Program Listing for File MechEyeDataType.h

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 *Copyright (c) 2016-2022, Mech-Mind Robotics
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#pragma once
#include <string>

namespace mmind {

namespace api {

struct ErrorStatus
{
    enum ErrorCode {
        MMIND_STATUS_SUCCESS = 0,
        MMIND_STATUS_INVALID_DEVICE = -1,
        MMIND_STATUS_DEVICE_OFFLINE =
            -2,
        MMIND_STATUS_FIRMWARE_NOT_SUPPORTED =
            -3,
        MMIND_STATUS_PARAMETER_SET_ERROR = -4,
        MMIND_STATUS_PARAMETER_GET_ERROR = -5,
        MMIND_STATUS_CAPTURE_NO_FRAME = -6,
    };
    ErrorStatus() = default;
    ErrorStatus(ErrorCode code, const std::string& message)
        : errorCode(code), errorDescription(message)
    {
    }

    bool isOK() const { return errorCode == MMIND_STATUS_SUCCESS; }

    ErrorCode errorCode{MMIND_STATUS_SUCCESS};

    std::string errorDescription;
};

struct MechEyeDeviceInfo
{
    std::string model;
    std::string id;
    std::string
        hardwareVersion;
    std::string firmwareVersion;
    std::string ipAddress;
    uint16_t port;
};

struct CameraIntri
{
    double distortion[5] = {};
    double cameraMatrix[4] = {};
};

struct Pose
{
    double rotation[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
    double translation[3] = {0, 0, 0};
};

struct DeviceIntri
{
    CameraIntri
        textureCameraIntri;
    CameraIntri
        depthCameraIntri;

    Pose depthToTexture;
};

struct DeviceResolution
{
    unsigned colorMapWidth;
    unsigned colorMapHeight;
    unsigned depthMapWidth;
    unsigned depthMapHeight;
};

struct ROI
{
    ROI() = default;
    ROI(int x, int y, int width, int height) : x(x), y(y), width(width), height(height) {}
    unsigned x;
    unsigned y;
    unsigned width;
    unsigned height;
};

struct DepthRange
{
    DepthRange() = default;
    DepthRange(int lower, int upper) : lower(lower), upper(upper) {}
    int lower;
    int upper;
};
} // namespace api
} // namespace mmind