XYZImage.cs

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using System.Runtime.InteropServices;
using IDSImaging.Peak.Common.Types;
using IDSImaging.Peak.Common.Types.Geometry;
using IDSImaging.Peak.ICV.Algorithms.Calibration;
 
namespace IDSImaging.Peak.ICV.Types;
 
public sealed class XYZImage : Image
{
    public XYZImage(UndistortedImage undistortedDepthMap)
        : base(PixelFormat.Coord3D_ABC32f, undistortedDepthMap.Size)
    {
        DllHelper.ExecuteAndMapReturnCodes(() =>
            CInterface.peak_icv_Transform_DepthMap_To_XYZImage(
                _handle,
                undistortedDepthMap.IntrinsicParameters.ToCType(),
                (nuint) Marshal.SizeOf<Backend.Types.peak_icv_intrinsic_parameters>(),
                undistortedDepthMap._handle));
    }
 
    internal XYZImage(PixelFormat pixelFormat, Size size)
        : base(pixelFormat, size)
    {
    }
 
    public XYZImage TransformToWorkspace(ExtrinsicParameters extrinsicParameters)
    {
        Backend.Types.peak_icv_extrinsic_parameters extrinsicParametersC = extrinsicParameters.ToCType();
 
        var outputImage = new XYZImage(PixelFormat, Size);
        Handle outputHandle = outputImage._handle;
 
        DllHelper.ExecuteAndMapReturnCodes(() =>
            CInterface.peak_icv_Image_TransformToWorkspace(_handle, extrinsicParametersC,
                (nuint) Marshal.SizeOf<Backend.Types.peak_icv_extrinsic_parameters>(), outputHandle));
 
        return outputImage;
    }
 
    private static class CInterface
    {
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_Transform_DepthMap_To_XYZImage(
            Handle xyzImageHandle,
            Backend.Types.peak_icv_intrinsic_parameters intrinsicParameters,
            nuint sizeOfIntrinsicParameters,
            Handle depthMapHandle);
 
        [DllImport(Global.LibraryName, CallingConvention = Global.CallingConvention)]
        public static extern Backend.Types.peak_icv_status peak_icv_Image_TransformToWorkspace(
            Handle imageHandle,
            Backend.Types.peak_icv_extrinsic_parameters extrinsicParameters,
            nuint sizeOfExtrinsicParameters,
            Handle outputHandle);
    }
}