354 lines
11 KiB
C
354 lines
11 KiB
C
/*****************************************************************************
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* PMDSDK 2
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*
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* Copyright (c) 2006-2007 PMD Technologies GmbH
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* All Rights Reserved.
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*
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* File: pmddatadescription.h
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* Author: Martin Profittlich
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* Created: 20060808
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*
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*****************************************************************************/
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#ifndef DATADESCRIPTION_H_672861066752896024487934289650
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#define DATADESCRIPTION_H_672861066752896024487934289650
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/// \addtogroup core
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/// @{
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#include "pmdsdk2common.h"
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BEGIN_EXTERN_C
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/// \addtogroup DataCodes
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/// @{
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// TODO: move defines to separate file
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// raw data ID system:
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// 0x00 0x00 0bORWWWWWW 0bRRRRDABD
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// R = Reserved, must be 0
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// O = Byte order (1 = Big Endian)
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// W = Bit width
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// D = Difference
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// A = Channel A
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// B = Channel B
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/// A/B PMD data (e.g. PMD[vision] 3k-S)
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#define PMD_RAW_L16_AB 0x00001006u
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/// A/B PMD data (BigEndian) (e.g. CamCube)
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#define PMD_RAW_B16_AB 0x00009006u
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/// Difference and A/B PMD data
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#define PMD_RAW_L16_DAB 0x0000100Eu
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/// Difference and A/B PMD data (Big Endian) (e.g. USB-L)
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#define PMD_RAW_B16_DAB 0x0000900Eu
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/// A/B and difference PMD data
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#define PMD_RAW_L16_ABD 0x00001007u
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/// A/B and difference PMD data (Big Endian) (e.g. PMD[vision] A2 w/o addition information)
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#define PMD_RAW_B16_ABD 0x00009007u
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/// Packed PMD difference data (e.g. PMD[vision] 19k)
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#define PMD_RAW_P12_D 0x00000C01u
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/// PMD difference data (e.g. PMD[vision] 64)
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#define PMD_RAW_L16_D 0x00001001u
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/// PMD difference data with saturation information
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//#define PMD_RAW_L16D_SAT 1005u
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/// A/B, difference and information PMD data (e.g. PMD[vision] A2 w/ additional information)
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//#define PMD_RAW_L16ABD_AUX 1006u
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/// Unknown data
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#define PMD_UNKNOWN_DATA 0x00000000u
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/// 32-bit floating point distances in meters
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#define PMD_DISTANCE_LF32 0x00010001u
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/// 32-bit floating point amplitudes
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#define PMD_AMPLITUDE_LF32 0x00010002u
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/// 32-bit floating point intensities
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#define PMD_INTENSITY_LF32 0x00010004u
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/// 32-bit floating point reflectivities
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#define PMD_REFLECTIVITY_LF32 0x00010008u
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/// 16-bit boolean information
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#define PMD_FLAGS_16 0x00010010u
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/// Cartesian X coordinates
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#define PMD_X_COORD_LF32 0x00010020u
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/// Cartesian Y coordinates
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#define PMD_Y_COORD_LF32 0x00010040u
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/// Cartesian Z coordinates
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#define PMD_Z_COORD_LF32 0x00010080u
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/// 16 bit distances in millimeters and amplitudes
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#define PMD_DISTANCE_I16_AMPLITUDE_I16 0x00020003u
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/// 16 bit distances in 100 micrometers and amplitudes
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#define PMD_DISTANCE_100UM_I16_AMPLITUDE_I16 0x00020103u
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/// A3 camera data v2.31
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#define PMD_A3_DATA_2_31 0x00040003u
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/// A3 camera data v4
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#define PMD_A3_DATA_4 0x00040005u
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/// A3 camera raw data
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#define PMD_A3_RAWDATA_2_31 0x00040007u
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/// A3 sub type
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#define PMD_A3_DISTANCE 0x00000001u
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/// A3 sub type
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#define PMD_A3_AMPLITUDE 0x00000002u
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/// A3 sub type
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#define PMD_A3_CONFIDENCE 0x00000004u
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/// A3 sub type
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#define PMD_A3_COORDINATES 0x00000008u
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/// A3 sub type
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#define PMD_A3_OBJECT_LIST 0x00000010u
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/// A3 camera data
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#define PMD_O3D_DATA_1_7 0x00050003u
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/// O3D sub type
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#define PMD_O3D_DISTANCE 0x00000002u
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/// O3D sub type
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#define PMD_O3D_INTENSITY 0x00000004u
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/// O3D sub type
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#define PMD_O3D_STDDEV 0x00000010u
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/// O3D sub type
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#define PMD_O3D_VIEW_X 0x00000020u
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/// O3D sub type
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#define PMD_O3D_VIEW_Y 0x00000040u
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/// O3D sub type
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#define PMD_O3D_VIEW_Z 0x00000080u
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/// O3D sub type
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#define PMD_O3D_X 0x00000100u
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/// O3D sub type
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#define PMD_O3D_Y 0x00000200u
