c_metric.h

#pragma once
 
#if defined __GNUC__ && !defined CVB_SHOW_WARNINGS
#pragma GCC system_header
#endif // __GNUC__
 
#include <cstddef>
#include <cstdint>
 
#include "../namespace.hpp"
 
#include "c_core_3d.h"
 
namespace Cvb
{
 
CVB_BEGIN_INLINE_NS
 
namespace CExports
{

typedef void* CVMAQS12CALCONFIG;
typedef void* CVMAQS12SEGMENTOR2D;
typedef void* CVMAQS12SEGMENTOR3D;
 
enum CVMAQS12SegmentationMethod
{
  CVMSM_KmeansClustering = 1,
};
 
enum CVMPeakLocalizationMethod
{
  CVMPLM_Argmax = 1,
  CVMPLM_CoG
};
 
enum CVMFIRFilter
{
  CVMFF_None = 1,
  CVMFF_Mean
};
 
struct CVMLineExtractionParameters
{
  CVMPeakLocalizationMethod PeakType;
  double ThresholdPeakDetection;
  CVMFIRFilter FilterType;
  int WindowSize;
};
 
enum CVMExtrinsicTransformationModel 
{  
  CVMETM_None = 0,                              // Extrinsic transformation will not be estimated. 
  CVMETM_AffineTransformation = 1,              // Elements of affine matrix are estimated.
  CVMETM_SpecificTransformationParameters = 2   // Transformation parameters like rotation, scale and shear are estimated (recommended).
};
 
CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateSegmentorForRangeMap, (CVMAQS12SegmentationMethod SegmentationMethod, CVMAQS12SEGMENTOR2D& Segmentor))
CVB_DEF_CAPI(cvbres_t, CVMAQS12SegmentorRangeMapSetIgnoreValue, (CVMAQS12SEGMENTOR2D Segmentor, double Value))
CVB_DEF_CAPI(cvbres_t, CVMAQS12SegmentorRangeMapGetIgnoreValue, (CVMAQS12SEGMENTOR2D Segmentor, double& Value))
CVB_DEF_CAPI(cvbres_t, CVMAQS12SegmentorRangeMapSetWindowSize, (CVMAQS12SEGMENTOR2D Segmentor, cvbdim_t WindowSize))
CVB_DEF_CAPI(cvbres_t, CVMAQS12SegmentorRangeMapGetWindowSize, (CVMAQS12SEGMENTOR2D Segmentor, cvbdim_t& WindowSize))
 
CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateSegmentorForDensePointCloud, (CVMAQS12SegmentationMethod SegmentationMethod, CVMAQS12SEGMENTOR3D& Segmentor))
CVB_DEF_CAPI(cvbres_t, CVMAQS12SegmentorDensePointCloudSetWindowSize, (CVMAQS12SEGMENTOR3D Segmentor, cvbdim_t WindowSize))
CVB_DEF_CAPI(cvbres_t, CVMAQS12SegmentorDensePointCloudGetWindowSize, (CVMAQS12SEGMENTOR3D Segmentor, cvbdim_t& WindowSize))
 
CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateFaceSegmentationImageFromRangeMap,
  (IMG RangeMapImage,
    cvbdim_t PlaneIndex,
    CVMAQS12SEGMENTOR2D Segmentor,
    IMG& LabelImage))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateFaceSegmentationImageFromRangeMapRect,
    (IMG RangeMapImage,
      cvbdim_t PlaneIndex,
      cvbdim_t Left,
      cvbdim_t Top,
      cvbdim_t Right,
      cvbdim_t Bottom,
      CVMAQS12SEGMENTOR2D Segmentor,
      IMG& LabelImage))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateFaceSegmentationImageFromDensePointCloud,
    (CVCOMPOSITE DenseCloud,
      CVMAQS12SEGMENTOR3D Segmentor,
      IMG& LabelImage))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateFaceSegmentationImageFromDensePointCloudRect,
    (CVCOMPOSITE DenseCloud,
      cvbdim_t Left,
      cvbdim_t Top,
      cvbdim_t Right,
      cvbdim_t Bottom,
      CVMAQS12SEGMENTOR3D Segmentor,
      IMG& LabelImage))
 
