peak_icv_camera_calibration.hpp

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#pragma once
 
#include <peak_common_c/detail/peak_common_defines.h>
#include <peak_icv/algorithms/calibration/peak_icv_calibration_plate.hpp>
#include <peak_icv/algorithms/calibration/peak_icv_calibration_result.hpp>
#include <peak_icv/exceptions/detail/peak_icv_exception_helpers.hpp>
#include <peak_icv/types/peak_icv_image.hpp>
#include <peak_icv_c/algorithms/calibration/peak_icv_camera_calibration.h>
#include <algorithm>
#include <utility>
 
namespace peak
{
namespace icv
{
 
class CameraCalibration
{
public:
    explicit CameraCalibration(CalibrationPlate calibrationPlate);
 
    PEAK_COMMON_NO_DISCARD CalibrationResult Process(const std::vector<Image>& images) const;
 
private:
    CalibrationPlate m_calibrationPlate;
};
 
inline CameraCalibration::CameraCalibration(CalibrationPlate calibrationPlate)
    : m_calibrationPlate{ std::move(calibrationPlate) }
{}
 
inline CalibrationResult CameraCalibration::Process(const std::vector<Image>& images) const
{
    if (images.size() == 0)
    {
        throw NotPossibleException("Number of input images has to be greater than 0.");
    }
 
    auto result = peak::common::detail::BackendAccessor<CalibrationResult>::CreateInstance();
 
    std::vector<peak_icv_image_handle> imageHandles;
    imageHandles.reserve(images.size());
    std::transform(images.begin(), images.end(), std::back_inserter(imageHandles), [](const auto& image) {
        return peak::common::detail::BackendAccessor<Image>::BackendHandle(image);
    });
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Calibration_Process(
            peak::common::detail::BackendAccessor<CalibrationPlate>::BackendHandle(m_calibrationPlate), imageHandles.data(),
            imageHandles.size(), peak::common::detail::BackendAccessor<CalibrationResult>::BackendHandleAddress(result));
    });
 
    return result;
}
 
} /* namespace icv */
} /* namespace peak */