Apriltag.gen

/*
 * Copyright (c) 2012-2015,2018 LAAS/CNRS
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without  fee is hereby granted, provided  that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH  REGARD  TO  THIS SOFTWARE  INCLUDING  ALL  IMPLIED  WARRANTIES  OF
 * MERCHANTABILITY AND  FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT,  INDIRECT, OR CONSEQUENTIAL  DAMAGES OR ANY DAMAGES
 * WHATSOEVER  RESULTING FROM LOSS  OF USE, DATA OR PROFITS,  WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER  TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 *                                           Anthony Mallet on Fri Sep 28 2012
 */
#ifndef APRILTAG
#define APRILTAG

#include "or/time/time.idl"
#include "or/pose/t3d.idl"

/* Data structures */
struct point
{
    double u, v;
};

typedef point corners[4];

interface apriltag {

  /* Detected AprilTag parameters */
  struct tag {
    or::time::ts ts;	/* timestamp of the image */
    short id;

    optional<or::t3d::pos> pos;		/* position */
    optional<or::t3d::att> att;		/* orientation */

    optional<point> center;        /* Tag's center */

    optional<corners> uv_corners_pos;  /* Tag's corners position in pixels */

    optional<double> area;          /* Tag's area */
    optional<string<128> > message;       /* Tag's message */
  };
};

#endif /* APRILTAG */