SysCameraCalibrationMessage.h

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#ifndef LibMultiSense_SysCameraCalibrationMessage
#define LibMultiSense_SysCameraCalibrationMessage

#include "details/utility/Portability.hh"

namespace crl {
namespace multisense {
namespace details {
namespace wire {

class CameraCalData {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;

    float M[3][3];
    float D[8];
    float R[3][3];
    float P[3][4];

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        SER_ARRAY_2(M, 3, 3);
        SER_ARRAY_1(D, 8);
        SER_ARRAY_2(R, 3, 3);
        SER_ARRAY_2(P, 3, 4);
    }
};

class SysCameraCalibration {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_SYS_CAMERA_CAL;
    static CRL_CONSTEXPR VersionType VERSION = 2;

    CameraCalData left;
    CameraCalData right;
    CameraCalData aux;

    //
    // Constructors

    SysCameraCalibration(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    SysCameraCalibration() {};

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        left.serialize(message, version);
        right.serialize(message, version);

        if (version >= 2)
        {
            aux.serialize(message, version);
        }
    }
};
}}}} // namespaces

#endif