Metric.hpp

//
// Metric Tool for SAL3D.
// Copyright 2008-2010 AQSENSE, S.L.
//
#if !defined (AQSENSE_SAL3DPP_METRIC_HPP)
#define AQSENSE_SAL3DPP_METRIC_HPP

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

#include <limits>
#include <string>
#include <cassert>
#include <cstddef>
#include <stdexcept>
#include <vector>
#include <sal3d/metric.h>
#include <sal3dpp/Common.hpp>
#include <sal3dpp/RangeMap.hpp>

namespace sal3d
{
    namespace Metric
    {
        typedef sal3d_pattern_lp_points PatternLPPoints;

        inline Config
        calibrate (const RangeMap &rangeMap, const PatternLPPoints &points,
                int left, int top, int right, int bottom,
                const LensDistortion::Model &dm, float gFactor = 1.f)
        {
            sal3d_metric_config metricConfig;
            Error e;
            sal3d_metric_calibrate_range_map_cropped (
                    rangeMap.c_range_map(), points, left, top, right, bottom,
                    &dm.c_lens_distortion(), gFactor, &metricConfig, &e.e);
            if (e.e.value < 0)
                throw e;

            return Config(metricConfig);
        }

        inline Config
        calibrate (const RangeMap &rangeMap, const PatternLPPoints &points,
                int left, int top, int right, int bottom)
        {
            const LensDistortion::Model dm;
            return calibrate(rangeMap, points, left, top, right, bottom, dm);
        }

        inline Config
        calibrate (const RangeMap &rangeMap, const PatternLPPoints &points)
        {
            return calibrate(rangeMap, points, 0, 0,
                    rangeMap.profilesLength()-1, rangeMap.countProfiles()-1);
        }

        inline Config
        calibrate (const Profile &profile, const PatternSPPoints &points,
                int left, int right, const LensDistortion::Model &model =
                LensDistortion::Model(), float xStep = 0, float gFactor = 1.f)
        {
            sal3d_metric_config metricConfig;
            Error e;
            sal3d_metric_calibrate_profile (profile.c_profile(), points,
                    xStep, left, right, &model.c_lens_distortion(), gFactor,
                    &metricConfig, &e.e);
            if (e.e.value < 0)
                throw e;

            return Config(metricConfig);
        }

        inline Config
        calibrate (const Profile &profile, const PatternSPPoints &points,
                const LensDistortion::Model &model = LensDistortion::Model(),
                float xStep = 0, float gFactor = 1.f)
        {
            return calibrate(profile, points, 0, profile.length()-1,
                    model, xStep, gFactor);
        }

        inline Config
        calibrate (const Profile &profile, const PatternSPPoints &points,
                int left, int right, float xStep = 0)
        {
            const LensDistortion::Model dm;
            return calibrate(profile, points, left, right, dm, xStep);
        }

        inline Config
        calibrate (const Profile &profile, const PatternSPPoints &points,
                float xStep = 0)
        {
            return calibrate(profile, points, 0, profile.length()-1, xStep);
        }

        inline Config
        calibrate (const Profile &profile, const PatternSTPPoints &points,
                int left, int right, const LensDistortion::Model &model =
                LensDistortion::Model(), float xStep = 0, float gFactor = 1.f)
        {
            sal3d_metric_config metricConfig;
            Error e;
            sal3d_metric_calibrate_step_profile (profile.c_profile(), points,
                    xStep, left, right, &model.c_lens_distortion(), gFactor,
                    &metricConfig, &e.e);
            if (e.e.value < 0)
                throw e;

            return Config(metricConfig);
        }

        inline Config
        calibrate (const Profile &profile, const PatternSTPPoints &points,
                const LensDistortion::Model &model = LensDistortion::Model(),
                float xStep = 0, float gFactor = 1.f)
        {
            return calibrate(profile, points, 0, profile.length()-1,
                    model, xStep, gFactor);
        }

        inline Config
        calibrate (const Profile &profile, const PatternSTPPoints &points,
                int left, int right, float xStep = 0)
        {
            const LensDistortion::Model dm;
            return calibrate(profile, points, left, right, dm, xStep);
        }

        inline Config
        calibrate (const Profile &profile, const PatternSTPPoints &points,
                float xStep = 0)
        {
            return calibrate(profile, points, 0, profile.length()-1, xStep);
        }
    }
}

#endif // !AQSENSE_SAL3DPP_METRIC_HPP