cameraCalibrationStruct.idl

/*  Copyright (c) 2015, LAAS/CNRS
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#ifndef	CAMERACALIBRATION_STRUCT_H
#define	CAMERACALIBRATION_STRUCT_H

module calibrationParameters
{
    struct timestamp
    {
        unsigned long sec;
        unsigned long usec;
    };

    struct std_msgs__Header
    {
        unsigned long seq; /*uint32_t*/
        timestamp stamp;
        string frame_id;
    };

    struct sensor_msgs__RegionOfInterest
    {
        unsigned long x_offset;
        unsigned long y_offset;
        unsigned long height;
        unsigned long width;
        boolean do_rectify;
    };

    struct sensor_msgs__CameraInfo
    {
        std_msgs__Header header;
        unsigned long height;   /*Image dimension with which the camera was calibrated*/
        unsigned long width;    /*Image dimension with which the camera was calibrated*/
        string distortion_model; /*For most cameras is 'plumb_bob'*/
        sequence<double> D;   /*Distortion parameters. For 'plumb_bob': (k1, k2, t1, t2, k3)*/
        double K[9];    /*Intrinsic camera matrix for the raw (distorted) images [3x3]*/
        double R[9];    /*Rectification matrix [3x3]*/
        double P[12];   /*Projection/camera matrix [3x4]*/
        unsigned long binning_x;
        unsigned long binning_y;
        sensor_msgs__RegionOfInterest roi;
    };

    struct geometry_msgs__Vector3
    {
        double x;
        double y;
        double z;
    };

    struct geometry_msgs__Quaternion
    {
        double x;
        double y;
        double z;
        double w;
    };

    struct geometry_msgs__Transform
    {
        geometry_msgs__Vector3 translation;
        geometry_msgs__Quaternion rotation;
    };

    struct geometry_msgs__TransformStamped
    {
        std_msgs__Header header;
        string child_frame_id;
        geometry_msgs__Transform transform;
    };

    struct tf__tfMessage
    {
        sequence<geometry_msgs__TransformStamped> transforms;
    };

    /*intrinsic:          extrinsic:
      fx  0   cx  0       r11 r12 r13 tx    tx               lx
      0   fy  cy  0       r21 r22 r23 ty    ty = -R.l     l= ly
      0   0   1   0       r31 r32 r33 tz    tz               lz
                          0   0   0   1*/
    struct cameraParameters
    {
        double intrinsic[12];
        double extrinsic[16];
    };

#pragma masquerade ros sensor_msgs__CameraInfo sensor_msgs/CameraInfo
#pragma masquerade ros tf__tfMessage tf/tfMessage
};
#endif