peak_icv_reprojection_error.hpp

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#pragma once
 
#include <peak_common/types/geometry/peak_common_vector.hpp>
#include <peak_icv/algorithms/calibration/peak_icv_intrinsic_parameters.hpp>
#include <peak_icv/utils/peak_icv_printable.hpp>
#include <peak_icv_c/algorithms/calibration/peak_icv_calibration_view.h>
 
namespace peak
{
namespace icv
{
 
class ReprojectionError : public detail::IPrintable<ReprojectionError>
{
public:
    ~ReprojectionError() override = default;
 
    ReprojectionError(const ReprojectionError& other) = default;
 
    ReprojectionError(ReprojectionError&& other) noexcept = default;
 
    ReprojectionError& operator=(const ReprojectionError& other) = default;
 
    ReprojectionError& operator=(ReprojectionError&& other) noexcept = default;
 
    PEAK_COMMON_NO_DISCARD peak::common::PointF GetPosition() const;
 
    PEAK_COMMON_NO_DISCARD peak::common::VectorF GetDirection() const;
 
    PEAK_COMMON_NO_DISCARD double GetLength() const;
 
protected:
    void Print(detail::CommaSeperatedStream& stream) const override;
 
private:
    friend class CalibrationView;
    friend class peak::common::detail::BackendAccessor<ReprojectionError>;
 
    ReprojectionError(const peak_icv_reprojection_error& reprojectionError); // NOLINT
 
    peak_icv_reprojection_error m_reprojectionError{};
};
 
inline ReprojectionError::ReprojectionError(const peak_icv_reprojection_error& reprojectionError)
    : m_reprojectionError{ reprojectionError }
{}
 
inline peak::common::PointF ReprojectionError::GetPosition() const
{
    return peak::common::detail::BackendAccessor<peak::common::PointF>::CreateInstance(m_reprojectionError.position);
}
 
inline peak::common::VectorF ReprojectionError::GetDirection() const
{
    return peak::common::detail::BackendAccessor<peak::common::PointF>::CreateInstance(m_reprojectionError.direction);
}
 
inline double ReprojectionError::GetLength() const
{
    return m_reprojectionError.length;
}
 
inline void ReprojectionError::Print(detail::CommaSeperatedStream& stream) const
{
    stream << GetPosition() << GetDirection() << GetLength();
}
 
} /* namespace icv */
} /* namespace peak */