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/// O3D sub type
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#define PMD_O3D_Z 0x00000400u
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/// user defined data type
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#define PMD_USER_DEFINED_0 0xFFFF0000u
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/// user defined data type
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#define PMD_USER_DEFINED_1 0xFFFF0001u
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/// user defined data type
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#define PMD_USER_DEFINED_2 0xFFFF0002u
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/// user defined data type
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#define PMD_USER_DEFINED_3 0xFFFF0003u
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/// user defined data type
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#define PMD_USER_DEFINED_4 0xFFFF0004u
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/// user defined data type
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#define PMD_USER_DEFINED_5 0xFFFF0005u
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/// user defined data type
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#define PMD_USER_DEFINED_6 0xFFFF0006u
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/// user defined data type
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#define PMD_USER_DEFINED_7 0xFFFF0007u
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/// user defined data type
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#define PMD_USER_DEFINED_8 0xFFFF0008u
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/// user defined data type
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#define PMD_USER_DEFINED_9 0xFFFF0009u
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/// user defined data type
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#define PMD_USER_DEFINED_10 0xFFFF000au
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/// user defined data type
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#define PMD_USER_DEFINED_11 0xFFFF000bu
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/// user defined data type
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#define PMD_USER_DEFINED_12 0xFFFF000cu
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/// user defined data type
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#define PMD_USER_DEFINED_13 0xFFFF000du
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/// user defined data type
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#define PMD_USER_DEFINED_14 0xFFFF000eu
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/// user defined data type
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#define PMD_USER_DEFINED_15 0xFFFF000fu
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// pixel origin values
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/// The top-right pixel is the first pixel
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#define PMD_ORIGIN_TOP_RIGHT 0x00000000u
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/// The top-left pixel is the first pixel
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#define PMD_ORIGIN_TOP_LEFT 0x00000001u
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/// The bottom-right pixel is the first pixel
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#define PMD_ORIGIN_BOTTOM_RIGHT 0x00000002u
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/// The bottom-left pixel is the first pixel
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#define PMD_ORIGIN_BOTTOM_LEFT 0x00000003u
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/// The pixel origin is on the right edge of the image
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#define PMD_ORIGIN_RIGHT 0x00000000u
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/// The pixel origin is on the left edge of the image
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#define PMD_ORIGIN_LEFT 0x00000001u
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/// The pixel origin is on the top edge of the image
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#define PMD_ORIGIN_TOP 0x00000000u
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/// The pixel origin is on the bottom edge of the image
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#define PMD_ORIGIN_BOTTOM 0x00000002u
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// pixel direction values
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/// The second pixel is on the right or the left of the first pixel
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#define PMD_DIRECTION_HORIZONTAL 0x00000000u
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/// The second pixel is aboce or below the first pixel
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#define PMD_DIRECTION_VERTICAL 0x00010000u
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// sub header types
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/// The PMDGenericData structure is used in the PMDDataDescription
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#define PMD_GENERIC_DATA 0x00000001u
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/// The PMDImageData structure is used in the PMDDataDescription
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#define PMD_IMAGE_DATA 0x00000002u
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/// @}
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/// Generic data description
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struct PMDGenericData
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{
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/// Specific type of the data
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unsigned subType;
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/// Number of elements in the data
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unsigned numElem;
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/// Size of one element in bytes
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unsigned sizeOfElem;
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};
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/// Standard PMD image data.
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struct PMDImageData
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{
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/// Specific type of the data
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unsigned subType;
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/// Number of columns in the image
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unsigned numColumns;
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/// Number of rows in the image
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unsigned numRows;
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/// Number of sub images
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unsigned numSubImages;
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/// Integration times at which the data was captured
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int integrationTime[4];
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/// Modulation frequencies at which the data was captured
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int modulationFrequency[4];
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/// Offsets for up to four separate measurements in mm.
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int offset[4];
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/// Pixel aspect ratio. The ratio is pixelAspectRatio / 1000.0
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int pixelAspectRatio;
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/// Position/direction of the first pixel.
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int pixelOrigin;
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/// Time at which the data was captured. Most significant word.
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int timeStampHi;
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/// Time at which the data was captured. Least significant word.
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unsigned timeStampLo;
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/// Reserved for future use.
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char reserved[24];
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/// Contains user-defined information. This will not be evaluated by the PMDSDK.
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unsigned userData0;
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};
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/// Layout description of a data block.
