syntax = "proto2";
import "enum_type.proto";

// 相机点云坐标转换
message CoordinateTransformation3D {
  optional float x = 1 [default = 0];
  optional float y = 2 [default = 0];
  optional float z = 3 [default = 0];
  optional float roll = 4 [default = 0];
  optional float pitch = 5 [default = 0];
  optional float yaw = 6 [default = 0];
}

// 相机内参
message Tof3dVzenseBuiltInParams {
  optional uint32 work_mode = 1 [default = 0x00];
  optional uint32 irgmmgain = 2 [default = 255];
  optional uint32 frame_rate = 3 [default = 10];
  optional bool enable_manual_exposure_time = 4 [default = true];
  optional uint32 exposure_time = 5 [default = 2000];
  optional bool enable_filter_fill_hole = 7 [default = true];
  optional bool enable_filter_spatial = 8 [default = true];
  optional bool enable_time_filter = 9 [default = true];
  optional uint32 time_filter_value = 10 [default = 3];
  optional bool enable_flying_pixel_filter = 11 [default = true];
  optional uint32 flying_pixel_filter_value = 12 [default = 15];
  optional bool enable_confidence_filter = 13 [default = true];
  optional uint32 confidence_filter_value = 14 [default = 6];
  optional bool enable_hdr_mode = 15 [default = true];
}

// 相机参数
message tof3dVzenseEtc {
  optional bool enable_device = 1 [default = true];  // 设备启动才进行以下处理
  required string ip = 2 [default = "192.168.1.101"];
  optional Tof3dVzenseBuiltInParams bip = 3;
  required DeviceAzimuth azimuth = 4;
  optional CoordinateTransformation3D trans= 5;
}
