sal3d_def.h

/*
 * 3D Shape Analysis Library.
 * Copyright 2008 AQSENSE, S.L.
 */
#if !defined (AQSENSE_SAL3D_DEF_H)
#define AQSENSE_SAL3D_DEF_H

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

#include <stddef.h>

#undef STDCALL
#if defined(_WIN32)
    #define STDCALL __stdcall
#else /* !_WIN32 */
    #define STDCALL
#endif /* _WIN32 */

#ifndef DECLSPEC
#define DECLSPEC
#endif

#undef SAL3D_API
#if defined(__cplusplus)
    #define SAL3D_API(type) extern "C" DECLSPEC type STDCALL
    #define DEFZERO = 0
#else /* __cplusplus */
    #define SAL3D_API(type) type STDCALL
    #define DEFZERO
#endif /* __cplusplus */

#define SAL3D_API2(dllname, rettype, funname, parameters, call) \
        SAL3D_API(rettype) funname parameters;

#define SAL3D_DECLARE_LOADERS(postfix) \
    SAL3D_API(void)   sal3d_dll_load_##postfix(); \
    SAL3D_API(void)   sal3d_dll_unload_##postfix();

SAL3D_DECLARE_LOADERS(angularmetric)
SAL3D_DECLARE_LOADERS(core3d)
SAL3D_DECLARE_LOADERS(lenscalib)
SAL3D_DECLARE_LOADERS(metric)
SAL3D_DECLARE_LOADERS(merger)
SAL3D_DECLARE_LOADERS(match3d)
SAL3D_DECLARE_LOADERS(match3dcoarse)
SAL3D_DECLARE_LOADERS(geometric)
SAL3D_DECLARE_LOADERS(integrator)
SAL3D_DECLARE_LOADERS(peakfinder)

enum SAL3D_ERROR
{
    /* No error. */
    SAL3D_ERROR_OK = 0,

    /* Unknown error. */
    SAL3D_ERROR_UNKNOWN = -1,

    /* Memory allocation. */
    SAL3D_ERROR_MEMORY = -2,

    /* The pointer passed to the function is not a frame. */
    SAL3D_ERROR_NOT_A_FRAME = -3,

    /* The passed plane is not valid. */
    SAL3D_ERROR_INVALID_PLANE = -4,

    /* The file is not found or an invalid format. */
    SAL3D_ERROR_INVALID_FILE = -5,

    /* The pointer passed to the function is not a peak finder. */
    SAL3D_ERROR_NOT_A_PEAK_FINDER = -6,

    /* The pointer passed to the function is not a frame grabber. */
    SAL3D_ERROR_NOT_A_FRAME_GRABBER = -7,

    /* The frame grabber has not beeing started to grab yet. */
    SAL3D_ERROR_FRAME_GRABBER_NOT_STARTED = -8,

    /* The frame grabber has been stoped while waiting for a frame. */
    SAL3D_ERROR_FRAME_GRABBER_STOPPED = -9,

    /* The area is invalid. */
    SAL3D_ERROR_INVALID_AREA = -10,

    /* The pointer passed to the function is not a profile. */
    SAL3D_ERROR_NOT_A_PROFILE = -11,

    /* The index passed to the function is not valid. */
    SAL3D_ERROR_INVALID_PROFILE_INDEX = -12,

    /* The pointer passed to the function is not a range map. */
    SAL3D_ERROR_NOT_A_RANGE_MAP = -13,

    /* The profile has an invalid length. */
    SAL3D_ERROR_INVALID_PROFILE_LENGTH = -14,

    /* The frame passed is invalid. */
    SAL3D_ERROR_INVALID_FRAME = -15,

    /* There was a timeout performing the operation. */
    SAL3D_ERROR_TIMEOUT = -16,

    /* The calibration algorithm couldn't work with the pattern's range map. */
    SAL3D_ERROR_INVALID_PATTERN_RANGE_MAP = -17,

    /* A frame grabber driver reported some error unknown to the SAL3D API. */
    SAL3D_ERROR_FRAME_GRABBER_UNKNOWN = -18,

    /* The pointer passed to the function is not a Match3D object. */
    SAL3D_ERROR_NOT_A_MATCH3D = -19,

    /* A problem occurred dealing with serialized data in strings */
    SAL3D_ERROR_SERIALIZATION = -20,

    SAL3D_ERROR_NOT_A_COP = -21,

    SAL3D_ERROR_NOT_A_METRIC_CONFIG = -22,

    /* The pointer passed to the function is not a disparity map. */
    SAL3D_ERROR_NOT_A_DISPARITY_MAP = -23,

