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SyncSensorCalibrationData.h
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1 /*
2 * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
3 *
4 * Redistribution and use in source and binary forms, with or without
5 * modification, are permitted provided that the following conditions
6 * are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of NVIDIA CORPORATION nor the names of its
13 * contributors may be used to endorse or promote products derived
14 * from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
18 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
19 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
20 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
21 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
22 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
23 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
24 * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 */
28
29 /**
30 * @file
31 * <b>Libargus Extension: Sync Sensor Calibration Data API</b>
32 *
33 * @b Description: This file defines the SyncSensorCalibrationData extension.
34 */
35
36 #ifndef _ARGUS_SYNC_SENSOR_CALIBRATION_DATA_H
37 #define _ARGUS_SYNC_SENSOR_CALIBRATION_DATA_H
38
39 namespace Argus
40 {
41
42 /**
43 * The DistortionType of a sync sensor defines the type of distortion model.
44 */
45 DEFINE_NAMED_UUID_CLASS(DistortionType);
46 DEFINE_UUID(DistortionType, DISTORTION_TYPE_POLYNOMIAL, 23e59580,17ff,11eb,8b6f,08,00,20,0c,9a,66);
47 DEFINE_UUID(DistortionType, DISTORTION_TYPE_FISHEYE, 23e59581,17ff,11eb,8b6f,08,00,20,0c,9a,66);
48 DEFINE_UUID(DistortionType, DISTORTION_TYPE_OMINI_DIRECTIONAL, 23e5bc90,17ff,11eb,8b6f,08,00,20,0c,9a,66);
49
50 /**
51 * The MappingType of a sync sensor defines the type of mapping used for fisheye distortion model.
52 */
53 DEFINE_NAMED_UUID_CLASS(MappingType);
54 DEFINE_UUID(MappingType, MAPPING_TYPE_EQUIDISTANT, 9e7f3c10,17ff,11eb,8b6f,08,00,20,0c,9a,66);
55 DEFINE_UUID(MappingType, MAPPING_TYPE_EQUISOLID, 9e7f3c11,17ff,11eb,8b6f,08,00,20,0c,9a,66);
56 DEFINE_UUID(MappingType, MAPPING_TYPE_ORTHOGRAPHIC, 9e7f3c12,17ff,11eb,8b6f,08,00,20,0c,9a,66);
57 DEFINE_UUID(MappingType, MAPPING_TYPE_STEREOGRAPHIC, 9e7f3c13,17ff,11eb,8b6f,08,00,20,0c,9a,66);
58
59 /**
60 * Adds accessors for sync sensor calibration data.
61 * - Ext::ISyncSensorCalibrationData : Accesses the sync sensor calibration data.
62 *
63 * @defgroup ArgusExtSyncSensorCalibrationData Ext::SyncSensorCalibrationData
64 * @ingroup ArgusExtensions
65 */
66 DEFINE_UUID(ExtensionName, EXT_SYNC_SENSOR_CALIBRATION_DATA, 10845a70,d52f,11ea,8b6e,08,00,20,0c,9a,66);
67 namespace Ext
68 {
69 /**
70 * @class ISyncSensorCalibrationData
71 *
72 * Interface used to access sync sensor calibration data.
73 *
74 * @ingroup ArgusCameraDevice ArgusExtSyncSensorCalibrationData
75 */
76 DEFINE_UUID(InterfaceID, IID_SYNC_SENSOR_CALIBRATION_DATA, 5925f360,d52f,11ea,8b6e,08,00,20,0c,9a,66);
77 class ISyncSensorCalibrationData : public Interface
78 {
79 public:
80 static const InterfaceID& id() { return IID_SYNC_SENSOR_CALIBRATION_DATA; }
81
82 /**
83 * Returns the sync sensor module id in the provided memory location.
84 * The maximum supported length of sync sensor id string is 32.
85 * @param [in,out] syncSensorId Pointer for getting the sync sensor id string associated
86 * with sensor.
87 * @param [in] size The size of the syncSensorId.
88 */
89 virtual Status getSyncSensorModuleId(void* syncSensorId, size_t size) const = 0;
90
91 /**
92 * Returns the size of the image in pixels.
93 */
94 virtual Size2D<uint32_t> getImageSizeInPixels() const = 0;
95
96 /**
97 * Returns the focal length fx and fy from intrinsic parameters.
98 */
99 virtual Point2D<float> getFocalLength() const = 0;
100
101 /**
102 * Returns the skew from intrinsic parameters.
