300_visual_preset_gr_cursor;
      case this.SR300_VISUAL_PRESET_DEFAULT:
        return this.sr300_visual_preset_default;
      case this.SR300_VISUAL_PRESET_MID_RANGE:
        return this.sr300_visual_preset_mid_range;
      case this.SR300_VISUAL_PRESET_IR_ONLY:
        return this.sr300_visual_preset_ir_only;
    }
  },
};

/**
 * Enum for visual preset of RS400 devices: provides optimized settings (presets) for specific
 * types of usage.
 * @readonly
 * @enum {String}
 */
const rs400_visual_preset = {
  /**
   * String literal of <code>'custom'</code>. <br>Preset for custom.
   * <br>Equivalent to its uppercase counterpart
   */
  rs400_visual_preset_custom: 'custom',
  /**
   * String literal of <code>'default'</code>. <br>Preset for default.
   * <br>Equivalent to its uppercase counterpart
   */
  rs400_visual_preset_default: 'default',
  /**
   * String literal of <code>'hand'</code>. <br>Preset for hand.
   * <br>Equivalent to its uppercase counterpart
   */
  rs400_visual_preset_hand: 'hand',
  /**
   * String literal of <code>'high-accuracy'</code>. <br>Preset for high-accuracy.
   * <br>Equivalent to its uppercase counterpart
   */
  rs400_visual_preset_high_accuracy: 'high-accuracy',
  /**
   * String literal of <code>'high-density'</code>. <br>Preset for high-density.
   * <br>Equivalent to its uppercase counterpart
   */
  rs400_visual_preset_high_density: 'high-density',
  /**
   * String literal of <code>'medium-density'</code>. <br>Preset for medium-density.
   * <br>Equivalent to its uppercase counterpart
   */
  rs400_visual_preset_medium_density: 'medium-density',
  /**
   * String literal of <code>'remove-ir-pattern'</code>. <br>Preset for remove-ir-pattern.
   * <br>Equivalent to its uppercase counterpart
   */
  rs400_visual_preset_remove_ir_pattern: 'remove-ir-pattern',
  /**
   * Preset for custom
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  RS400_VISUAL_PRESET_CUSTOM: RS2.RS2_RS400_VISUAL_PRESET_CUSTOM,
  /**
   * Preset for default
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  RS400_VISUAL_PRESET_DEFAULT: RS2.RS2_RS400_VISUAL_PRESET_DEFAULT,
  /**
   * Preset for hand
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  RS400_VISUAL_PRESET_HAND: RS2.RS2_RS400_VISUAL_PRESET_HAND,
  /**
   * Preset for high_accuracy
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  RS400_VISUAL_PRESET_HIGH_ACCURACY: RS2.RS2_RS400_VISUAL_PRESET_HIGH_ACCURACY,
  /**
   * Preset for high-density
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  RS400_VISUAL_PRESET_HIGH_DENSITY: RS2.RS2_RS400_VISUAL_PRESET_HIGH_DENSITY,
  /**
   * Preset for medium-density
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  RS400_VISUAL_PRESET_MEDIUM_DENSITY: RS2.RS2_RS400_VISUAL_PRESET_MEDIUM_DENSITY,
  /**
   * Preset for remove-ir-pattern
   * <br>Equivalent to its lowercase counterpart
   * @type {Integer}
   */
  RS400_VISUAL_PRESET_REMOVE_IR_PATTERN: RS2.RS2_RS400_VISUAL_PRESET_REMOVE_IR_PATTERN,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  RS400_VISUAL_PRESET_COUNT: RS2.RS2_RS400_VISUAL_PRESET_COUNT,
  /**
   * Get the string representation out of the integer rs400_visual_preset type
   * @param {Integer} preset the rs400_visual_preset type
   * @return {String}
   */
  rs400VisualPresetToString: function(preset) {
    const funcName = 'rs400_visual_preset.rs400VisualPresetToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.rs400_visual_preset, 0, funcName);
    switch (i) {
      case this.RS400_VISUAL_PRESET_CUSTOM:
        return this.rs400_visual_preset_custom;
      case this.RS400_VISUAL_PRESET_DEFAULT:
        return this.rs400_visual_preset_default;
      case this.RS400_VISUAL_PRESET_HAND:
        return this.rs400_visual_preset_hand;
      case this.RS400_VISUAL_PRESET_HIGH_ACCURACY:
        return this.rs400_visual_preset_high_accuracy;
      case this.RS400_VISUAL_PRESET_HIGH_DENSITY:
        return this.rs400_visual_preset_high_density;
      case this.RS400_VISUAL_PRESET_MEDIUM_DENSITY:
        return this.rs400_visual_preset_medium_density;
      case this.RS400_VISUAL_PRESET_REMOVE_IR_PATTERN:
        return this.rs400_visual_preset_remove_ir_pattern;
    }
  },
};

