AngularMetric.hpp

//
// Angular Metric Tool for SAL3D.
// Copyright 2008-2010 AQSENSE, S.L.
//
#if !defined (AQSENSE_SAL3DPP_ANGULAR_METRIC_HPP)
#define AQSENSE_SAL3DPP_ANGULAR_METRIC_HPP

#if defined (_MSC_VER) && (_MSC_VER >= 1020)
#pragma once
#endif

#include <limits>
#include <string>
#include <cassert>
#include <cstddef>
#include <stdexcept>
#include <sal3dpp/RangeMap.hpp>
#include <sal3dpp/AngularMetricConfig.hpp>
#include <sal3d/angularmetric.h>

namespace sal3d
{
    namespace AngularMetric
    {
        inline Config
        calibrate (const RangeMap &rangeMap,
                const Metric::PatternSPPoints &points, float initialAngle,
                float angleStep, int left, int top, int right, int bottom,
                const LensDistortion::Model &dm, int filterlen = 1)
        {
            sal3d_angular_metric_config config;
            Error e;
            sal3d_angular_metric_calibrate_range_map_cropped (
                    rangeMap.c_range_map (), points, initialAngle,
                    angleStep, &dm.c_lens_distortion(), left, top, right,
                    bottom, filterlen, &config, &e.e);

            if (e.e.value < 0)
                throw e;

            return Config(config);
        }

        inline Config
        calibrate (const RangeMap &rangeMap, const Metric::PatternSPPoints &points,
                float initialAngle, float angleStep,
                const LensDistortion::Model &dm, int filterlen = 1)
        {
            sal3d_angular_metric_config config;
            Error e;
            sal3d_angular_metric_calibrate_range_map_cropped (
                    rangeMap.c_range_map (), points, initialAngle,
                    angleStep, &dm.c_lens_distortion(), 0, 0,
                    rangeMap.profilesLength()-1,
                    rangeMap.countProfiles()-1, filterlen, &config,
                    &e.e);

            if (e.e.value < 0)
                throw e;

            return Config(config);
        }

        inline Config
        calibrate (const RangeMap &rangeMap, const Metric::PatternSPPoints &points,
                float initialAngle, float angleStep, int filterlen = 1)
        {
            LensDistortion::Model dm;
            return calibrate(rangeMap, points, initialAngle, angleStep, dm,
                    filterlen);
        }
    }
}

#endif // !AQSENSE_SAL3DPP_ANGULAR_METRIC_HPP