CameraLensSingleElement.h

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/*
Copyright 2007-2026. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
#pragma once
#include <agxSensor/CameraBackend.h>
#include <agxSensor/CameraLens.h>
#include <agxSensor/LazyTrigger.h>
#include <agxSensor/LensDistortion.h>
 
#include <optional>
 
namespace agxSensor
{
  using OptionalFocusDistance = std::optional<agx::Real>;
  using OptionalFocusMinimumDistance = std::optional<agx::Real>;
 
  struct CameraLensSingleElementManualFocusFlag
  {
  };
 
  AGX_DECLARE_POINTER_TYPES(CameraLensSingleElement);
 
  class AGXSENSOR_EXPORT CameraLensSingleElement : public CameraLens
  {
    public:
      CameraLensSingleElement(
        agx::Real focalLength = 1.88e-3, agx::Real fStop = 2.0, agx::Real minimumFocusDistance = 0.1,
        LensDistortionRef distortion = nullptr);
 
      CameraLensSingleElement(
        CameraLensSingleElementManualFocusFlag, agx::Real focalLength = 1.88e-3, agx::Real fStop = 2.0,
        agx::Real focusDistance = 1.5, LensDistortionRef distortion = nullptr);
 
      void setFocalLength(agx::Real focalLength);
 
      agx::Real getFocalLength() const;
 
      void setFStop(agx::Real fStop);
 
      agx::Real getFStop() const;
 
      void setAutofocus(agx::Real minimumFocusDistance);
 
      void setFocusDistance(agx::Real focusDistance);
 
      bool isAutofocusEnabled() const;
 
      OptionalFocusDistance getFocusDistance() const;
 
      OptionalFocusMinimumDistance getMinimumFocusDistance() const;
 
      void setLensDistortion(LensDistortionRef distortion);
 
      LensDistortion* getDistortion() const;
 
      virtual agx::Real getFieldOfView(const agx::Vec2& sensorExtents, const agx::Vec2& point) const override;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual void synchronizeParameters(Camera* camera, const CameraBackend& backend) override;
      virtual void resetSynchronizationState() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::CameraLensSingleElement);
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      CameraLensSingleElementParameters m_parameters;
      LensDistortionRef m_distortion;
      LazyTrigger m_dirty;
  };
}