basic_types.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2014, Southwest Research Institute
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef BASIC_TYPES_H_
#define BASIC_TYPES_H_

#include <vector>
#include <boost/shared_ptr.hpp>
#include <industrial_extrinsic_cal/basic_types.h>

namespace industrial_extrinsic_cal
{

typedef double* P_BLOCK;

typedef struct
{
  int x_min;
  int x_max;
  int y_min;
  int y_max;
} Roi;

typedef struct
{
  union
  {
    struct
    {
      double x; 
      double y; 
      double z; 
    };
    double pb[3]; 
  };
} Point3d;

typedef struct
{
  union
  {
    struct
    {
      double x; 
      double y; 
      double z; 
      double ax; 
      double ay; 
      double az; 
    };
    struct
    {
      double pb_loc[3]; 
      double pb_aa[3]; 
    };
    struct
    {
      double pb_pose[6]; 
    };
  };
}Pose6d;
  
typedef struct
{
  int pattern_rows;
  int pattern_cols;
} CheckerBoardParameters;
typedef struct
{
  int pattern_rows;
  int pattern_cols;
  bool is_symmetric;
} CircleGridParameters;
typedef struct
{
  //std::string marker_pattern;
  double marker_width;
} ARTargetParameters;

typedef struct
{
  std::string target_name;
  int target_type;
  union
  {
    CheckerBoardParameters checker_board_parameters;
    CircleGridParameters circle_grid_parameters;
    ARTargetParameters ar_target_parameters;
  };
  bool is_moving; 
  Pose6d pose;
  unsigned int num_points; 
  std::vector<Point3d> pts; 
  bool fixed_pose; 
  bool fixed_points; 
} Target;

typedef struct
{
  boost::shared_ptr<Target> target; 
  int point_id; 
  double image_loc_x; 
  double image_loc_y; 
} Observation;

typedef struct
{
  std::vector<Observation> observations;
} CameraObservations;

typedef struct
{
  union
  {
    struct
    {
      double angle_axis[3]; 
      double position[3]; 
      double focal_length_x; 
      double focal_length_y; 
      double center_x; 
      double center_y; 
      double distortion_k1; 
      double distortion_k2; 
      double distortion_k3; 
      double distortion_p1; 
      double distortion_p2; 
    };
    struct
    { 
      double pb_extrinsics[6]; 
      double pb_intrinsics[9]; 
    };
    struct
    {
      double pb_all[15]; 
    };
  };
} CameraParameters;

typedef struct
{ 
  int trigger_type;
  std::string trigger_popup_msg;
} Trigger;

typedef struct MovingTarget
{
  boost::shared_ptr<Target> targ; // must hold a copy of the target pose parameters,
  int scene_id; // but point parameters may be unused duplicates
} MovingTarget;

}//end namespace industrial_extrinsiac_cal
#endif