File camera_data.hpp

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#pragma once

#include "illixr/data_format/poses/pose_base.hpp"
#include "illixr/switchboard.hpp"

#include 
#include 
#include 

#ifndef M_PI
#    define M_PI 3.14159265358979323846
#endif
/*
 * The structs in this file were created to hold information about the camera which produced the images. This information
 * includes: center pixels, fields of view, and number of pixels across images. This information is needed by the hand
 * tracking plugin to determine the actual spatial coordinates of the hands.
 */

constexpr double T_M_PI = 2 * M_PI;

namespace ILLIXR::data_format {

struct ccd_data {
    const float  center_x;       
    const float  center_y;       
    const double vertical_fov;   
    const double horizontal_fov; 

    ccd_data() = delete;

    ccd_data(const float cx, const float cy, const double vf, const double hf)
        : center_x{cx}
        , center_y{cy}
        , vertical_fov{(vf > T_M_PI) ? vf * M_PI / 180. : vf}
        // assume any value below 2PI is in radians, anything else is degrees
        , horizontal_fov{(hf > T_M_PI) ? hf * M_PI / 180. : hf} { }
};

typedef std::map<pose::side, ccd_data> ccd_map; 

struct camera_data : switchboard::event {
    size_t  width;    
    size_t  height;   
    float   fps;      
    float   baseline; 
    ccd_map ccds;     

    camera_data()
        : width{0}
        , height{0}
        , fps{0.}
        , baseline{0.,}
        , ccds{} {}

    camera_data(const size_t width_, const size_t height_, const float fps_, const float baseline_, ccd_map ccds_)
        : width{width_}
        , height{height_}
        , fps{fps_}
        , baseline{baseline_}
        , ccds{std::move(ccds_)} { }

    ccd_data operator[](const pose::side idx) const {
        return ccds.at(idx);
    }
};
} // namespace ILLIXR::data_format