Initial commit

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

@@ -0,0 +1,153 @@
+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;
+    }
+}
+