Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/MarkerDetection/MarkerDetectionInterop.cs

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+using System.Runtime.InteropServices;
+
+namespace RobotNet10.RobotApp.MarkerDetection;
+
+/// <summary>
+/// C-compatible structs for marker_detection C API interop
+/// Based on marker_detection_cpp-main/include/marker_detection_c_api.h
+/// </summary>
+
+/// <summary>
+/// Unix timestamp with seconds and nanoseconds (md_unix_time_t)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct md_unix_time_t
+{
+    public uint sec;
+    public uint nsec;
+}
+
+/// <summary>
+/// Message header (md_header_t)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct md_header_t
+{
+    public uint seq;
+    public md_unix_time_t stamp;
+    public IntPtr frame_id; // char* - must be allocated and freed
+}
+
+/// <summary>
+/// 2D Pose (md_pose2d_t)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct md_pose2d_t
+{
+    public double x;
+    public double y;
+    public double theta;
+}
+
+/// <summary>
+/// 3D Pose (md_pose_t)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct md_pose_t
+{
+    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
+    public double[] position;    // [3] - x, y, z
+    
+    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
+    public double[] orientation; // [4] - x, y, z, w (quaternion)
+}
+
+/// <summary>
+/// Pose Stamped (md_pose_stamped_t)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct md_pose_stamped_t
+{
+    public md_header_t header;
+    public md_pose_t pose;
+}
+
+/// <summary>
+/// LaserScan message (md_laserscan_t)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct md_laserscan_t
+{
+    public md_header_t header;
+    public float angle_min;
+    public float angle_max;
+    public float angle_increment;
+    public float time_increment;
+    public float scan_time;
+    public float range_min;
+    public float range_max;
+    
+    public IntPtr ranges;               // float* - pointer to array
+    public nuint ranges_length;          // size_t - number of elements
+    
+    public IntPtr intensities;          // float* - pointer to array
+    public nuint intensities_length;     // size_t - number of elements
+}
+
+/// <summary>
+/// Rectangle marker options (md_rectangle_marker_options_t)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct md_rectangle_marker_options_t
+{
+    public IntPtr marker_frame_id;       // char* - must be allocated and freed
+    public double marker_length;
+    public double marker_width;
+    public double marker_geometric_error;
+    public double marker_intensity_threshold_;
+    public double angle_min_of_scan;
+    public double angle_max_of_scan;
+    public double min_range_of_scan;
+    public double max_range_of_scan;
+    public int use_estimate_marker_pose; // bool
+    public double max_position_error;
+    public double max_yaw_angle_error;
+    public ushort num_filter_samples;
+    public double leg_thickness_offset;
+    public int run_debug; // bool
+}
+
+/// <summary>
+/// Segment marker options (md_segment_marker_options_t)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct md_segment_marker_options_t
+{
+    public IntPtr marker_frame_id;       // char* - must be allocated and freed
+    public double marker_length;
+    public double marker_geometric_error;
+    public double marker_intensity_threshold_;
+    public double angle_min_of_scan;
+    public double angle_max_of_scan;
+    public double min_range_of_scan;
+    public double max_range_of_scan;
+    public int use_estimate_marker_pose; // bool
+    public double max_position_error;
+    public double max_yaw_angle_error;
+    public ushort num_filter_samples;
+    public double leg_thickness_offset;
+    public int run_debug; // bool
+}
+