peak_icv_extrinsic_parameters.hpp

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#pragma once
 
#include <peak_icv/types/geometry/peak_icv_point_xyz.hpp>
#include <peak_icv/types/peak_icv_transformation_matrix_3d.hpp>
#include <peak_icv/utils/peak_icv_backend_accessor.hpp>
#include <peak_icv_c/algorithms/calibration/peak_icv_extrinsic_parameters.h>
 
namespace peak
{
namespace icv
{
 
namespace experimental
{
 
class ExtrinsicParameters
{
public:
    explicit ExtrinsicParameters(const PointXYZ& rotation, const PointXYZ& translation);
 
    PEAK_ICV_NO_DISCARD PointXYZ GetTranslation() const;
 
    PEAK_ICV_NO_DISCARD PointXYZ GetRotation() const;
 
 
    PEAK_ICV_NO_DISCARD TransformationMatrix3D GetTransformationMatrix() const;
 
 
private:
    friend peak::common::detail::BackendAccessor<ExtrinsicParameters>;
 
    explicit ExtrinsicParameters(const peak_icv_extrinsic_parameters& extrinsicParameters);
    explicit operator peak_icv_extrinsic_parameters() const;
 
    peak_icv_extrinsic_parameters m_extrinsicParameters;
};
 
inline ExtrinsicParameters::ExtrinsicParameters(const PointXYZ& rotation, const PointXYZ& translation)
    : m_extrinsicParameters{ { rotation.GetX(), rotation.GetY(), rotation.GetZ(), {} },
        { translation.GetX(), translation.GetY(), translation.GetZ(), {} } }
{}
 
inline ExtrinsicParameters::ExtrinsicParameters(const peak_icv_extrinsic_parameters& extrinsicParameters)
    : m_extrinsicParameters{ extrinsicParameters }
{}
 
inline PointXYZ ExtrinsicParameters::GetTranslation() const
{
    return peak::common::detail::BackendAccessor<PointXYZ>::CreateInstance(m_extrinsicParameters.translation);
}
 
inline PointXYZ ExtrinsicParameters::GetRotation() const
{
    return peak::common::detail::BackendAccessor<PointXYZ>::CreateInstance(m_extrinsicParameters.rotation);
}
 
inline ExtrinsicParameters::operator peak_icv_extrinsic_parameters() const
{
    return m_extrinsicParameters;
}
 
inline TransformationMatrix3D ExtrinsicParameters::GetTransformationMatrix() const
{
    peak_icv_transformation_matrix_3d transformationMatrixC{};
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Calibration_Extrinsic_CalculateTransformationMatrix(
            m_extrinsicParameters, sizeof(m_extrinsicParameters), &transformationMatrixC);
    });
 
    TransformationMatrix3D transformationMatrixCpp;
    const auto* cArrayBegin = &transformationMatrixC[0][0];
    const auto* cArrayEnd = (&transformationMatrixC[3][3]) + 1;
    std::copy(cArrayBegin, cArrayEnd, transformationMatrixCpp.begin());
 
    return transformationMatrixCpp;
}
} /* namespace experimental */
 
} /* namespace icv */
} /* namespace peak */