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struct PMDDataDescription
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{
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/// Unique ID of the plugin that generated the data
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unsigned PID;
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/// Unique ID of the data
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unsigned DID;
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/// Interpretation of the data
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unsigned type;
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/// Size of the data block in bytes
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unsigned size;
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/// Type of the sub header
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unsigned subHeaderType;
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/// Specific interpretation-dependent information
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union
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{
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/// Generic data
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struct PMDGenericData gen;
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/// Standard PMD image data
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struct PMDImageData std;
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/// Ensure fixed size
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char fillUpToSizeOfStructure[108];
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}
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#ifdef PMD_ANSI_C
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u
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#endif
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;
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};
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#ifndef PMD_NO_DEPRECATED
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typedef struct PMDDataDescription DataDescription;
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typedef struct PMDImageData StandardPMDData;
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typedef struct PMDGenericData GenericData;
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#define GENERIC_DATA PMD_GENERIC_DATA
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#define STANDARD_PMD_DATA PMD_IMAGE_DATA
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#define RAW_L16_AB PMD_RAW_L16_AB
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#define RAW_L16_DAB PMD_RAW_L16_DAB
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#define RAW_B16_DAB PMD_RAW_B16_DAB
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#define RAW_L16_ABD PMD_RAW_L16_ABD
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#define RAW_B16_ABD PMD_RAW_B16_ABD
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#define RAW_P12_D PMD_RAW_P12_D
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#define RAW_L16_D PMD_RAW_L16_D
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#define UNKNOWN_DATA PMD_UNKNOWN_DATA
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#define DISTANCE_LF32 PMD_DISTANCE_LF32
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#define AMPLITUDE_LF32 PMD_AMPLITUDE_LF32
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#define INTENSITY_LF32 PMD_INTENSITY_LF32
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#define REFLECTIVITY_LF32 PMD_REFLECTIVITY_LF32
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#define FLAGS_16 PMD_FLAGS_16
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#define X_COORD_LF32 PMD_X_COORD_LF32
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#define Y_COORD_LF32 PMD_Y_COORD_LF32
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#define Z_COORD_LF32 PMD_Z_COORD_LF32
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#define DISTANCE_I16_AMPLITUDE_I16 PMD_DISTANCE_I16_AMPLITUDE_I16
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#define DISTANCE_100UM_I16_AMPLITUDE_I16 PMD_DISTANCE_100UM_I16_AMPLITUDE_I16
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#define A3_DATA_2_31 PMD_A3_DATA_2_31
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#define A3_DATA_4 PMD_A3_DATA_4
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#define A3_RAWDATA_2_31 PMD_A3_RAWDATA_2_31
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#define A3_DISTANCE PMD_A3_DISTANCE
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#define A3_AMPLITUDE PMD_A3_AMPLITUDE
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#define A3_CONFIDENCE PMD_A3_CONFIDENCE
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#define A3_COORDINATES PMD_A3_COORDINATES
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#define A3_OBJECT_LIST PMD_A3_OBJECT_LIST
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#define O3D_DATA_1_7 PMD_O3D_DATA_1_7
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#define O3D_DISTANCE PMD_O3D_DISTANCE
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#define O3D_INTENSITY PMD_O3D_INTENSITY
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#define O3D_STDDEV PMD_O3D_STDDEV
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#define O3D_VIEW_X PMD_O3D_VIEW_X
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#define O3D_VIEW_Y PMD_O3D_VIEW_Y
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#define O3D_VIEW_Z PMD_O3D_VIEW_Z
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#define O3D_X PMD_O3D_X
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#define O3D_Y PMD_O3D_Y
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#define O3D_Z PMD_O3D_Z
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#define USER_DEFINED_0 PMD_USER_DEFINED_0
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#define USER_DEFINED_1 PMD_USER_DEFINED_1
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#define USER_DEFINED_2 PMD_USER_DEFINED_2
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#define USER_DEFINED_3 PMD_USER_DEFINED_3
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#define USER_DEFINED_4 PMD_USER_DEFINED_4
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#define USER_DEFINED_5 PMD_USER_DEFINED_5
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#define USER_DEFINED_6 PMD_USER_DEFINED_6
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#define USER_DEFINED_7 PMD_USER_DEFINED_7
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#define USER_DEFINED_8 PMD_USER_DEFINED_8
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#define USER_DEFINED_9 PMD_USER_DEFINED_9
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#define USER_DEFINED_10 PMD_USER_DEFINED_10
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#define USER_DEFINED_11 PMD_USER_DEFINED_11
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#define USER_DEFINED_12 PMD_USER_DEFINED_12
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#define USER_DEFINED_13 PMD_USER_DEFINED_13
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#define USER_DEFINED_14 PMD_USER_DEFINED_14
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#define USER_DEFINED_15 PMD_USER_DEFINED_15
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#define ORIGIN_TOP_RIGHT PMD_ORIGIN_TOP_RIGHT
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#define ORIGIN_TOP_LEFT PMD_ORIGIN_TOP_LEFT
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#define ORIGIN_BOTTOM_RIGHT PMD_ORIGIN_BOTTOM_RIGHT
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#define ORIGIN_BOTTOM_LEFT PMD_ORIGIN_BOTTOM_LEFT
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#define ORIGIN_RIGHT PMD_ORIGIN_RIGHT
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#define ORIGIN_LEFT PMD_ORIGIN_LEFT
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#define ORIGIN_TOP PMD_ORIGIN_TOP
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#define ORIGIN_BOTTOM PMD_ORIGIN_BOTTOM
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#define DIRECTION_HORIZONTAL PMD_DIRECTION_HORIZONTAL
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#define DIRECTION_VERTICAL PMD_DIRECTION_VERTICAL
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#endif
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END_EXTERN_C
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/// @}
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#endif
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