SysCameraCalibrationMessage.hh

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#ifndef LibMultiSense_SysCameraCalibrationMessage
#define LibMultiSense_SysCameraCalibrationMessage
 
#include "utility/Portability.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
 
class CameraCalData {
public:
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    float M[3][3];
    float D[8];
    float R[3][3];
    float P[3][4];
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        SER_ARRAY_2(M, 3, 3);
        SER_ARRAY_1(D, 8);
        SER_ARRAY_2(R, 3, 3);
        SER_ARRAY_2(P, 3, 4);
    }
};
 
class SysCameraCalibration {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_SYS_CAMERA_CAL;
    static CRL_CONSTEXPR VersionType VERSION = 2;
 
    CameraCalData left;
    CameraCalData right;
    CameraCalData aux;
 
    //
    // Constructors
 
    SysCameraCalibration(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    SysCameraCalibration() {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        left.serialize(message, version);
        right.serialize(message, version);
 
        if (version >= 2)
        {
            aux.serialize(message, version);
        }
    }
};
}}}} // namespaces
 
#endif