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/************************************************************************
*
* Copyright (C) 2022-2025 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/camera_set.hpp>
#include <service/controller.hpp>
namespace sight::module::data
{
/**
* @brief This service extracts camera parameters from a camera set
*
*
* @section XML XML Configuration
*
* @code{.xml}
<service uid="..." type="sight::module::data::get_camera" >
<inout key="camera_set" uid="..."/>
<out group="camera" >
<key index="0" uid="..." />
<key index="1" uid="..." />
</out>
<out group="extrinsic" >
<key index="1" uid="..." />
</out>
</service>
@endcode
* @subsection Inout Inout
* - \b camera_set [sight::data::get_camera]: camera series from which the parameters will be extracted
*
* @subsection Output Output
* - \b camera [sight::data::camera]: output camera extracted from the input Camera series.
* - \b extrinsic [sight::data::matrix4]: define the extrinsic matrix data.
*/
class get_camera : public service::controller
{
public:
SIGHT_DECLARE_SERVICE(get_camera, service::controller);
/// Constructor
get_camera() = default;
/// Destructor
~get_camera() override = default;
protected:
/// Does nothing
void starting() override;
/// Does nothing
void configuring() override;
/// Does nothing
void stopping() override;
/// Extract an image
void updating() override;
private:
std::vector<std::size_t> m_camera_index_numbers;
std::vector<std::size_t> m_extrinsic_index_numbers;
sight::data::ptr<sight::data::camera_set, sight::data::access::inout> m_camera_set {this, "camera_set"};
sight::data::ptr_vector<sight::data::camera, sight::data::access::out> m_camera {this, "camera"};
sight::data::ptr_vector<sight::data::matrix4, sight::data::access::out> m_extrinsic {this, "extrinsic"};
};
} // namespace sight::module::data
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