frame_metadata.h

/*
 * Copyright 2026-present ifm electronic, gmbh
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef IFM3D_RTSP_FRAME_METADATA_H
#define IFM3D_RTSP_FRAME_METADATA_H
 
#include <array>
#include <cstdint>
 
#include <ifm3d/rtsp/module_rtsp.h>
 
namespace ifm3d
{
  struct IFM3D_EXPORT RgbInfo
  {
    static constexpr std::size_t INTRINSIC_PARAM_COUNT = 32;
 
    static constexpr std::size_t WIRE_SIZE = 308;
 
    static constexpr std::array<std::uint8_t, 16> UUID = {0xe6,
                                                          0xcc,
                                                          0xb4,
                                                          0xb0,
                                                          0x00,
                                                          0x71,
                                                          0x58,
                                                          0x0e,
                                                          0x82,
                                                          0x8d,
                                                          0x92,
                                                          0x8c,
                                                          0x60,
                                                          0x07,
                                                          0x81,
                                                          0x43};
 
    struct Intrinsic
    {
      std::uint32_t model_id = 0;
      std::array<float, INTRINSIC_PARAM_COUNT> model_parameters{};
    };
 
    std::uint32_t version = 0;
    std::uint32_t frame_counter = 0;
    std::uint64_t timestamp_ns = 0;
    float exposure_time = 0.0F;
 
    std::array<float, 6> extrinsic_optic_to_user{};
 
    Intrinsic intrinsic;
    Intrinsic inverse_intrinsic;
  };
 
  namespace frame_metadata
  {
    constexpr const char* VERSION = "version";
    constexpr const char* FRAME_COUNTER = "frame_counter";
    constexpr const char* TIMESTAMP_NS = "timestamp_ns";
    constexpr const char* EXPOSURE_TIME = "exposure_time";
    constexpr const char* EXTRINSIC_OPTIC_TO_USER = "extrinsic_optic_to_user";
    constexpr const char* INTRINSIC_MODEL_ID = "intrinsic_model_id";
    constexpr const char* INTRINSIC_PARAMETERS = "intrinsic_parameters";
    constexpr const char* INVERSE_INTRINSIC_MODEL_ID =
      "inverse_intrinsic_model_id";
    constexpr const char* INVERSE_INTRINSIC_PARAMETERS =
      "inverse_intrinsic_parameters";
  } // namespace frame_metadata
 
} // namespace ifm3d
 
#endif // IFM3D_RTSP_FRAME_METADATA_H