peak_icv_xyz_image.hpp

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#pragma once
 
#include <peak_icv/algorithms/calibration/peak_icv_calibration_result.hpp>
#include <peak_icv/types/peak_icv_undistorted_image.hpp>
#include <peak_icv/types/peak_icv_xyz_image.hpp>
#include <peak_icv_c/algorithms/transformations/peak_icv_xyz_image_transformer.h>
#include <utility>
 
namespace peak
{
namespace icv
{
 
class XYZImage final : public Image
{
public:
    explicit XYZImage(const UndistortedImage& undistortedDepthMap);
 
    XYZImage TransformToWorkspace(const ExtrinsicParameters& extrinsicParameters) const;
 
private:
    friend peak::common::detail::BackendAccessor<XYZImage>;
 
    using Image::Image;
};
 
inline XYZImage::XYZImage(const UndistortedImage& undistortedDepthMap)
    : Image{ peak::common::PixelFormat::Coord3D_ABC32f, undistortedDepthMap.GetSize() }
{
    auto* const depthMapHandle = peak::common::detail::BackendAccessor<Image>::BackendHandle(undistortedDepthMap);
 
    auto* const xyzImageHandle = peak::common::detail::BackendAccessor<Image>::BackendHandle(*this);
 
    const auto cType = peak::common::detail::BackendAccessor<IntrinsicParameters>::CreateCType(
        undistortedDepthMap.GetIntrinsicParameters());
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Transform_DepthMap_To_XYZImage(
            xyzImageHandle, cType, sizeof(peak_icv_intrinsic_parameters), depthMapHandle);
    });
}
 
inline XYZImage XYZImage::TransformToWorkspace(const ExtrinsicParameters& extrinsicParameters) const
{
    const auto extrinsicParametersC = peak::common::detail::BackendAccessor<ExtrinsicParameters>::CreateCType(extrinsicParameters);
 
    XYZImage outputImage{ this->GetPixelFormat(), this->GetSize() };
    auto* outputHandle = peak::common::detail::BackendAccessor<XYZImage>::BackendHandle(outputImage);
    detail::ExecuteAndMapReturnCodes([&] {
        return PEAK_ICV_C_ABI_PREFIX peak_icv_Image_TransformToWorkspace(
            this->GetHandle(), extrinsicParametersC, sizeof(peak_icv_extrinsic_parameters), outputHandle);
    });
 
    return outputImage;
}
 
} /* namespace icv */
} /* namespace peak */