    SAL3D_ERROR_NOT_A_ZMAP = -24,

    SAL3D_ERROR_DIFFERENT_ZMAP_FACTORS = -25,

    SAL3D_ERROR_NOT_A_MERGER_CONFIG = -26,

    /* Could not find a valid license */
    SAL3D_ERROR_LICENSE_NOT_FOUND = -27,

    SAL3D_ERROR_INVALID_PATTERN_CROP_AREA = -28,

    SAL3D_ERROR_DETECTING_PATTERN_IN_RANGE_MAP = -29,

    SAL3D_ERROR_NOISY_PATTERN_RANGE_MAP = -30,

    SAL3D_ERROR_NOT_A_THREADPOOL = -31,

    SAL3D_ERROR_NOT_A_HOTPIXEL_CALIBRATION = -32,

    SAL3D_ERROR_INVALID_PATTERN_POINTS = -33,

    SAL3D_ERROR_PROFILES_LIMIT = -34,

    SAL3D_ERROR_BAD_ARGUMENT = -35,

    SAL3D_ERROR_NOT_AN_INTEGRATOR = -36,

    SAL3D_ERROR_NOT_A_MESH = -37,

    SAL3D_ERROR_INVALID_TYPE = -38,

    SAL3D_ERROR_NOT_SUPPORTED = -39,

    SAL3D_ERROR_NO_CAMERAS_FOUND = -40,

    SAL3D_ERROR_NOT_ENOUGH_VALID_POINTS = -41,

    SAL3D_ERROR_NOT_A_POLYGON_2D = -42,

    SAL3D_ERROR_ANGLE_ZERO_NOT_IN_RANGE = -43,

    SAL3D_ERROR_NOT_AN_ANGULAR_METRIC_CONFIG = -44,

    SAL3D_ERROR_INVALID_ZMAP_FACTORS = -45,

    SAL3D_ERROR_CANNOT_LOAD_DL = -46,
};

struct sal3d_error
{
    int value; /* usually, values of enum SAL3D_ERROR, but users can set any
                  number */
    char text[512];
};

/* The diferent data types "modifiers" */
#define SAL3D_FLOAT_DATA_TYPE(value) (value + 256 + 512)
#define SAL3D_SIGNED_DATA_TYPE(value) (value + 256)

/* Some boolean macros to check types. */
#define SAL3D_DATA_TYPE_BPP(value) (value & 255)
#define SAL3D_DATA_TYPE_IS_SIGNED(value) (value & 256)
#define SAL3D_DATA_TYPE_IS_FLOAT(value) (value & 512)

/* Type definitions */

typedef struct sal3d_point2d
{
    /* array x, y */
    float p[2];
} sal3d_point2d;

typedef struct sal3d_point3d
{
    /* array x, y, z */
    float p[3];
} sal3d_point3d;

typedef struct sal3d_pattern_sp_points
{
    float p[4][2];
    float height;
} sal3d_pattern_sp_points;

typedef struct sal3d_pattern_stp_points
{
    float p[4][2];
} sal3d_pattern_stp_points;

/* Polygon2D public declaration. */
typedef struct sal3d_polygon2d
{
    void *p;
} sal3d_polygon2d;

/*  Polygon2D functions  */
SAL3D_API(int)
sal3d_polygon2d_new (sal3d_polygon2d *polygon, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_new_from_points (const sal3d_point2d *points, int n_points,
        sal3d_polygon2d *polygon, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_check_validity (const sal3d_polygon2d polygon, sal3d_error *e
        DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_copy (const sal3d_polygon2d polygon, sal3d_polygon2d *copy,
        sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_release (sal3d_polygon2d polygon);

SAL3D_API(int)
sal3d_polygon2d_num_points (const sal3d_polygon2d polygon, int *num_points,
        sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_append_point (const sal3d_polygon2d polygon, const
        sal3d_point2d point2d, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_insert_point (const sal3d_polygon2d polygon, const
        sal3d_point2d point2d, int pos, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_remove_point_back (const sal3d_polygon2d polygon,
        sal3d_point2d *point2d, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_remove_point_pos (const sal3d_polygon2d polygon, int pos,
        sal3d_point2d *point2d, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_remove_points (const sal3d_polygon2d polygon, sal3d_error *e
        DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_set_points (const sal3d_polygon2d polygon,
        const sal3d_point2d *points2d, int n_points, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_get_points (const sal3d_polygon2d polygon,
        sal3d_point2d *points2d, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_get_point (const sal3d_polygon2d polygon, int pos,
        sal3d_point2d *point2d, sal3d_error *e DEFZERO);

SAL3D_API(int)
sal3d_polygon2d_point_inside (const sal3d_point2d point, const sal3d_polygon2d
        polygon, int *inside, sal3d_error *e DEFZERO);

#endif /* AQSENSE_SAL3D_DEF_H */