syntax = "proto2";

package ltpb;

import "mirror_system.proto";
import "matrix3x3f.proto";
import "point3f.proto";
import "distortion.proto";
import "range2f.proto";
import "device_temp.proto";
import "point2f.proto";

message GeometricCalibration {
    optional MirrorType mirror_type = 1;
    enum MirrorType {
        NONE = 0;
        GLUED = 1;
        MOVABLE = 2;
    }
    
    repeated CalibrationFocusBundle per_focus_calibration = 2;
    message CalibrationFocusBundle {
        required float focus_distance = 1;
        optional Intrinsics intrinsics = 2;
        optional Extrinsics extrinsics = 3;
        optional sint32 sensor_temp = 4;
        optional DeviceTemp device_temp = 5;
        optional float focus_hall_code = 6;
    }
    
    optional Distortion distortion = 3;
    optional Range2F lens_hall_code_range = 4;
    optional Range2F focus_distance_range = 5;
    
    optional AngleOpticalCenterMapping angle_optical_center_mapping = 6;
    message AngleOpticalCenterMapping {
        required Point2F center_start = 1;
        required Point2F center_end = 2;
        required float angle_offset = 3;
        required float t_scale = 4;
        required float t_offset = 5;
    }
    
    message Intrinsics {
        required Matrix3x3F k_mat = 1;
        optional float rms_error = 2;
    }
    
    message Extrinsics {
        optional CanonicalFormat canonical = 1;
        message CanonicalFormat {
            required Matrix3x3F rotation = 1;
            required Point3F translation = 2;
            optional float stereo_error = 3;
            optional float reprojection_error = 4;
        }
        
        optional MovableMirrorFormat moveable_mirror = 2;
        message MovableMirrorFormat {
            optional MirrorSystem mirror_system = 1;
            optional MirrorActuatorMapping mirror_actuator_mapping = 2;
        }
    }
}