peak_icv_undistortion.hpp

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#pragma once
 
#include <peak_icv/algorithms/calibration/peak_icv_calibration_result.hpp>
#include <peak_icv/algorithms/transformations/peak_icv_interpolation.hpp>
#include <peak_icv/types/peak_icv_image.hpp>
#include <peak_icv/types/peak_icv_undistorted_image.hpp>
#include <peak_icv_c/algorithms/transformations/peak_icv_undistortion.h>
#include <utility>
 
namespace peak
{
namespace icv
{
 
class Undistortion : detail::IBackendAccessible<Undistortion>
{
public:
    explicit Undistortion(const IntrinsicParameters& intrinsicParameters);
 
    Undistortion(const IntrinsicParameters& intrinsicParameters, const peak::common::Metadata& metadata);
 
    explicit Undistortion(const CalibrationParameters& calibrationParameters);
 
    Undistortion(const CalibrationParameters& calibrationParameters, const peak::common::Metadata& metadata);
 
    explicit Undistortion(const CalibrationResult& calibrationResult);
 
    Undistortion(const CalibrationResult& calibrationResult, const peak::common::Metadata& metadata);
 
    Undistortion(const Undistortion& other);
 
    Undistortion(Undistortion&& other) noexcept;
 
    ~Undistortion() override;
 
    Undistortion& operator=(const Undistortion& other);
 
    Undistortion& operator=(Undistortion&& other) noexcept;
 
    PEAK_COMMON_NO_DISCARD UndistortedImage Process(const Image& image) const;
 
    PEAK_COMMON_NO_DISCARD Interpolation GetInterpolation() const;
 
    void SetInterpolation(Interpolation interpolation);
 
private:
    friend peak::common::detail::BackendAccessor<Undistortion>;
 
    PEAK_COMMON_NO_DISCARD detail::handle_of_t<Undistortion> GetHandle() const override;
 
    peak_icv_undistortion_handle m_handle{};
    peak_icv_intrinsic_parameters m_newintrinsicParameters{};
};
 
inline Undistortion::Undistortion(const IntrinsicParameters& intrinsicParameters)
{
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Create(&m_handle,
            peak::common::detail::BackendAccessor<IntrinsicParameters>::CreateCType(intrinsicParameters),
            sizeof(peak_icv_intrinsic_parameters), &m_newintrinsicParameters);
    });
}
 
inline Undistortion::Undistortion(const IntrinsicParameters& intrinsicParameters, const peak::common::Metadata& metadata)
{
    auto captureInformation = peak::icv::detail::CreateCCaptureInformationFromMetadata(metadata);
 
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Create_With_Image_CaptureInformation(&m_handle,
            peak::common::detail::BackendAccessor<IntrinsicParameters>::CreateCType(intrinsicParameters),
            sizeof(peak_icv_intrinsic_parameters), captureInformation, sizeof(peak_icv_capture_information), &m_newintrinsicParameters);
    });
}
 
inline Undistortion::Undistortion(const CalibrationParameters& calibrationParameters)
{
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Create(&m_handle,
            peak::common::detail::BackendAccessor<IntrinsicParameters>::CreateCType(calibrationParameters.GetIntrinsicParameters()),
            sizeof(peak_icv_intrinsic_parameters), &m_newintrinsicParameters);
    });
}
 
inline Undistortion::Undistortion(const CalibrationParameters& calibrationParameters, const peak::common::Metadata& metadata)
{
    auto captureInformation = peak::icv::detail::CreateCCaptureInformationFromMetadata(metadata);
 
