IDepthBitmap.h

// SPDX-License-Identifier: LGPL-2.1-or-later OR GPL-2.0-or-later OR GPL-3.0-or-later OR LicenseRef-ImtCore-Commercial
#pragma once
 
 
// ACF includes
#include <istd/TRange.h>
#include <iimg/IBitmap.h>
#include <idoc/IDocumentMetaInfo.h>
 
// ImtCore includes
#include <imt3d/imt3d.h>
#include <imt3d/IImage3dCalibration.h>
 
 
namespace imt3d
{
 
 
class IDepthBitmap: virtual public iimg::IBitmap
{
public:
       enum
       {
              MIT_MIN_DEPTH = idoc::IDocumentMetaInfo::MIT_USER,
              MIT_MAX_DEPTH,
 
              MIT_REPROJECTION_MATRIX,
 
              MIT_LAST = MIT_REPROJECTION_MATRIX
       };
 
       virtual istd::CRange GetDepthRange() const = 0;
 
       virtual bool CreateDepthBitmap(
                            const istd::CRange& depthRange,
                            const istd::CIndex2d& size) = 0;
 
       virtual const IImage3dCalibration* GetCalibration3d() const = 0;
       virtual const iimg::IBitmap* GetReferenceBitmap() const = 0;
 
       struct RobotPosition
       {
              int64_t timestampMicrosecond;
              float x;
              float y;
              float z;
       };
 
       typedef std::vector<RobotPosition> RobotTrajectory;
 
       virtual RobotTrajectory GetRobotTrajectory() const = 0;
 
       struct BaseCorrection {
              imath::TVector<4, float> translation;
              imath::TVector<3, float> rotationDeg;
              BaseCorrection() {
                     translation.Reset();
                     rotationDeg.Reset();
              }
       };
 
       virtual BaseCorrection GetBaseCorrection() const = 0;
};
 
 
} // namespace imt3d