SysLidarCalibrationMessage.hh

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#ifndef LibMultiSense_SysLidarCalibrationMessage
#define LibMultiSense_SysLidarCalibrationMessage
 
#include "utility/Portability.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
 
class SysLidarCalibration {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_SYS_LIDAR_CAL;
    static CRL_CONSTEXPR VersionType VERSION = 1;
 
    float laserToSpindle[4][4];
    float cameraToSpindleFixed[4][4];
 
    //
    // Constructors
 
    SysLidarCalibration(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    SysLidarCalibration() {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        SER_ARRAY_2(laserToSpindle, 4, 4);
        SER_ARRAY_2(cameraToSpindleFixed, 4, 4);
    }
};
 
}}}} // namespaces
 
#endif