peak_icv_intrinsic_parameters.hpp

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#pragma once
 
#include <peak_common/types/geometry/peak_common_point.hpp>
#include <peak_common/types/geometry/peak_common_size.hpp>
#include <peak_icv/algorithms/calibration/peak_icv_distortion_coefficients.hpp>
#include <peak_icv/exceptions/detail/peak_icv_exception_helpers.hpp>
#include <peak_icv/utils/peak_icv_defines.hpp>
#include <peak_icv_c/algorithms/calibration/peak_icv_intrinsic_parameters.h>
#include <cstring>
 
namespace peak
{
namespace icv
{
 
namespace experimental
{
 
class IntrinsicParameters
{
public:
    PEAK_ICV_NO_DISCARD peak::common::Size GetImageSize() const;
 
    PEAK_ICV_NO_DISCARD peak::common::PointF GetPrinciplePoint() const;
 
    PEAK_ICV_NO_DISCARD DistortionCoefficients GetDistortionCoefficients() const;
 
    PEAK_ICV_NO_DISCARD peak::common::PointF GetFocalLengthPixelSizeRatio() const;
 
private:
    friend peak::common::detail::BackendAccessor<IntrinsicParameters>;
 
    explicit IntrinsicParameters(const peak_icv_intrinsic_parameters& intrinsicParameters);
    explicit operator peak_icv_intrinsic_parameters() const;
 
    peak_icv_intrinsic_parameters m_intrinsicParameters{};
};
 
inline IntrinsicParameters::IntrinsicParameters(const peak_icv_intrinsic_parameters& intrinsicParameters)
    : m_intrinsicParameters{ intrinsicParameters }
{}
 
inline IntrinsicParameters::operator peak_icv_intrinsic_parameters() const
{
    return m_intrinsicParameters;
}
 
inline peak::common::Size IntrinsicParameters::GetImageSize() const
{
    return { m_intrinsicParameters.image_size.width, m_intrinsicParameters.image_size.height };
}
 
inline peak::common::PointF IntrinsicParameters::GetPrinciplePoint() const
{
    return peak::common::PointF{ m_intrinsicParameters.principle_point.x, m_intrinsicParameters.principle_point.y };
}
 
inline DistortionCoefficients IntrinsicParameters::GetDistortionCoefficients() const
{
    std::array<double, 14> coefficients{};
    memcpy(coefficients.data(), &m_intrinsicParameters.distortion_coefficients, sizeof(m_intrinsicParameters.distortion_coefficients));
 
    RadialDistortion radial{};
    auto end = coefficients.begin() + radial.size(); // NOLINT(readability-qualified-auto)
    std::copy(coefficients.begin(), end, radial.begin());
 
    TangentialDistortion tangential{};
    auto begin = end; // NOLINT(readability-qualified-auto)
    end += tangential.size();
    std::copy(begin, end, tangential.begin());
 
    PrismDistortion prism{};
    begin = end;
    end += prism.size();
    std::copy(begin, end, prism.begin());
 
    TiltDistortion tilt{};
    begin = end;
    end += tilt.size();
    std::copy(begin, end, tilt.begin());
 
    return { radial, tangential, prism, tilt };
}
 
inline peak::common::PointF IntrinsicParameters::GetFocalLengthPixelSizeRatio() const
{
    return { m_intrinsicParameters.focal_length_pixel_size_ratio.x, m_intrinsicParameters.focal_length_pixel_size_ratio.y };
}
 
} /* namespace experimental */
 
} /* namespace icv */
} /* namespace peak */