MultiCamera.h

Go to the documentation of this file.

 
/*******************************************************************************
 * This file is part of the Zivid 3D Camera API
 *
 * Copyright 2015-2022 (C) Zivid AS
 * All rights reserved.
 *
 * Zivid Software License, v1.0
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of Zivid AS nor the names of its contributors may be used
 * 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.
 *
 * 5. Any software provided in binary form under this license must not be
 * reverse engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY ZIVID AS "AS IS" AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL ZIVID AS OR CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * Contact: Zivid Customer Success Team <customersuccess@zivid.com>
 * Info:    http://www.zivid.com
 ******************************************************************************/
 
#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