Posit.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/Posit.h                            **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLGeom/GeomDefs.h>
#include <ICLUtils/Exception.h>
#include <ICLUtils/Point32f.h>

namespace icl{
  namespace geom{
  
    class Camera;


    class Posit{
      struct Data; 
      Data *data;  
      
      public:
      Posit(int maxIterations=100, float minDelta=0.001);
      
      Posit(const std::vector<Vec> &modelPoints, int maxIterations=100, float minDelta=0.001);
  
      ~Posit();
      
      Posit(const Posit &other);
  
      Posit &operator=(const Posit &other);
      
      void setModel(const std::vector<Vec> &modelPoints);
      
      void setMaxIterations(int maxIterations);
      
      void setMinDelta(float minDelta);
      
      int getMaxIterations() const;
      
      float getMinDelta() const;
      
      const std::vector<Vec> &getModel() const;
      
      struct Result : public Mat{
        friend struct Posit::Data;
        private:
        inline Result():Mat(0.0){}
        inline Result(float r00, float r10, float r20, float tx,
                      float r01, float r11, float r21, float ty,
                      float r02, float r12, float r22, float tz):
        Mat(r00,r10,r20,tx,r01,r11,r21,ty,r02,r12,r22,tz,0,0,0,1){}
        
        public:
        math::FixedColVector<float,3> getAngles() const;
        
        math::FixedColVector<float,3> getTranslation() const;
      };
      
      const Result &findPose(const std::vector<utils::Point32f> &imagePoints, const Camera &cam) throw (utils::ICLException);
  

      const Result &findPose(const std::vector<utils::Point32f> &imagePoints, 
                             const utils::Point &principlePointOffset,
                             float focalLengthX, float focalLengthY) throw (utils::ICLException);
    };
    
  } // namespace geom
}