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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor 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 Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
#ifndef _XN_SHIFT_TO_DEPTH_H_
#define _XN_SHIFT_TO_DEPTH_H_
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnStreamFormats.h>
#include <XnStatus.h>
#include <XnDDK.h>
//---------------------------------------------------------------------------
// Types
//---------------------------------------------------------------------------
typedef struct XnShiftToDepthConfig
{
/** The zero plane distance in depth units. */
XnDepthPixel nZeroPlaneDistance;
/** The zero plane pixel size */
XnFloat fZeroPlanePixelSize;
/** The distance between the emitter and the Depth Cmos */
XnFloat fEmitterDCmosDistance;
/** The maximum possible shift value from this device. */
XnUInt32 nDeviceMaxShiftValue;
/** The maximum possible depth from this device (as opposed to a cut-off). */
XnUInt32 nDeviceMaxDepthValue;
XnUInt32 nConstShift;
XnUInt32 nPixelSizeFactor;
XnUInt32 nParamCoeff;
XnUInt32 nShiftScale;
XnDepthPixel nDepthMinCutOff;
XnDepthPixel nDepthMaxCutOff;
} XnShiftToDepthConfig;
typedef struct XnShiftToDepthTables
{
XnBool bIsInitialized;
/** The shift-to-depth table. */
XnDepthPixel* pShiftToDepthTable;
/** The number of entries in the shift-to-depth table. */
XnUInt32 nShiftsCount;
/** The depth-to-shift table. */
XnUInt16* pDepthToShiftTable;
/** The number of entries in the depth-to-shift table. */
XnUInt32 nDepthsCount;
} XnShiftToDepthTables;
//---------------------------------------------------------------------------
// Functions Declaration
//---------------------------------------------------------------------------
XN_DDK_API XnStatus XnShiftToDepthInit(XnShiftToDepthTables* pShiftToDepth, const XnShiftToDepthConfig* pConfig);
XN_DDK_API XnStatus XnShiftToDepthUpdate(XnShiftToDepthTables* pShiftToDepth, const XnShiftToDepthConfig* pConfig);
XN_DDK_API XnStatus XnShiftToDepthConvert(XnShiftToDepthTables* pShiftToDepth, XnUInt16* pInput, XnUInt32 nInputSize, XnDepthPixel* pOutput);
XN_DDK_API XnStatus XnShiftToDepthFree(XnShiftToDepthTables* pShiftToDepth);
#endif //_XN_SHIFT_TO_DEPTH_H_
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