DepthMap.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2020-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
 * property and proprietary rights in and to this material, related
 * documentation and any modifications thereto. Any use, reproduction,
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or
 * its affiliates is strictly prohibited.
 */
 
#ifndef DW_POINTCLOUDPROCESSING_DEPTHMAPCREATOR_DEPTHMAP_H_
#define DW_POINTCLOUDPROCESSING_DEPTHMAPCREATOR_DEPTHMAP_H_
 
#include <dw/core/base/Types.h>
#include <dw/pointcloudprocessing/pointcloud/PointCloud.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum {
    DW_POINTCLOUD_DEPTHMAP_TYPE_NATIVE,
} dwDepthMapType;
 
typedef enum {
    DW_DEPTH_IMAGE_FORMAT_XYZI = 0,
    DW_DEPTH_IMAGE_FORMAT_RTHI = 1,
    DW_DEPTH_IMAGE_FORMAT_DISTANCE = 2,
    DW_DEPTH_IMAGE_FORMAT_INTENSITY = 3,
} dwDepthImageFormat;
 
typedef struct
{
    uint32_t width;
    uint32_t height;
 
    dwMemoryType memoryType;
 
    dwDepthMapType depthMapType;
    dwDepthImageFormat imageFormat;
 
} dwDepthMapProperties;
 
typedef struct dwDepthMapObject* dwDepthMapHandle_t;
typedef struct dwDepthMapObject const* dwConstDepthMapHandle_t;
 
DW_API_PUBLIC
dwStatus dwDepthMap_initialize(dwDepthMapHandle_t* const depthMap, dwDepthMapProperties const properties);
 
DW_API_PUBLIC
dwStatus dwDepthMap_release(dwDepthMapHandle_t const depthMap);
 
DW_API_PUBLIC
dwStatus dwDepthMap_getProperties(dwDepthMapProperties* const properties, dwConstDepthMapHandle_t depthMapHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMap_getTimestamp(dwTime_t* const timestamp, dwConstDepthMapHandle_t depthMapHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMap_getSensorStartTimestamp(dwTime_t* const timestamp, dwConstDepthMapHandle_t depthMapHandle);
 
DW_API_PUBLIC
dwStatus dwDepthMap_getSensorEndTimestamp(dwTime_t* const timestamp, dwConstDepthMapHandle_t depthMapHandle);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_POINTCLOUDPROCESSING_DEPTHMAPCREATOR_DEPTHMAP_H_