BQP/srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/CameraInfo.cs

namespace RobotNet10.Shared.Sensor;

/// <summary>
/// CameraInfo message (sensor_msgs/CameraInfo)
/// This message defines meta information for a camera
/// </summary>
public struct CameraInfo
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Image height (rows)
    /// </summary>
    public uint Height { get; set; }

    /// <summary>
    /// Image width (columns)
    /// </summary>
    public uint Width { get; set; }

    /// <summary>
    /// Distortion model constants
    /// </summary>
    public const string DistortionModelPlumbBob = "plumb_bob";
    public const string DistortionModelRationalPolynomial = "rational_polynomial";

    /// <summary>
    /// The distortion model used
    /// </summary>
    public string DistortionModel { get; set; }

    /// <summary>
    /// Intrinsic camera matrix for the raw (distorted) images.
    ///     [fx  0 cx]
    /// K = [ 0 fy cy]
    ///     [ 0  0  1]
    /// Projects 3D points in the camera coordinate frame to 2D pixel
    /// coordinates using the focal lengths (fx, fy) and principal point
    /// (cx, cy).
    /// </summary>
    public double[] K { get; set; }

    /// <summary>
    /// Size of intrinsic camera matrix (3x3 = 9 elements)
    /// </summary>
    public const int KSize = 9;

    /// <summary>
    /// Rectification matrix (stereo cameras only)
    /// A rotation matrix aligning the camera coordinate system to the ideal
    /// stereo image plane so that epipolar lines in both stereo images are
    /// parallel.
    /// </summary>
    public double[] R { get; set; }

    /// <summary>
    /// Size of rectification matrix (3x3 = 9 elements)
    /// </summary>
    public const int RSize = 9;

    /// <summary>
    /// Projection/camera matrix
    ///     [fx'  0  cx' Tx]
    /// P = [ 0  fy' cy' Ty]
    ///     [ 0   0   1   0]
    /// By convention, this matrix specifies the intrinsic (camera) matrix
    /// of the processed (rectified) image.  That is, the left 3x3 portion
    /// is the normal camera intrinsic matrix for the rectified image.
    /// </summary>
    public double[] P { get; set; }

    /// <summary>
    /// Size of projection matrix (3x4 = 12 elements)
    /// </summary>
    public const int PSize = 12;

    /// <summary>
    /// The distortion parameters, size depending on the distortion model.
    /// For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).
    /// </summary>
    public double[] D { get; set; }

    /// <summary>
    /// Region of interest (subwindow of full camera resolution)
    /// </summary>
    public RegionOfInterest Roi { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public CameraInfo()
    {
        Header = new Header();
        Height = 0;
        Width = 0;
        DistortionModel = DistortionModelPlumbBob;
        K = new double[KSize];
        R = new double[RSize];
        P = new double[PSize];
        D = [];
        Roi = new RegionOfInterest();
    }
}

/// <summary>
/// RegionOfInterest message (sensor_msgs/RegionOfInterest)
/// This message is used to specify a region of interest within an image
/// </summary>
public struct RegionOfInterest
{
    /// <summary>
    /// Leftmost pixel of the ROI
    /// </summary>
    public uint XOffset { get; set; }

    /// <summary>
    /// Topmost pixel of the ROI
    /// </summary>
    public uint YOffset { get; set; }

    /// <summary>
    /// Height of ROI
    /// </summary>
    public uint Height { get; set; }

    /// <summary>
    /// Width of ROI
    /// </summary>
    public uint Width { get; set; }

    /// <summary>
    /// True if a distinct rectified ROI should be calculated from the "raw"
    /// ROI in this message. Typically this should be False on the "raw" image
    /// and True on the "rectified" image.
    /// </summary>
    public bool DoRectify { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public RegionOfInterest()
    {
        XOffset = 0;
        YOffset = 0;
        Height = 0;
        Width = 0;
        DoRectify = false;
    }
}