// Copyright (c) 2022 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api.spot_cam;

option java_outer_classname = "CameraProto";

import "bosdyn/api/geometry.proto";

message Camera {
    // Identifier for the camera.
    string name = 1;
    // Resolution of the sensor, where x = width and y = height.
    bosdyn.api.Vec2 resolution=2;

    // The frame name for the parent frame of this camera. This frame will show up in the FrameTreeSnapshot
    // grabbed from the payload registration service.
    string base_frame_name = 3;

    // 'base_tfrom_sensor' defines the transform from the specific camera to the named base from.
    // This is deprecated in favor of 'base_tform_sensor' which follows the intended naming convention
    // and FrameTree directionality convention of the Spot system as defined in geometry.proto.
    SE3Pose base_tfrom_sensor = 4[deprecated=true];

    // The transform from the named base frame to this specific camera
    SE3Pose base_tform_sensor = 7;

    message PinholeIntrinsics {
        // Focal_length in pixels
        bosdyn.api.Vec2 focal_length=1;
        // Center point in pixels
        bosdyn.api.Vec2 center_point=2;
        // The following 4 parameters are radial distortion coefficeints to 4 orders.
        // See: https://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
        // If all 4 of these values are 0, do not apply any correction.
        float k1=3;
        float k2=4;
        float k3=5;
        float k4=6;
    }

    // Spherical limits are the minimum and maximum angle of the image.
    // IE the upper left pixel is at min_angle.x, min_angle.y
    // and the lower right pixel is at max_angle.x, max_angle.y
    // for a full-FOV image this will be (-180, 90) and (180, -90)
    message SphericalLimits {
        bosdyn.api.Vec2 min_angle=1;
        bosdyn.api.Vec2 max_angle=2;
    }

    oneof intrinsics{
        // Physical cameras
        PinholeIntrinsics pinhole=5;
        // Only synthetic spherical panoramas
        SphericalLimits spherical=6;
    }
}