camera_image.h

/* Copyright (c) 2021, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 *
 * All rights reserved.
 *
 * The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking
 * platform" software is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef CAMERA_IMAGE_H_
#define CAMERA_IMAGE_H_
 
#include <opencv2/imgproc.hpp>
 
namespace dense_map {
 
// A class to encompass all known information about a camera
struct cameraImage {
  // An index to look up the type of camera. This will equal the
  // value ref_camera_type if and only if this is a reference
  // camera.
  int camera_type;
 
  // The timestamp for this camera (in floating point seconds since epoch)
  // measured by the clock/cpu which is particular to this camera.
  double timestamp;
 
  // The timestamp with an adjustment added to it to be in
  // reference camera time
  double ref_timestamp;
 
  // The timestamp of the closest cloud for this image, measured
  // with the same clock as the 'timestamp' value.
  double cloud_timestamp;
 
  // Indices to look up the reference cameras bracketing this camera
  // in time. The two indices will have same value if and only if
  // this is a reference camera.
  int beg_ref_index;
  int end_ref_index;
 
  // The image for this camera, in grayscale
  cv::Mat image;
 
  // The corresponding depth cloud, for an image + depth camera.
  // Will be empty and uninitialized for a camera lacking depth.
  cv::Mat depth_cloud;
};
 
}  // namespace dense_map
 
#endif  // CAMERA_IMAGE_H_