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Create_With_Image_CaptureInformation(&m_handle,
            peak::common::detail::BackendAccessor<IntrinsicParameters>::CreateCType(calibrationParameters.GetIntrinsicParameters()),
            sizeof(peak_icv_intrinsic_parameters), captureInformation, sizeof(peak_icv_capture_information), &m_newintrinsicParameters);
    });
}
 
inline Undistortion::Undistortion(const CalibrationResult& calibrationResult)
{
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Create(&m_handle,
            peak::common::detail::BackendAccessor<IntrinsicParameters>::CreateCType(
                calibrationResult.GetCalibrationParameters().GetIntrinsicParameters()),
            sizeof(peak_icv_intrinsic_parameters), &m_newintrinsicParameters);
    });
}
 
inline Undistortion::Undistortion(const CalibrationResult& calibrationResult, const peak::common::Metadata& metadata)
{
    auto captureInformation = peak::icv::detail::CreateCCaptureInformationFromMetadata(metadata);
 
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Create_With_Image_CaptureInformation(&m_handle,
            peak::common::detail::BackendAccessor<IntrinsicParameters>::CreateCType(
                calibrationResult.GetCalibrationParameters().GetIntrinsicParameters()),
            sizeof(peak_icv_intrinsic_parameters), captureInformation, sizeof(peak_icv_capture_information), &m_newintrinsicParameters);
    });
}
 
inline Undistortion::Undistortion(const Undistortion& other)
{
    if (m_handle != other.m_handle)
    {
        detail::ExecuteAndMapReturnCodes([&] {
            return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_IncreaseUseCount(other.m_handle);
        });
        m_handle = other.m_handle;
        m_newintrinsicParameters = other.m_newintrinsicParameters;
    }
}
 
inline Undistortion::Undistortion(Undistortion&& other) noexcept
{
    if (m_handle != other.m_handle)
    {
        m_handle = other.m_handle;
        other.m_handle = nullptr;
 
        m_newintrinsicParameters = other.m_newintrinsicParameters;
    }
}
 
inline Undistortion::~Undistortion()
{
    if (m_handle != nullptr)
    {
        std::ignore = PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Destroy(m_handle);
    }
}
 
inline Undistortion& Undistortion::operator=(const Undistortion& other)
{
    if (m_handle != other.m_handle)
    {
        if (m_handle != nullptr)
        {
            detail::ExecuteAndMapReturnCodes([&] {
                return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Destroy(m_handle);
            });
        }
 
        detail::ExecuteAndMapReturnCodes([&] {
            return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_IncreaseUseCount(other.m_handle);
        });
        m_handle = other.m_handle;
        m_newintrinsicParameters = other.m_newintrinsicParameters;
    }
 
    return *this;
}
 
inline Undistortion& Undistortion::operator=(Undistortion&& other) noexcept
{
    if (m_handle != other.m_handle)
    {
        if (m_handle != nullptr)
        {
            detail::ExecuteAndMapReturnCodes([&] {
                return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Destroy(m_handle);
            });
        }
 
        m_handle = other.m_handle;
        other.m_handle = nullptr;
 
        m_newintrinsicParameters = other.m_newintrinsicParameters;
    }
 
    return *this;
}
 
inline UndistortedImage Undistortion::Process(const Image& image) const
{
    auto* const inputImageHandle = peak::common::detail::BackendAccessor<Image>::BackendHandle(image);
 
    Image outputImage(image.GetPixelFormat(), image.GetSize());
    auto* const outputImageHandle = peak::common::detail::BackendAccessor<Image>::BackendHandle(outputImage);
 
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_Process(m_handle, inputImageHandle, outputImageHandle);
    });
 
    return { outputImage, peak::common::detail::BackendAccessor<IntrinsicParameters>::CreateInstance(m_newintrinsicParameters) };
}
 
inline Interpolation Undistortion::GetInterpolation() const
{
    peak_icv_interpolation interpolation;
 
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_GetInterpolation(m_handle, &interpolation);
    });
 
    return static_cast<Interpolation>(interpolation);
}
 
inline void Undistortion::SetInterpolation(Interpolation interpolation)
{
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_Undistortion_SetInterpolation(
            m_handle, static_cast<peak_icv_interpolation>(interpolation));
    });
}
 
inline detail::handle_of_t<Undistortion> Undistortion::GetHandle() const
{
    return m_handle;
}
 
} /* namespace icv */
} /* namespace peak */