103 */
104 virtual float getSkew() const = 0;
105
106 /**
107 * Returns the principal point (optical center) x and y from intrinsic parameters.
108 */
109 virtual Point2D<float> getPrincipalPoint() const = 0;
110
111 /**
112 * Returns the lens distortion type as per the model being used.
113 */
114 virtual DistortionType getLensDistortionType() const = 0;
115
116 /**
117 * Returns the mapping type in case of fisheye distortion.
118 */
119 virtual MappingType getFisheyeMappingType() const = 0;
120
121 /**
122 * Returns the radial coefficients count in case of polynomial or fisheye distortion.
123 *
124 * @param[in] distortionType The lens distortion type.
125 */
126 virtual uint32_t getRadialCoeffsCount(const DistortionType& distortionType) const = 0;
127
128 /**
129 * Returns the radial coefficients vector as per distortion type and
130 * size of the vector is given by getRadialCoeffsCount().
131 *
132 * @param[out] k The radial coefficient vector from distortion properties.
133 *
134 * @param[in] distortionType The lens distortion type.
135 */
136 virtual Status getRadialCoeffs(std::vector<float>* k,
137 const DistortionType& distortionType) const = 0;
138
139 /**
140 * Returns the tangential coefficients count in case of polynomial distortion.
141 */
142 virtual uint32_t getTangentialCoeffsCount() const = 0;
143
144 /**
145 * Returns the tangential coefficients in case of polynomial distortion and
146 * size of the vector is given by getTangentialCoeffsCount().
147 *
148 * @param[out] p The tangential coefficient vector from distortion properties.
149 */
150 virtual Status getTangentialCoeffs(std::vector<float>* p) const = 0;
151
152 /**
153 * Returns the rotation parameter expressed in Rodrigues notation from extrinsic parameters.
154 * angle = sqrt(rx^2+ry^2+rz^2).
155 * unit axis = [rx,ry,rz]/angle.
156 */
157 virtual Point3D<float> getRotationParams() const = 0;
158
159 /**
160 * Returns the translation parameters in x, y and z co-ordinates with respect to a
161 * reference point from extrinsic params.
162 */
163 virtual Point3D<float> getTranslationParams() const = 0;
164
165 /**
166 * Returns the serial number of the sensor module in the provided memory location.
167 */
168 virtual Status getModuleSerialNumber(void * serialNumber, size_t size) const = 0;
169
170 /**
171 * Returns whether IMU sensor is present or not.
172 */
173 virtual bool isImuSensorAvailable() const = 0;
174
175 /**
176 * Returns the linear acceleration bias for all three axes x, y and z of the IMU device.
177 */
178 virtual Point3D<float> getLinearAccBias() const = 0;
179
180 /**
181 * Returns the angular velocity bias for all three axes x, y and z of the IMU device.
182 */
183 virtual Point3D<float> getAngularVelocityBias() const = 0;
184
185 /**
186 * Returns the gravity acceleration for all three axes x, y and z of the IMU device.
187 */
188 virtual Point3D<float> getGravityAcc() const = 0;
189
190 /**
191 * Returns the IMU rotation parameter expressed in Rodrigues notation from extrinsic parameters.
192 * angle = sqrt(rx^2+ry^2+rz^2).
193 * unit axis = [rx,ry,rz]/angle.
194 */
195 virtual Point3D<float> getImuRotationParams() const = 0;
196
197 /**
198 * Returns the IMU translation parameters in x, y and z co-ordinates with respect to a
199 * reference point from extrinsic params.
200 */
201 virtual Point3D<float> getImuTranslationParams() const = 0;
202
203 /**
204 * Returns the update rate
205 */
206 virtual float getUpdateRate() const = 0;
207
208 /**
209 * Returns the linear acceleration noise density
210 */
211 virtual float getLinearAccNoiseDensity() const = 0;
212
213 /**
214 * Returns the linear acceleration random walk
215 */
216 virtual float getLinearAccRandomWalk() const = 0;
217
218 /**
219 * Returns the angular velocity noise density
220 */
221 virtual float getAngularVelNoiseDensity() const = 0;
222
223 /**
224 * Returns the angular velocity random walk
225 */
226 virtual float getAngularVelRandomWalk() const = 0;
227
228 protected:
229 ~ISyncSensorCalibrationData() {}
230
231 };
232
233 } // namespace Ext
234
235 } // namespace Argus
236
237 #endif // _ARGUS_SYNC_SENSOR_CALIBRATION_DATA_H