deserialize_o3d_buffers.hpp

// -*- c++ -*-
/*
 * Copyright 2023-present ifm electronic, gmbh
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef IFM3D_DESERIALIZE_O3D_BUFFERS_HPP
#define IFM3D_DESERIALIZE_O3D_BUFFERS_HPP
 
#include <array>
#include <chrono>
#include <ifm3d/device/err.h>
#include <ifm3d/fg/organizer_utils.h>
#include <ifm3d/fg/buffer.h>
#include <ifm3d/deserialize/deserialize_utils.hpp>
 
namespace ifm3d
{
  // intrinsic param key which cahn be used for indexing the vector of the
  // intrinsic parameter
  enum class intrinsic_param : std::uint32_t
  {
    F_X = 0,   // Focal length of the camera in the sensor's x axis direction.
    F_Y = 1,   // Focal length of the camera in the sensor's y axis direction.
    M_X = 2,   // Main point in the sensor's x direction
    M_Y = 3,   // Main point in the sensor's x direction
    ALPHA = 4, // Skew parameter
    K1 = 5,    // First radial distortion coefficient
    K2 = 6,    // Second radial distortion coefficient
    K5 = 7,    // Third radial distortion coefficient
    K3 = 8,    // First tangential distortion coefficient
    K4 = 9,    // Second tangential distortion coefficient
    TRANS_X = 10, // Translation along x-direction in meters.
    TRANS_Y = 11, // Translation along y-direction in meters.
    TRANS_Z = 12, // Translation along Z-direction in meters.
    ROT_X = 13,   // Rotation along x-axis in radians. Positive values indicate
                  // clockwise rotation.
    ROT_Y = 14,   // Rotation along y-axis in radians. Positive values indicate
                  // clockwise rotation.
    ROT_Z = 15    // Rotation along z-axis in radians. Positive values indicate
                  // clockwise rotation.
  };
 
  namespace
  {
    constexpr auto O3D_NUMBER_OF_INTRINSIC_CALIBRATION_PARAM = 16;
    constexpr auto O3D_NUMBER_OF_INVERSE_INTRINSIC_CALIBRATION_PARAM =
      O3D_NUMBER_OF_INTRINSIC_CALIBRATION_PARAM;
    constexpr auto O3D_NUMBER_OF_EXTRINSIC_PARAM = 6;
    constexpr auto O3D_NUMBER_OF_EXPOSURE_TIMES = 3;
    constexpr auto O3D_ILLU_TEMP_VALUES = 1;
  }
 
  using O3DInstrinsicCalibration =
    ArrayDeserialize<float, O3D_NUMBER_OF_INTRINSIC_CALIBRATION_PARAM>;
 
  using O3DInverseInstrinsicCalibration =
    ArrayDeserialize<float, O3D_NUMBER_OF_INVERSE_INTRINSIC_CALIBRATION_PARAM>;
 
  using O3DExtrinsicCalibration =
    ArrayDeserialize<float, O3D_NUMBER_OF_EXTRINSIC_PARAM>;
 
  using O3DExposureTimes =
    ArrayDeserialize<uint32_t, O3D_NUMBER_OF_EXPOSURE_TIMES>;
 
  using O3DILLUTemperature = ArrayDeserialize<float, O3D_ILLU_TEMP_VALUES>;
 
} // end namespace ifm3d
 
#endif // IFM3D_DESERIALIZE_O3D_BUFFERS_HPP