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#ifndef DEPTH_TO_XYZ_H
#define DEPTH_TO_XYZ_H
/* os shim includes */
#include "os_types_api.h"

#ifdef __cplusplus
extern "C" {
#endif

/** \defgroup depth_to_xyz API
  * @brief depth_to_xyz APIs
  * These functions could be used for calculate X, Y, Z from depth map
  *
  */

/** @addtogroup depth_to_xyz_APIs
  * @{
  */

/* @brief depth_to_xyz() - to calculate X, Y, Z from depth map, output will be arranged to X values, Y values and Z values
 *                         given depth input D of size[height, width_], the outputs are:
 *                         Z[w, h] = -D[w, h] - z_mean
 *                         X[w, h] = ((w - cx) * D[w, h] / fx - x_mean) * 1(Z[w, h] > d_min) * 1(Z[w, h] < d_max)
 *                         Y[w, h] = ((cy - h) * D[w, h] / fy - y_mean) * 1(Z[w, h] > d_min) * 1(Z[w, h] < d_max)
 * @param depth: pointer to depth map
 * @param out: pointer to output
 * @param height: height of depth map
 * @param width_: width of depth map
 * @param inv_fx: 1 / fx, where fx is a constant
 * @param inv_fy: 1 / fy, where fy is a constant
 * @param x_mean: constant
 * @param y_mean: constant
 * @param z_mean: constant
 * @param cx: constant
 * @param cy: constant
 * @param d_max: constant
 * @param d_min: constant
 * @return -1 -- depth address is not a multiple of 32
 * @return -2 -- out address is not a multiple of 32
 * @return -3 -- depth's height is 0
 * @return -4 -- depth's width is 0
 * @return -5 -- depth's width is not a multiple of 8
 * @return non-negative number -- the number of output points whose Z value is between d_min and d_max
 */
int32_t depth_to_xyz(float *depth, float *out, uint32_t height, uint32_t width_,
    float inv_fx, float inv_fy, float x_mean, float y_mean, float z_mean, 
	  float cx, float cy, float d_max, float d_min);


/**
  * @}
  */
  

#ifdef __cplusplus
}
#endif

#endif