SelfCalibrationCameraDiagnostics.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2023-2025 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 SELFCALIBRATIONCAMERADIAGNOSTICS_H_
#define SELFCALIBRATIONCAMERADIAGNOSTICS_H_
// Generated by dwProto from self_calibration_camera_diagnostics.proto DO NOT EDIT BY HAND!
// See //3rdparty/shared/dwproto/README.md for more information
 
#include <dw/pbwire/BasicTypes.h>
 
#include <dw/calibration/engine/common/CalibrationBaseTypes.h>
#include <dw/core/base/MatrixTypes.h>
#include <dw/rig/Rig.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationCameraInputMonitorDiagnostics
{
    uint32_t egomotionSignalIntegrityErrors;
 
    uint32_t featureSignalIntegrityErrors;
 
    uint32_t featureTrackPropertyErrors;
 
    uint32_t debouncedTotalEgomotionErrors;
 
    uint32_t debouncedTotalFeatureErrors;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationCameraInputMonitorDiagnostics;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationCameraOutputMonitorDiagnostics
{
    uint32_t routineFailureErrors;
 
    uint32_t routineTimeoutErrors;
 
    uint32_t sensorDeadjustedErrors;
 
    uint64_t totalRoutineErrors;
 
    uint32_t routineNotAcceptedErrors;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationCameraOutputMonitorDiagnostics;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationCameraParameterEstimatorDiagnostics
{
    float32_t longHistMaxVotes;
 
    float32_t longHistTotalNumVotes;
 
    uint32_t longHistNumberOfOutliers;
 
    dwCalibrationHistogramEstimatorEvent lastEstimatorEvent;
 
    float32_t acceptanceMetric;
 
    float32_t rejectionMetric;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationCameraParameterEstimatorDiagnostics;
 
// Camera self-calibration diagnostics relating to camera intrinsics
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationCameraIntrinsicsDiagnostics
{
    bool receivedFromEeprom;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationCameraIntrinsicsDiagnostics;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationCameraDiagnostics
{
    char8_t sensorName[DW_MAX_RIG_SENSOR_NAME_SIZE];
 
    uint64_t sensorTimestamp;
 
    dwCalibrationSignalStateArray signalStates;
 
    dwVector3f nominalPosition;
 
    dwVector3f nominalRPY;
 
    dwVector3f correctionsPosition;
 
    dwVector3f correctionsRPY;
 
    uint32_t numberOfFeatures;
 
    dwVector2f featuresMinPoint;
    dwVector2f featuresMaxPoint;
 
    float32_t coverageScore;
 
    uint32_t inlierCount;
 
    float32_t inlierRatio;
 
    uint32_t iterationCount;
 
    uint64_t cycleCount;
 
    uint64_t prevImageTimestamp;
 
    uint64_t currentImageTimestamp;
 
    float32_t twoViewYawRate;
 
    float32_t egomotionYawRate;
 
    dwSelfCalibrationCameraInputMonitorDiagnostics inputs;
 
    dwSelfCalibrationCameraOutputMonitorDiagnostics outputs;
 
    dwSelfCalibrationCameraParameterEstimatorDiagnostics yawDiagnostics;
 
    dwSelfCalibrationCameraParameterEstimatorDiagnostics pitchDiagnostics;
 
    dwSelfCalibrationCameraParameterEstimatorDiagnostics rollDiagnostics;
 
    dwSelfCalibrationCameraParameterEstimatorDiagnostics heightDiagnostics;
 
    uint64_t rotationConflictCount;
 
    uint32_t routineResetCounter;
 
    dwSelfCalibrationCameraIntrinsicsDiagnostics intrinsics;
 
    bool trailerAttached;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationCameraDiagnostics;
 
#ifdef __cplusplus
}
#endif
 
#endif // SELFCALIBRATIONCAMERADIAGNOSTICS_H_