perspective_intrinsics.hpp

 
#ifndef UFO_VISION_CAMERA_PERSPECTIVE_INTRINSICS_HPP
#define UFO_VISION_CAMERA_PERSPECTIVE_INTRINSICS_HPP
 
// STL
#include <cmath>
#include <cstddef>
#include <format>
#include <ostream>
 
namespace ufo
{
struct PerspectiveIntrinsics {
    std::size_t rows{};
    std::size_t cols{};
    float vertical_fov{};
    float cx{};
    float cy{};
    float zoom = 1.0f;
    float fx = 0.0f;
    float fy = 0.0f;
    float focus_distance = 0.0f;
    float lens_radius = 0.0f;
    bool deterministic = true;
 
    [[nodiscard]] constexpr float aspect() const noexcept
    {
        return static_cast<float>(cols) / static_cast<float>(rows);
    }
 
    [[nodiscard]] friend bool operator==(PerspectiveIntrinsics const&,
                                         PerspectiveIntrinsics const&) noexcept = default;
};
 
inline std::ostream& operator<<(std::ostream& os, PerspectiveIntrinsics const& intrinsics)
{
    os << "Rows: " << intrinsics.rows << ", Cols: " << intrinsics.cols
       << "\nVertical FoV: " << intrinsics.vertical_fov << "\ncx: " << intrinsics.cx
       << ", cy: " << intrinsics.cy << "\nfx: " << intrinsics.fx
       << ", fy: " << intrinsics.fy << "\nZoom: " << intrinsics.zoom
       << "\nFocus distance: " << intrinsics.focus_distance
       << ", Lens radius: " << intrinsics.lens_radius
       << "\nDeterministic: " << (intrinsics.deterministic ? "true" : "false");
    return os;
}
 
}  // namespace ufo
 
template <>
struct std::formatter<ufo::PerspectiveIntrinsics> {
    constexpr auto parse(std::format_parse_context& ctx) const { return ctx.begin(); }
 
    auto format(ufo::PerspectiveIntrinsics const& intrinsics,
                std::format_context&              ctx) const
    {
        return std::format_to(
            ctx.out(),
            "Rows: {}, Cols: {}\nVertical FoV: {}\ncx: {}, cy: {}\nfx: {}, fy: "
            "{}\nZoom: {}\nFocus distance: {}, Lens radius: {}\nDeterministic: {}",
            intrinsics.rows, intrinsics.cols, intrinsics.vertical_fov, intrinsics.cx,
            intrinsics.cy, intrinsics.fx, intrinsics.fy, intrinsics.zoom,
            intrinsics.focus_distance, intrinsics.lens_radius, intrinsics.deterministic);
    }
};
 
#endif  // UFO_VISION_CAMERA_PERSPECTIVE_INTRINSICS_HPP