tofi_camera_intrinsics.h

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#ifndef TOFI_CAMERA_INTRINSICS_H
#define TOFI_CAMERA_INTRINSICS_H
 
#ifdef __cplusplus
extern "C" { // only need to export C interface if
             // used by C++ source code
#endif
#define MAX_PATH_SIZE 512
#define MAX_CHAR_SIZE 24
#define MAX_N_FREQS 3
#define MAX_N_MODES 10
// Structure for the camera intrinsic data
typedef struct {
    float fx;
    float fy;
    float cx;
    float cy;
    float codx;
    float cody;
    float k1;
    float k2;
    float k3;
    float k4;
    float k5;
    float k6;
    float p2;
    float p1;
} CameraIntrinsics;
 
// Structure for the CCB data
typedef struct {
    int n_rows;
    int n_cols;
    uint8_t n_freqs;
    uint8_t row_bin_factor;
    uint8_t col_bin_factor;
    uint16_t n_offset_rows;
    uint16_t n_offset_cols;
    uint16_t n_sensor_rows;
    uint16_t n_sensor_cols;
    uint8_t FreqIndex[MAX_N_FREQS];
    uint16_t Freq[MAX_N_FREQS];
    CameraIntrinsics camera_intrinsics;
} TofiXYZDealiasData;
typedef struct {
    int depthComputeIspEnable;
    int partialDepthEnable;
    int interleavingEnable;
    int bitsInPhaseOrDepth;
    int bitsInAB;
    int bitsInConf;
    int phaseInvalid;
    int withABFrame;
    int littleEndian;
    char inputFormat[MAX_CHAR_SIZE];
} DepthComputeISPParams;
typedef struct {
    char inputFormat[MAX_CHAR_SIZE];
    int deltaCompEnable;
    int headerSize;
    int tempCompEnabled;
} InputRawDataParams;
typedef struct {
    int jblf_apply_flag;
    int jblf_window_size;
    float jblf_gaussian_sigma;
    float jblf_exponential_term;
    float jblf_max_edge;
    float jblf_ab_threshold;
    int ab_filter_enable;
} JBLFConfigParams;
typedef struct {
    float ab_thresh_min;
    float ab_sum_thresh;
} ABThresholdsParams;
typedef struct {
    float conf_thresh;
    float radial_thresh_min;
    float radial_thresh_max;
} DepthRangeParams;
typedef struct {
    int xyz_enable;
    int depth16_enable;
    int ab_only_enable;
    char cl_processor_path[MAX_PATH_SIZE];
} MiscellaneousParams;
typedef enum {
    DepthComputeISP,
    InputRawData,
    JBLFConfig,
    ABThresholds,
    DepthRangeThresholds,
    Miscellaneous
} INIParamsGroup;
#ifdef __cplusplus
}
#endif
 
#endif // TOFI_CAMERA_INTRINSICS_H