const playback_status = {
  /**
   * String literal of <code>'unknown'</code>. <br>Unknown state
   * <br>Equivalent to its uppercase counterpart
   */
  playback_status_unknown: 'unknown',
  /**
   * String literal of <code>'playing'</code>. <br>One or more sensors were
   * started, playback is reading and raising data
   * <br>Equivalent to its uppercase counterpart
   */
  playback_status_playing: 'playing',
  /**
   * String literal of <code>'paused'</code>. <br>One or more sensors were
   * started, but playback paused reading and paused raising data
   * <br>Equivalent to its uppercase counterpart
   */
  playback_status_paused: 'paused',
  /**
   * String literal of <code>'stopped'</code>. <br>All sensors were stopped, or playback has
   * ended (all data was read). This is the initial playback status
   * <br>Equivalent to its uppercase counterpart
   */
  playback_status_stopped: 'stopped',
  /**
   * Unknown state
   */
  PLAYBACK_STATUS_UNKNOWN: RS2.RS2_PLAYBACK_STATUS_UNKNOWN,
  /**
   * One or more sensors were started, playback is reading and raising data
   */
  PLAYBACK_STATUS_PLAYING: RS2.RS2_PLAYBACK_STATUS_PLAYING,
  /**
   * One or more sensors were started, but playback paused reading and paused raising dat
   */
  PLAYBACK_STATUS_PAUSED: RS2.RS2_PLAYBACK_STATUS_PAUSED,
  /**
   * All sensors were stopped, or playback has ended (all data was read). This is the initial
   * playback statu
   */
  PLAYBACK_STATUS_STOPPED: RS2.RS2_PLAYBACK_STATUS_STOPPED,
  /**
   * Number of enumeration values. Not a valid input: intended to be used in for-loops.
   * @type {Integer}
   */
  PLAYBACK_STATUS_COUNT: RS2.RS2_PLAYBACK_STATUS_COUNT,
  /**
   * Get the string representation out of the integer playback_status type
   * @param {Integer} status the playback_status type
   * @return {String}
   */
  playbackStatusToString: function(status) {
    const funcName = 'playback_status.playbackStatusToString()';
    checkArgumentLength(1, 1, arguments.length, funcName);
    const i = checkArgumentType(arguments, constants.playback_status, 0, funcName);
    switch (i) {
      case this.PLAYBACK_STATUS_UNKNOWN:
        return this.playback_status_unknown;
      case this.PLAYBACK_STATUS_PLAYING:
        return this.playback_status_playing;
      case this.PLAYBACK_STATUS_PAUSED:
        return this.playback_status_paused;
      case this.PLAYBACK_STATUS_STOPPED:
        return this.playback_status_stopped;
      default:
        throw new TypeError('playback_status.playbackStatusToString() expects a valid value as the 1st argument'); // eslint-disable-line
    }
  },
};

