kinect_reprojection_parameters.h

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#ifndef LICORNEA_KINECT_REPROJECTION_PARAMETERS_H_
#define LICORNEA_KINECT_REPROJECTION_PARAMETERS_H_

#include "../../lib/opencv.h"
#include "../../lib/json.h"
#include "../../lib/intrinsics.h"

namespace tlz {

struct kinect_reprojection_parameters { 
    struct depth_offset_polyfit {
        real x0y0 = 0.0;
        
        real x1y0 = 0.0;
        real x0y1 = 0.0;
        
        real x2y0 = 0.0;
        real x0y2 = 0.0;
        real x1y1 = 0.0;
        
        real operator()(vec2 xy) const;
        
        bool is_none() const;
        explicit operator bool () const { return ! is_none(); }
    };

    intrinsics ir_intrinsics;
    intrinsics color_intrinsics;
    mat33 rotation;
    vec3 translation;
    depth_offset_polyfit ir_depth_offset;
    depth_offset_polyfit color_depth_offset;
};

json encode_kinect_reprojection_parameters(const kinect_reprojection_parameters&);
kinect_reprojection_parameters decode_kinect_reprojection_parameters(const json&);

}

#endif