ProfilerCalibrationInterfaces.h

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#pragma once
#include <memory>
#include <optional>
#include <opencv2/core/mat.hpp>
#include "api_global.h"
#include "profiler/ProfileData.h"
#include "profiler/calibration/MultiProfilerErrorStatus.h"
#include "profiler/calibration/ProfilerCalibrationTypes.h"
 
namespace mmind {
namespace eye {
class MultiProfilerCalibration;
class MMIND_API_EXPORT ProfilerCalibrationInterfaces
{
public:
    enum class CloudStitchOption {
        RefineStitchParameters = 1, 
        OverlapRegionUniformSampling =
            2, 
    };
 
    enum class StitchParamRefineOption {
        RefineT = 1, 
    };
 
public:
    ProfilerCalibrationInterfaces();
    ~ProfilerCalibrationInterfaces();
 
    bool setCalibCameraModel(const std::string& cameraModel);
 
    void setMajorDeviceInfo(const DeviceInfo& deviceInfo);
 
    void setMinorDeviceInfos(const std::vector<DeviceInfo>& deviceInfos);
 
    void setCalibTargetSize(const TargetSize& targetSize);
 
    void setCalibTargetPoses(const std::vector<TargetPose>& targetPoses);
 
    MultiProfilerErrorStatus calculateCalibration(const cv::Mat& majorDepth,
                                                  const std::vector<cv::Mat>& minorDepths,
                                                  std::vector<CalibResult>& calibResults);
 
    bool saveCalibFiles(bool needSaveAll = true, const std::string& saveFolderName = "") const;
 
    MultiProfilerErrorStatus stitchImages(
        const ProfilerImage& majorImage, const std::vector<ProfilerImage>& minorImages,
        const std::vector<CalibResult>& calibResults, MultiStitchResult& stitchResults,
        const std::optional<MultiStitchParams>& stitchParams = std::nullopt);
 
    MultiProfilerErrorStatus stitchImagesForZParallel(
        const ProfilerImage& majorImage, const std::vector<ProfilerImage>& minorImages,
        const std::vector<CalibResult>& calibResults, MultiStitchResultZParallel& stitchResults,
        const std::optional<MultiStitchParams>& stitchParams = std::nullopt);
 
    MultiProfilerErrorStatus stitchPointCloud(
        const ProfilerImage& majorImage, const std::vector<ProfilerImage>& minorImages,
        int cloudStitchOption, int paramRefineOption, const std::vector<CalibResult>& calibResults,
        bool correctRingError = true, int normalEstimationKnn = -1,
        const std::optional<MultiStitchParams>& stitchParams = std::nullopt);
 
    MultiProfilerErrorStatus getStitchedPointCloud(
        ProfileBatch::UntexturedPointCloud& pointCloud) const;
 
    MultiProfilerErrorStatus getStitchedPointCloud(
        ProfileBatch::TexturedPointCloud& texturedPointCloud) const;
 
    MultiProfilerErrorStatus imageFusionForZParallel(FusionResult& fusionResult,
                                                     const std::vector<bool>& fusionFlag = {});
 
    MultiProfilerErrorStatus imageFusionForZParallel(
        const ProfilerImage& majorStitchImage,
        const std::vector<MinorStitchResultZParallel>& minorStitchResults,
        const cv::Point2i& majorBias, FusionResult& fusionResult,
        const std::vector<bool>& fusionFlag = {});
 
    bool saveStitchFiles(const std::string& saveFolderName = "") const;
 
    bool saveStitchFilesForZParallel(const std::string& saveFolderName = "") const;
 
    MultiProfilerErrorStatus loadCalibProperties(const std::string& loadFolderName = "",
                                                 bool needLoadAll = false);
    std::vector<CalibResult> getCurrentCalibResults() const;
 
    DeviceInfo getMajorDeviceInfo() const;
 
    TargetSize getTargetSize() const;
 
    std::string getCameraModel() const;
 
    std::vector<DeviceInfo> getMinorDeviceInfos() const;
 
    std::vector<TargetPose> getTargetPoses() const;
 
    ProfilerCalibrationInterfaces(const std::string& cameraModel, const DeviceInfo& majorDeviceInfo,
                                  const std::vector<DeviceInfo>& minorDeviceInfos,
                                  const TargetSize& targetSize,
                                  const std::vector<TargetPose>& targetPoses);
 
private:
    friend class InternalInterfaces;
    std::unique_ptr<MultiProfilerCalibration> calibrationInstance;
};
 
} // namespace eye
 
} // namespace mmind