00001 00039 #ifndef LibMultiSense_SysLidarCalibrationMessage 00040 #define LibMultiSense_SysLidarCalibrationMessage 00041 00042 #include "details/utility/Portability.hh" 00043 00044 namespace crl { 00045 namespace multisense { 00046 namespace details { 00047 namespace wire { 00048 00049 class SysLidarCalibration { 00050 public: 00051 static CRL_CONSTEXPR IdType ID = ID_DATA_SYS_LIDAR_CAL; 00052 static CRL_CONSTEXPR VersionType VERSION = 1; 00053 00054 float laserToSpindle[4][4]; 00055 float cameraToSpindleFixed[4][4]; 00056 00057 // 00058 // Constructors 00059 00060 SysLidarCalibration(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);}; 00061 SysLidarCalibration() {}; 00062 00063 // 00064 // Serialization routine 00065 00066 template<class Archive> 00067 void serialize(Archive& message, 00068 const VersionType version) 00069 { 00070 SER_ARRAY_2(laserToSpindle, 4, 4); 00071 SER_ARRAY_2(cameraToSpindleFixed, 4, 4); 00072 } 00073 }; 00074 00075 }}}}; // namespaces 00076 00077 #endif