CameraProperties.h

/*******************************************************************************
 * BSD 3-Clause License
 *
 * Copyright (c) 2016-2024, Mech-Mind Robotics
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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; 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.
 *
 * Info:  https://www.mech-mind.com/
 *
 ******************************************************************************/
 
#pragma once
#include <string>
#include "CommonTypes.h"
#include "Version.h"
 
namespace mmind {
 
namespace eye {
 
struct CameraInfo
{
    std::string model;        
    std::string serialNumber; 
    Platform platform;        
    Version hardwareVersion;  
    Version firmwareVersion;  
    std::string ipAddress;    
    std::string subnetMask{"255.255.255.0"}; 
    IpAssignmentMethod ipAssignmentMethod{}; 
    uint16_t port{};                         
};
 
struct DeviceTemperature
{
    float cpuTemperature{};       
    float projectorTemperature{}; 
};
 
struct CameraStatus
{
    DeviceTemperature temperature;
};
 
struct CameraMatrix
{
    double fx{}; 
    double fy{}; 
    double cx{}; 
    double cy{}; 
};
 
struct CameraDistortion
{
    double k1{}; 
    double k2{}; 
    double p1{}; 
    double p2{}; 
    double k3{}; 
};
 
struct Intrinsics2DCamera
{
    CameraDistortion cameraDistortion;
    CameraMatrix cameraMatrix;
};
 
struct Transformation
{
    double rotation[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; 
    double translation[3] = {0, 0, 0}; 
};
 
struct CameraResolutions
{
    Size texture;
    Size depth;
};
 
struct CameraIntrinsics
{
    Intrinsics2DCamera texture; 
    Intrinsics2DCamera
        depth; 
 
    Transformation depthToTexture; 
};
 
enum class ColorTypeOf2DCamera { Monochrome, Color, Undefined };
 
} // namespace eye
 
} // namespace mmind