InfieldCorrection.h

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/*******************************************************************************
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 *
 * Copyright 2015-2024 (C) Zivid AS
 * All rights reserved.
 *
 * Zivid Software License, v1.0
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
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 * to endorse or promote products derived from this software without specific
 * prior written permission.
 *
 * 4. This software, with or without modification, must not be used with any
 * other 3D camera than from Zivid AS.
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 * 5. Any software provided in binary form under this license must not be
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#pragma once
 
#include "Zivid/Calibration/DetectionResult.h"
#include "Zivid/Camera.h"
#include "Zivid/Detail/CoreExport.h"
#include "Zivid/Detail/Pimpl.h"
#include "Zivid/Experimental/Calibration/InfieldCorrectionDetectionStatus.h"
#include "Zivid/Point.h"
 
#include <chrono>
#include <iosfwd>
#include <string>
#include <vector>
 
namespace Zivid
{
    namespace Experimental
    {
        namespace Calibration
        {
            ZIVID_CORE_EXPORT Zivid::Calibration::DetectionResult detectFeaturePoints(Zivid::Camera &camera);
 
            ZIVID_CORE_EXPORT Zivid::Calibration::DetectionResult detectFeaturePoints(const Zivid::Frame &frame);
 
            ZIVID_CORE_EXPORT Zivid::Frame captureCalibrationBoard(Zivid::Camera &camera);
 
            class InfieldCorrectionInput
            {
            public:
                ZIVID_CORE_EXPORT InfieldCorrectionInput(const Zivid::Calibration::DetectionResult &detectionResult);
 
                ZIVID_CORE_EXPORT const Zivid::Calibration::DetectionResult &detectionResult() const;
 
                ZIVID_CORE_EXPORT InfieldCorrectionDetectionStatus status() const;
 
                ZIVID_CORE_EXPORT bool valid() const;
 
                ZIVID_CORE_EXPORT explicit operator bool() const;
 
                ZIVID_CORE_EXPORT std::string statusDescription() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
 
            private:
                Zivid::Calibration::DetectionResult m_detectionResult;
                InfieldCorrectionDetectionStatus m_status;
            };
 
            ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const InfieldCorrectionInput &input);
 
            class CameraVerification
            {
                ZIVID_PIMPL_VALUE_SEMANTICS(CameraVerification, ZIVID_CORE_EXPORT);
 
            public:
                ZIVID_CORE_EXPORT float localDimensionTrueness() const;
 
                ZIVID_CORE_EXPORT Zivid::PointXYZ position() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
            };
 
            ZIVID_CORE_EXPORT std::ostream &operator<<(
                std::ostream &stream,
                const CameraVerification &cameraVerification);
 
            class AccuracyEstimate
            {
                ZIVID_PIMPL_VALUE_SEMANTICS(AccuracyEstimate, ZIVID_CORE_EXPORT);
 
            public:
                ZIVID_CORE_EXPORT float dimensionAccuracy() const;
 
                ZIVID_CORE_EXPORT float zMin() const;
 
                ZIVID_CORE_EXPORT float zMax() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
            };
 
            ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const AccuracyEstimate &accuracyEstimate);
 
            class CameraCorrection
            {
                ZIVID_PIMPL_VALUE_SEMANTICS(CameraCorrection, ZIVID_CORE_EXPORT);
 
            public:
                ZIVID_CORE_EXPORT AccuracyEstimate accuracyEstimate() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
            };
 
            ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const CameraCorrection &cameraCorrection);
 
            ZIVID_CORE_EXPORT CameraVerification verifyCamera(const InfieldCorrectionInput &input);
 
            ZIVID_CORE_EXPORT CameraCorrection
            computeCameraCorrection(const std::vector<InfieldCorrectionInput> &dataset);
 
            ZIVID_CORE_EXPORT void writeCameraCorrection(
                Zivid::Camera &camera,
                const CameraCorrection &cameraCorrection);
 
            ZIVID_CORE_EXPORT void resetCameraCorrection(Zivid::Camera &camera);
 
            ZIVID_CORE_EXPORT bool hasCameraCorrection(const Zivid::Camera &camera);
 
            ZIVID_CORE_EXPORT std::chrono::time_point<std::chrono::system_clock> cameraCorrectionTimestamp(
                const Zivid::Camera &camera);
 
        } // namespace Calibration
    }     // namespace Experimental
} // namespace Zivid