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syntax = "proto2";
package ltpb;
import "matrix3x3f.proto";
import "point3f.proto";
import "range2f.proto";
message MirrorSystem {
required Point3F real_camera_location = 1;
required Matrix3x3F real_camera_orientation = 2;
required Point3F rotation_axis = 3;
required Point3F point_on_rotation_axis = 4;
required float distance_mirror_plane_to_point_on_rotation_axis = 5;
required Point3F mirror_normal_at_zero_degrees = 6;
required bool flip_img_around_x = 7;
required Range2F mirror_angle_range = 8;
optional float reprojection_error = 9;
}
message MirrorActuatorMapping {
required TransformationType transformation_type = 1;
enum TransformationType {
MEAN_STD_NORMALIZE = 0;
TAN_HALF_THETA = 1;
}
required float actuator_length_offset = 2;
required float actuator_length_scale = 3;
required float mirror_angle_offset = 4;
required float mirror_angle_scale = 5;
repeated ActuatorAnglePair actuator_angle_pair_vec = 6;
message ActuatorAnglePair {
required int32 hall_code = 1;
required float angle = 2;
}
required QuadraticModel quadratic_model = 7;
message QuadraticModel {
required bool use_rplus_for_left_segment = 1;
required bool use_rplus_for_right_segment = 2;
required float inflection_value = 3;
repeated float model_coeffs = 4 [packed = true];
}
optional float angle_to_hall_code_error = 8;
optional float hall_code_to_angle_error = 9;
optional Range2F hall_code_range = 10;
}
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