depth.h

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/**************************************************************************
 *  Copyright 2012 KISS Institute for Practical Robotics                  *
 *                                                                        *
 *  This file is part of libkovan.                                        *
 *                                                                        *
 *  libkovan is free software: you can redistribute it and/or modify      *
 *  it under the terms of the GNU General Public License as published by  *
 *  the Free Software Foundation, either version 2 of the License, or     *
 *  (at your option) any later version.                                   *
 *                                                                        *
 *  libkovan is distributed in the hope that it will be useful,           *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *  GNU General Public License for more details.                          *
 *                                                                        *
 *  You should have received a copy of the GNU General Public License     *
 *  along with libkovan. Check the LICENSE file in the project root.      *
 *  If not, see <http://www.gnu.org/licenses/>.                           *
 **************************************************************************/

#ifndef _DEPTH_H_
#define _DEPTH_H_

#include <stdint.h>

#include "depth_resolution.h"
#include "export.h"

#ifdef __cplusplus
extern "C" {
#endif

VF EXPORT_SYM int depth_open();

VF EXPORT_SYM int depth_close();

VF EXPORT_SYM DepthResolution get_depth_resolution();

VF EXPORT_SYM int set_depth_resolution(DepthResolution resolution);

VF EXPORT_SYM int set_depth_orientation(int orientation);

VF EXPORT_SYM int get_depth_orientation();

VF EXPORT_SYM int depth_update();

VF EXPORT_SYM int get_depth_image_height();

VF EXPORT_SYM int get_depth_image_width();

VF EXPORT_SYM int get_depth_value(int row, int column);

VF EXPORT_SYM point3 get_depth_world_point(int row, int column);

VF EXPORT_SYM int get_depth_world_point_x(int row, int column);

VF EXPORT_SYM int get_depth_world_point_y(int row, int column);

VF EXPORT_SYM int get_depth_world_point_z(int row, int column);

#ifdef __linux__
static const int INVALID_DEPTH = 2147483647;
#else
static const int INVALID_DEPTH = INT32_MAX;
#endif


VF EXPORT_SYM int depth_scanline_update(int row);

VF EXPORT_SYM int get_depth_scanline_object_count();

VF EXPORT_SYM point3 get_depth_scanline_object_center(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_center_x(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_center_y(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_center_z(int object_num);

VF EXPORT_SYM point3 get_depth_scanline_object_nearest(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_nearest_x(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_nearest_y(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_nearest_z(int object_num);

VF EXPORT_SYM point3 get_depth_scanline_object_farthest(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_farthest_x(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_farthest_y(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_farthest_z(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_size(int object_num);

VF EXPORT_SYM int get_depth_scanline_object_angle(int object_num);

typedef enum SortMethod_
{
  SORT_NEAREST = 0,
  SORT_CENTER,
  SORT_FARTHEST
} SortMethod;

VF EXPORT_SYM void set_depth_scanline_sorting_method(SortMethod method);

VF EXPORT_SYM SortMethod get_depth_scanline_sorting_method();

VFL

#ifdef __cplusplus
}
#endif

#endif /* _DEPTH_H_ */