/*
 * stereo.h
 *
 * History:
 *	2018/09/17 - [Xu Liang] created file
 *
 * Copyright (c) 2018 Ambarella, Inc.
 *
 * This file and its contents ("Software") are protected by intellectual
 * property rights including, without limitation, U.S. and/or foreign
 * copyrights. This Software is also the confidential and proprietary
 * information of Ambarella, Inc. and its licensors. You may not use, reproduce,
 * disclose, distribute, modify, or otherwise prepare derivative works of this
 * Software or any portion thereof except pursuant to a signed license agreement
 * or nondisclosure agreement with Ambarella, Inc. or its authorized affiliates.
 * In the absence of such an agreement, you agree to promptly notify and return
 * this Software to Ambarella, Inc.
 *
 * THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF NON-INFRINGEMENT,
 * MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL AMBARELLA, INC. OR ITS AFFILIATES BE LIABLE FOR ANY DIRECT,
 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; COMPUTER FAILURE OR MALFUNCTION; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef	__STEREO_H__
#define	__STEREO_H__

/*! @file stereo.h
 *  @brief This file defines stereo message type.
 */
#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>

/*! @addtogroup stereo-helper
 *  @{
 */
/*! @macros MAX_OBJECT_NUMBER
 *  @brief define max object detection number.
 */
#define MAX_OBJECT_NUMBER	(32)

/*! @macros BBOX_POINT_NUMBER
 *  @brief define 3d BBOX point number.
 */
#define BBOX_POINT_NUMBER	(8)

/*! @macros SPU_OUTPUT_SERVER
 *  @brief define spu socket server.
 */
#define SPU_OUTPUT_SERVER	"/tmp/spu_output.server"
/*! @} */  /* End of stereo-helper */

/*! @addtogroup stereo-struct
 *  @{
 */
typedef struct pinhole_camera_t {
	uint32_t id;	/*!< input number into arm vo task. */
	uint32_t width;	/*!< image width */
	uint32_t height;	/*!< image height */
	float ku;	/*!< horizontal scale factor [px] */
	float kv;	/*!< vertical scale factor [px] */
	float u0;	/*!< x coord of principal point [px] */
	float v0;	/*!< y coord of principal point [px] */
	float baseline;	/*!< baseline for stereo views, 0.0f for monocular [m] */
	float camera_to_body_orientation[4];	/*!< a quaternion representing the camera orientation expressed in the body reference system */
	float camera_to_body_position[3];	/*!< a vector representing the camera position expressed in the body reference system [m] */
} pinhole_camera_t;

typedef struct visual_point2d_s {
	uint16_t u;	/*!< x coordinate */
	uint16_t v;	/*!< y coordinate */
} visual_point2d_t;

typedef struct visual_object_s {
	uint32_t object_id;	/*!< object id */
	visual_point2d_t bbox[BBOX_POINT_NUMBER];  /*!< coordinate[pixel] */
	uint16_t width;	/*!< object width[cm] */
	uint16_t height;	/*!< object height[cm] */
	uint16_t depth;	/*!< object depth[cm] */
	uint16_t distance;	/*!< object distance[cm] */
	uint16_t distance_from_gnd; 	/*!< object distance from ground[cm] */
	uint16_t is_positive;	/*!< 1-true, 0-false */
} visual_object_t;

typedef struct visual_format_s {
	uint32_t object_cnt;	/*!< object number */
	pinhole_camera_t pinhole_camera;	/*!< pinhole camera information*/
	visual_object_t visual_object[MAX_OBJECT_NUMBER];	/*!< object information */
} visual_format_t;

typedef struct dsi_info_s {
	uint32_t img_width;	/*!< dsi width */
	uint32_t img_pitch;	/*!< dsi pitch */
	uint32_t img_height;	/*!< dsi height */
	uint32_t dsi_offset;	/*!< dsi offset */
} dsi_info_t;

typedef struct spu_output_msg_s {
	dsi_info_t dsi_info;	/*!< dsi information */
	visual_format_t visual_format;	/*!< visual format */
	dsi_info_t msb_stream_info;	/*!< MSB5p3 stream info */
	dsi_info_t lsb_stream_info;	/*!< LSB5p3 stream info */
	dsi_info_t stream_me1_info;	/*!< me1 info for above two streams */
	dsi_info_t stream_me0_info;	/*!< me0 info for above two streams */
} spu_output_msg_t;

/*! @} */  /* End of stereo-struct */

#ifdef __cplusplus
}
#endif

#endif