peak_icv_distortion_coefficients.hpp

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#pragma once
 
#include <peak_common/detail/peak_common_backend_accessor.hpp>
#include <peak_icv/exceptions/detail/peak_icv_exception_helpers.hpp>
#include <peak_icv_c/algorithms/calibration/peak_icv_intrinsic_parameters.h>
#include <algorithm>
#include <array>
#include <vector>
 
namespace peak
{
namespace icv
{
 
using RadialDistortion = std::array<double, 6>;
 
using TangentialDistortion = std::array<double, 2>;
 
using PrismDistortion = std::array<double, 4>;
 
using TiltDistortion = std::array<double, 2>;
 
class DistortionCoefficients
{
public:
    DistortionCoefficients(const RadialDistortion& radialDistortion, const TangentialDistortion& tangentialDistortion);
 
    DistortionCoefficients(
        const RadialDistortion& radialDistortion, const TangentialDistortion& tangentialDistortion, const PrismDistortion& prismDistortion);
 
    DistortionCoefficients(const RadialDistortion& radialDistortion, const TangentialDistortion& tangentialDistortion,
        const PrismDistortion& prismDistortion, const TiltDistortion& tiltDistortion);
 
    PEAK_COMMON_NO_DISCARD RadialDistortion GetRadialDistortion() const;
 
    PEAK_COMMON_NO_DISCARD TangentialDistortion GetTangentialDistortion() const;
 
    PEAK_COMMON_NO_DISCARD PrismDistortion GetPrismDistortion() const;
 
    PEAK_COMMON_NO_DISCARD TiltDistortion GetTiltDistortion() const;
 
    bool operator==(const DistortionCoefficients& rhs) const;
 
private:
    friend peak::common::detail::BackendAccessor<DistortionCoefficients>;
 
    explicit DistortionCoefficients(const peak_icv_distortion_coefficients& distortionConditions);
 
    RadialDistortion m_radialDistortion{};
    TangentialDistortion m_tangentialDistortion{};
    PrismDistortion m_prismDistortion{};
    TiltDistortion m_tiltDistortion{};
};
 
inline DistortionCoefficients::DistortionCoefficients(
    const RadialDistortion& radialDistortion, const TangentialDistortion& tangentialDistortion)
    : DistortionCoefficients(radialDistortion, tangentialDistortion, {})
{}
 
inline DistortionCoefficients::DistortionCoefficients(
    const RadialDistortion& radialDistortion, const TangentialDistortion& tangentialDistortion, const PrismDistortion& prismDistortion)
    : DistortionCoefficients(radialDistortion, tangentialDistortion, prismDistortion, {})
{}
 
inline DistortionCoefficients::DistortionCoefficients(const RadialDistortion& radialDistortion,
    const TangentialDistortion& tangentialDistortion, const PrismDistortion& prismDistortion, const TiltDistortion& tiltDistortion)
    : m_radialDistortion{ radialDistortion }
    , m_tangentialDistortion{ tangentialDistortion }
    , m_prismDistortion{ prismDistortion }
    , m_tiltDistortion{ tiltDistortion }
{}
 
inline DistortionCoefficients::DistortionCoefficients(const peak_icv_distortion_coefficients& distortionConditions)
{
    std::copy_n(distortionConditions.radial_distortion.coefficients, m_radialDistortion.size(), m_radialDistortion.data());
    std::copy_n(distortionConditions.tangential_distortion.coefficients, m_tangentialDistortion.size(), m_tangentialDistortion.data());
    std::copy_n(distortionConditions.prism_distortion.coefficients, m_prismDistortion.size(), m_prismDistortion.data());
    std::copy_n(distortionConditions.tilt_distortion.coefficients, m_tiltDistortion.size(), m_tiltDistortion.data());
}
 
inline RadialDistortion DistortionCoefficients::GetRadialDistortion() const
{
    return m_radialDistortion;
}
 
inline TangentialDistortion DistortionCoefficients::GetTangentialDistortion() const
{
    return m_tangentialDistortion;
}
 
inline PrismDistortion DistortionCoefficients::GetPrismDistortion() const
{
    return m_prismDistortion;
}
 
inline TiltDistortion DistortionCoefficients::GetTiltDistortion() const
{
    return m_tiltDistortion;
}
 
inline bool DistortionCoefficients::operator==(const DistortionCoefficients& rhs) const
{
    return m_radialDistortion == rhs.m_radialDistortion && m_tangentialDistortion == rhs.m_tangentialDistortion
        && m_prismDistortion == rhs.m_prismDistortion && m_tiltDistortion == rhs.m_tiltDistortion;
}
 
} /* namespace icv */
} /* namespace peak */