MultiCamera.h

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#pragma once
 
#include "Zivid/Calibration/Detector.h"
#include "Zivid/Detail/CoreExport.h"
#include "Zivid/Matrix.h"
 
#include <vector>
 
namespace Zivid
{
    namespace Calibration
    {
        class MultiCameraResidual
        {
        public:
            ZIVID_CORE_EXPORT MultiCameraResidual(float translation);
 
            ZIVID_CORE_EXPORT float translation() const;
 
            ZIVID_CORE_EXPORT std::string toString() const;
 
        private:
            float m_translation;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const MultiCameraResidual &residual);
 
        class MultiCameraOutput
        {
        public:
            ZIVID_CORE_EXPORT MultiCameraOutput(
                const std::vector<Matrix4x4> &transforms,
                const std::vector<MultiCameraResidual> &residuals);
 
            ZIVID_CORE_EXPORT bool valid() const;
 
            ZIVID_CORE_EXPORT explicit operator bool() const;
 
            ZIVID_CORE_EXPORT const std::vector<Matrix4x4> &transforms() const;
 
            ZIVID_CORE_EXPORT const std::vector<MultiCameraResidual> &residuals() const;
 
            ZIVID_CORE_EXPORT std::string toString() const;
 
        private:
            std::vector<Matrix4x4> m_transforms;
            std::vector<MultiCameraResidual> m_residuals;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const MultiCameraOutput &multiCameraOutput);
 
        ZIVID_CORE_EXPORT MultiCameraOutput calibrateMultiCamera(const std::vector<DetectionResult> &detectionResults);
    } // namespace Calibration
} // namespace Zivid