options.proto

syntax = "proto3";

import "is/msgs/validate.proto";

enum ArucoDictionary {
  DICT_4X4_50 = 0;
  DICT_4X4_100 = 1;
  DICT_4X4_250 = 2;
  DICT_4X4_1000 = 3;
  DICT_5X5_50 = 4;
  DICT_5X5_100 = 5;
  DICT_5X5_250 = 6;
  DICT_5X5_1000 = 7;
  DICT_6X6_50 = 8;
  DICT_6X6_100 = 9;
  DICT_6X6_250 = 10;
  DICT_6X6_1000 = 11;
}

message CreateArucoOptions {
  // aruco dictionary
  ArucoDictionary dictionary = 1;
  // marker id in the dictionary 
  int32 marker_id = 2 [(is.validate.rules).int32 = {gte: 0}];
  // marker length in pixels
  int32 marker_length = 3 [(is.validate.rules).int32 = {gt: 0}];
  // number of bits in marker borders 
  int32 border_bits = 4 [(is.validate.rules).int32 = {gt: 0}];
}

message CreateCharucoOptions {
 // aruco dictionary
  ArucoDictionary dictionary = 1;
  // OpenCV legacy pattern
  bool legacy_pattern = 2;
  // marker length in pixels
  float marker_length = 3 [(is.validate.rules).float = {gt: 0.0}];
  // square length in pixels
  float square_length = 4 [(is.validate.rules).float = {gt: 0.0}];
  // number of squares in x
  int32 n_squares_x = 5 [(is.validate.rules).int32 = {gt: 1}];
  // number of squares in y
  int32 n_squares_y = 6 [(is.validate.rules).int32 = {gt: 1}];
  // number of bits in marker borders 
  int32 border_bits = 7 [(is.validate.rules).int32 = {gt: 0}];
}

message CreateMarker {
  oneof type {
    CreateArucoOptions aruco = 1;
    CreateCharucoOptions charuco = 2;
  }
}

message IntrinsicCalibrationOptions {
  // aruco dictionary
  ArucoDictionary dictionary = 1;
  // OpenCV legacy pattern
  bool legacy_pattern = 2;
  // marker length in meters
  float marker_length = 3 [(is.validate.rules).float = {gt: 0.0}];
  // square length in meters
  float square_length = 4 [(is.validate.rules).float = {gt: 0.0}];
  // number of squares in x
  int32 n_squares_x = 5 [(is.validate.rules).int32 = {gt: 1}];
  // number of squares in y
  int32 n_squares_y = 6 [(is.validate.rules).int32 = {gt: 1}];
  // number of images to be used in the intrinsic calibration
  int32 samples = 7 [(is.validate.rules).int32 = {gt: 0}];
}

message ExtrinsicCalibrationOptions {
  // aruco dictionary
  ArucoDictionary dictionary = 1;
  // marker id
  int32 marker_id = 2 [(is.validate.rules).int32 = {gte: 0}];
  // marker length in meters
  float marker_length = 3 [(is.validate.rules).float = {gt: 0.0}];
  // offset in the X direction in relation to the marker center.
  float offset_x = 4;
  // offset in the Y direction in relation to the marker center.
  float offset_y = 5;
}

message CalibrationOptions {
  // amqp broker uri
  string uri = 1;
  // topic where images are being published, only used if uri was set
  string topic = 2;
  // folder to save/load calibration data, if uri is not specified images will be read from this folder
  string data_dir = 3;
  // camera frame id
  int64 camera_id = 4;
  // world frame id
  int64 world_id = 5;
  // intrinsic calibration options
  IntrinsicCalibrationOptions intrinsic = 6;
  // extrinsic calibration options
  ExtrinsicCalibrationOptions extrinsic = 7;
  // save images used during calibration if true
  bool save_images = 8;
}