// e.g. str2Int('enable_motion_correction', 'option')
function str2Int(str, category) {
  const name = 'RS2_' + category.toUpperCase() + '_' + str.toUpperCase().replace(/-/g, '_');
  return RS2[name];
}

function stream2Int(str) {
  return str2Int(str, 'stream');
}
function format2Int(str) {
  return str2Int(str, 'format');
}
function option2Int(str) {
  return str2Int(str, 'option');
}
function cameraInfo2Int(str) {
  return str2Int(str, 'camera_info');
}
function recordingMode2Int(str) {
  return str2Int(str, 'recording_mode');
}
function timestampDomain2Int(str) {
  return str2Int(str, 'timestamp_domain');
}
function notificationCategory2Int(str) {
  return str2Int(str, 'notification_category');
}
function logSeverity2Int(str) {
  return str2Int(str, 'log_severity');
}
function distortion2Int(str) {
  return str2Int(str, 'distortion');
}
function frameMetadata2Int(str) {
  return str2Int(str, 'frame_metadata');
}
function sr300VisualPreset2Int(str) {
  return str2Int(str, 'sr300_visual_preset');
}
function rs400VisualPreset2Int(str) {
  return str2Int(str, 'rs400_visual_preset');
}
function playbackStatus2Int(str) {
  return str2Int(str, 'playback_status');
}
function isArrayBuffer(value) {
  return value && (value instanceof ArrayBuffer) && (value.byteLength !== undefined);
}

const constants = {
  stream: stream,
  format: format,
  option: option,
  camera_info: camera_info,
  recording_mode: recording_mode,
  timestamp_domain: timestamp_domain,
  notification_category: notification_category,
  log_severity: log_severity,
  distortion: distortion,
  frame_metadata: frame_metadata,
  sr300_visual_preset: sr300_visual_preset,
  rs400_visual_preset: rs400_visual_preset,
  playback_status: playback_status,
};

/**
 * Cleanup resources
 */
function cleanup() {
  internal.cleanup();
  RS2.globalCleanup();
}

/**
 * Error Information returned from native SDK
 * @typedef {Object} ErrorInfoObject
 * @property {Boolean} recoverable - True if the error is a recoverable error
 * @property {String} description - Detailed description of the error
 * @property {String} nativeFunction - Native function that triggered the error
 * @see [getError()]{@link getError}
 */

/**
 * Get the error info
 * User could call this method to get the detailed error info if the previous
 * API failed.
 * @return {ErrorInfoObject|undefined} If there is no error, undefined is returned
 */
function getError() {
  return RS2.getError();
}

module.exports = {
  cleanup: cleanup,
  getError: getError,
  UnrecoverableError: UnrecoverableError,

  Context: Context,
  Pipeline: Pipeline,
  PipelineProfile: PipelineProfile,
  Config: Config,
  Colorizer: Colorizer,
  Device: Device,
  Tm2: Tm2,
  DeviceList: DeviceList,
  DeviceHub: DeviceHub,
  Sensor: Sensor,
  DepthSensor: DepthSensor,
  ROISensor: ROISensor,
  ColorSensor: ColorSensor,
  MotionSensor: MotionSensor,
  FisheyeSensor: FisheyeSensor,
  StreamProfile: StreamProfile,
  VideoStreamProfile: VideoStreamProfile,
  MotionStreamProfile: MotionStreamProfile,
  Frame: Frame,
  FrameSet: FrameSet,
  VideoFrame: VideoFrame,
  DepthFrame: DepthFrame,
  DisparityFrame: DisparityFrame,
  MotionFrame: MotionFrame,
  PoseFrame: PoseFrame,
  Align: Align,
  PointCloud: PointCloud,
  Points: Points,
  Syncer: Syncer,
  RecorderDevice: RecorderDevice,
  PlaybackDevice: PlaybackDevice,
  DecimationFilter: DecimationFilter,
  TemporalFilter: TemporalFilter,
  SpatialFilter: SpatialFilter,
  HoleFillingFilter: HoleFillingFilter,
  DisparityToDepthTransform: DisparityToDepthTransform,
  DepthToDisparityTransform: DepthToDisparityTransform,


  stream: stream,
  format: format,
  option: option,
  camera_info: camera_info,
  recording_mode: recording_mode,
  timestamp_domain: timestamp_domain,
  notification_category: notification_category,
  log_severity: log_severity,
  distortion: distortion,
  frame_metadata: frame_metadata,
  sr300_visual_preset: sr300_visual_preset,
  rs400_visual_preset: rs400_visual_preset,
  playback_status: playback_status,

  util: util,
  internal: internal,

  stringConstantToIntegerValue: str2Int,
};

internal.registerErrorCallback();