SyncSensorCalibrationData.h

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/*
 * Copyright (c) 2020-2023, NVIDIA CORPORATION.  All rights reserved.
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 *    notice, this list of conditions and the following disclaimer.
 *  * 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.
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 *    contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
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#ifndef _ARGUS_SYNC_SENSOR_CALIBRATION_DATA_H
#define _ARGUS_SYNC_SENSOR_CALIBRATION_DATA_H
 
namespace Argus
{
 
DEFINE_NAMED_UUID_CLASS(DistortionType);
DEFINE_UUID(DistortionType, DISTORTION_TYPE_POLYNOMIAL,        23e59580,17ff,11eb,8b6f,08,00,20,0c,9a,66);
DEFINE_UUID(DistortionType, DISTORTION_TYPE_FISHEYE,           23e59581,17ff,11eb,8b6f,08,00,20,0c,9a,66);
DEFINE_UUID(DistortionType, DISTORTION_TYPE_OMINI_DIRECTIONAL, 23e5bc90,17ff,11eb,8b6f,08,00,20,0c,9a,66);
 
DEFINE_NAMED_UUID_CLASS(MappingType);
DEFINE_UUID(MappingType, MAPPING_TYPE_EQUIDISTANT,   9e7f3c10,17ff,11eb,8b6f,08,00,20,0c,9a,66);
DEFINE_UUID(MappingType, MAPPING_TYPE_EQUISOLID,     9e7f3c11,17ff,11eb,8b6f,08,00,20,0c,9a,66);
DEFINE_UUID(MappingType, MAPPING_TYPE_ORTHOGRAPHIC,  9e7f3c12,17ff,11eb,8b6f,08,00,20,0c,9a,66);
DEFINE_UUID(MappingType, MAPPING_TYPE_STEREOGRAPHIC, 9e7f3c13,17ff,11eb,8b6f,08,00,20,0c,9a,66);
 
DEFINE_UUID(ExtensionName, EXT_SYNC_SENSOR_CALIBRATION_DATA, 10845a70,d52f,11ea,8b6e,08,00,20,0c,9a,66);
namespace Ext
{
DEFINE_UUID(InterfaceID, IID_SYNC_SENSOR_CALIBRATION_DATA, 5925f360,d52f,11ea,8b6e,08,00,20,0c,9a,66);
class ISyncSensorCalibrationData : public Interface
{
public:
    static const InterfaceID& id() { return IID_SYNC_SENSOR_CALIBRATION_DATA; }
 
    virtual Status getSyncSensorModuleId(void* syncSensorId, size_t size) const = 0;
 
    virtual Size2D<uint32_t> getImageSizeInPixels() const = 0;
 
    virtual Point2D<float> getFocalLength() const = 0;
 
    virtual float getSkew() const = 0;
 
    virtual Point2D<float> getPrincipalPoint() const = 0;
 
    virtual DistortionType getLensDistortionType() const = 0;
 
    virtual MappingType getFisheyeMappingType() const = 0;
 
    virtual uint32_t getRadialCoeffsCount(const DistortionType& distortionType) const = 0;
 
    virtual Status getRadialCoeffs(std::vector<float>* k,
        const DistortionType& distortionType) const = 0;
 
    virtual uint32_t getTangentialCoeffsCount() const = 0;
 
    virtual Status getTangentialCoeffs(std::vector<float>* p) const = 0;
 
    virtual Point3D<float> getRotationParams() const = 0;
 
    virtual Point3D<float> getTranslationParams() const = 0;
 
    virtual Status getModuleSerialNumber(void * serialNumber, size_t size) const = 0;
 
    virtual bool isImuSensorAvailable() const = 0;
 
    virtual Point3D<float> getLinearAccBias() const = 0;
 
    virtual Point3D<float> getAngularVelocityBias() const = 0;
 
    virtual Point3D<float> getGravityAcc() const = 0;
 
    virtual Point3D<float> getImuRotationParams() const = 0;
 
    virtual Point3D<float> getImuTranslationParams() const = 0;
 
    virtual float getUpdateRate() const = 0;
 
    virtual float getLinearAccNoiseDensity() const = 0;
 
    virtual float getLinearAccRandomWalk() const = 0;
 
    virtual float getAngularVelNoiseDensity() const = 0;
 
    virtual float getAngularVelRandomWalk() const = 0;
 
protected:
  ~ISyncSensorCalibrationData() {}
 
};
 
} // namespace Ext
 
} // namespace Argus
 
#endif // _ARGUS_SYNC_SENSOR_CALIBRATION_DATA_H