triangulation.idl

/*
 * Copyright (c) 2015-2017 LAAS/CNRS
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the
 *    distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef	TRIANGULATION_STRUCT_H
#define	TRIANGULATION_STRUCT_H

module triangulation
{
    struct timestamp
    {
        unsigned long sec;
        unsigned long usec;
    };

    struct std_msgs__Header
    {
        unsigned long seq; /*uint32_t*/
        timestamp stamp;
        string frame_id;
    };

    struct image_coordinates
    {
        unsigned long x;
        unsigned long y;
        unsigned long width;
        unsigned long height;
    };

    struct world_coordinates
    {
        float x;
        float y;
        float z;
        float azimuth;
    };

    struct data
    {
        string name;
        boolean found;
        unsigned long ID;
        image_coordinates coordinates;
    };

    struct Objects
    {
        timestamp stamp;    //Timestamp of each frame.
        sequence<data> info;
    };

    struct triangulation_data
    {
        boolean triangulated;
        string objectName;
        world_coordinates coordinates;
    };

    struct Frame
    {
        std_msgs__Header header;    //Current time of publishing the port.
        unsigned long frameNumber;
        Objects left;
        Objects right;
        sequence<triangulation_data> triangulation;
    };

    struct Detections
    {
        sequence<Frame> detections;
    };
};
#endif