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/************************************************************************
*
* Copyright (C) 2022-2024 IRCAD France
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#pragma once
#include "data/camera.hpp"
#include "data/container.hpp"
#include "data/matrix4.hpp"
#include <vector>
namespace sight::data
{
/// This class is Camera container
class SIGHT_DATA_CLASS_API camera_set final : public data::container<std::vector<std::pair<std::shared_ptr<camera>,
std::shared_ptr<matrix4> > > >
{
public:
SIGHT_DECLARE_CLASS(camera_set, container<camera_set::container_t>);
/// Constructors / Destructor / Assignment operators
/// @{
SIGHT_DATA_API camera_set();
SIGHT_DATA_API ~camera_set() noexcept override = default;
/// This will enable common collection constructors / assignment operators
using container<camera_set::container_t>::container;
using container<camera_set::container_t>::operator=;
/// @}
/// Equality comparison operators
/// @{
SIGHT_DATA_API bool operator==(const camera_set& _other) const noexcept;
SIGHT_DATA_API bool operator!=(const camera_set& _other) const noexcept;
/// @}
/// Signals
/// @{
using added_camera_signal_t = core::com::signal<void (camera::sptr)>;
SIGHT_DATA_API inline static const core::com::signals::key_t ADDED_CAMERA_SIG = "added_camera";
using removed_camera_signal_t = core::com::signal<void (camera::sptr)>;
SIGHT_DATA_API inline static const core::com::signals::key_t REMOVED_CAMERA_SIG = "removedCamera";
using extrinsic_calibrated_signal_t = core::com::signal<void ()>;
SIGHT_DATA_API inline static const core::com::signals::key_t EXTRINSIC_CALIBRATED_SIG = "extrinsicCalibrated";
/// @}
/// Adds a camera
/// @throws core::exception if the camera is already present.
/// @param[in] _camera the camera to add
SIGHT_DATA_API void add_camera(camera::sptr _camera);
/// Returns the camera at the index.
/// @throws std::out_of_range if the index is out of range
/// @param[in] _index the index of the camera to return
/// @return the camera at the index
/// @{
SIGHT_DATA_API camera::csptr get_camera(std::size_t _index) const;
SIGHT_DATA_API camera::sptr get_camera(std::size_t _index);
/// @}
/// Remove the given camera
/// @throws core::exception if the camera is not found
/// @param[in] _camera the camera to remove
SIGHT_DATA_API void remove_camera(camera::sptr _camera);
/// Sets the extrinsic matrix.
/// @throws std::out_of_range if the index is out of range
/// @param[in] _index index of the camera associated to this extrinsic matrix. The matrix correspond to the
/// transformation from camera[0] to camera[index].
/// @param[in] _matrix the extrinsic matrix
SIGHT_DATA_API void set_extrinsic_matrix(std::size_t _index, matrix4::sptr _matrix);
/// Gets the extrinsic matrix.
/// @throws std::out_of_range if the index is out of range
/// @param[in] _index index of the camera associated to this extrinsic matrix. The matrix correspond to the
/// transformation from camera[0] to camera[index].
/// @return Returns the extrinsic transformation matrix, or null if not defined.
///
/// @note By default, the first matrix (index=0) is initialized to identity, the other are nullptr.
/// @{
SIGHT_DATA_API matrix4::csptr get_extrinsic_matrix(std::size_t _index) const;
SIGHT_DATA_API matrix4::sptr get_extrinsic_matrix(std::size_t _index);
/// @}
/// Defines shallow copy
/// @throws data::exception if an errors occurs during copy
/// @param[in] _source the source object to copy
SIGHT_DATA_API void shallow_copy(const object::csptr& _source) override;
/// Defines deep copy
/// @throws data::exception if an errors occurs during copy
/// @param _source source object to copy
/// @param _cache cache used to deduplicate pointers
SIGHT_DATA_API void deep_copy(
const object::csptr& _source,
const std::unique_ptr<deep_copy_cache_t>& _cache = std::make_unique<deep_copy_cache_t>()
) override;
/**
* @brief set the stereo calibration error
* @param _error double (default 0.0)
*/
void set_calibration_error(double _error);
/**
* @brief get the calibration error of the stereo calibration
* @return the calibration error in double.
*/
double calibration_error() const;
private:
/// Error of the computed calibration
double m_calibration_error {0.};
};
//-----------------------------------------------------------------------------
inline void camera_set::set_calibration_error(double _calibration_error)
{
m_calibration_error = _calibration_error;
}
//-----------------------------------------------------------------------------
inline double camera_set::calibration_error() const
{
return m_calibration_error;
}
} // namespace sight::data
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