  CVB_DEF_CAPI(cvbres_t, CVMAQS12ExtractProjectedPointsFromRangeMap,
    (IMG RangeMapImage,
      cvbdim_t PlaneIndex,
      CVMAQS12SEGMENTOR2D Segmentor,
      CVC3DPointD ExtractedPoints[12]))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12ExtractProjectedPointsFromRangeMapRect,
    (IMG RangeMapImage,
      cvbdim_t PlaneIndex,
      cvbdim_t Left,
      cvbdim_t Top,
      cvbdim_t Right,
      cvbdim_t Bottom,
      CVMAQS12SEGMENTOR2D Segmentor,
      CVC3DPointD ExtractedPoints[12]))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12ExtractProjectedPointsFromDensePointCloud,
    (CVCOMPOSITE DenseCloud,
      CVMAQS12SEGMENTOR3D Segmentor,
      CVC3DPointD ExtractedPoints[12]))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12ExtractProjectedPointsFromDensePointCloudRect,
    (CVCOMPOSITE DenseCloud,
      cvbdim_t Left,
      cvbdim_t Top,
      cvbdim_t Right,
      cvbdim_t Bottom,
      CVMAQS12SEGMENTOR3D Segmentor,
      CVC3DPointD ExtractedPoints[12]))
 
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateInstrinsicCalConfig,
    (const CVC3DPointD Points[12],
      double TopBasePlaneDistance,
      CVMAQS12CALCONFIG& InstrinsicCalibrationConfiguration))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateExtrinsicCalConfig, (const CVC3DPointD Points[12], double TopBasePlaneDistance, CVMAQS12CALCONFIG& CalibrationConfiguration))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalConfigSetCalculateHomography, (CVMAQS12CALCONFIG CalibrationConfiguration, cvbbool_t CalculateHomography))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalConfigGetCalculateHomography, (CVMAQS12CALCONFIG CalibrationConfiguration, cvbbool_t& CalculateHomography))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalConfigSetExtrinsicTransformationModel, (CVMAQS12CALCONFIG CalibrationConfiguration, CVMExtrinsicTransformationModel Model))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalConfigGetExtrinsicTransformationModel, (CVMAQS12CALCONFIG CalibrationConfiguration, CVMExtrinsicTransformationModel& Model))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalConfigSetCalculateEncoderStep, (CVMAQS12CALCONFIG CalibrationConfiguration, cvbbool_t CalculateEncoderStep))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalConfigGetCalculateEncoderStep, (CVMAQS12CALCONFIG CalibrationConfiguration, cvbbool_t& CalculateEncoderStep))
 
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalConfigGetPointsAndTopBasePlaneDistance, // NOLINT(cppcoreguidelines-pro-bounds-array-to-pointer-decay)
    (CVMAQS12CALCONFIG CalibrationConfiguration,
      CVC3DPointD Points[12],
      double& TopBasePlaneDistance))
 
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateIntrinsicCalibratorFromPiece,
    (IMG RangeMapImage,
      cvbdim_t PlaneIndex,
      CVMAQS12SEGMENTOR2D Segmentor,
      CVMAQS12CALCONFIG CalConfig,
      CVC3DCALIBRATOR& Calibrator,
      CVC3DPointD Residuals[12]))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CreateIntrinsicCalibratorFromPieceRect,
    (IMG RangeMapImage,
      cvbdim_t PlaneIndex,
      cvbdim_t Left,
      cvbdim_t Top,
      cvbdim_t Right,
      cvbdim_t Bottom,
      CVMAQS12SEGMENTOR2D Segmentor,
      CVMAQS12CALCONFIG CalConfig,
      CVC3DCALIBRATOR& Calibrator,
      CVC3DPointD Residuals[12]))
 
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalculateCorrectionOfLaserPlaneInclinationWithParamsFromPiece, (CVCOMPOSITE DenseCloud, CVMAQS12SEGMENTOR3D Segmentor, CVMAQS12CALCONFIG CalConfig, CVC3DTransformation& TransformationLaserPlaneInclination, CVC3DAffineTransformationParameters& TransformationParameters, CVC3DPointD Residuals[12]))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalculateCorrectionOfLaserPlaneInclinationWithParamsFromPieceRect, (CVCOMPOSITE DenseCloud, cvbdim_t Left, cvbdim_t Top, cvbdim_t Right, cvbdim_t Bottom, CVMAQS12SEGMENTOR3D Segmentor, CVMAQS12CALCONFIG CalConfig, CVC3DTransformation& TransformationLaserPlaneInclination, CVC3DAffineTransformationParameters& TransformationParameters, CVC3DPointD Residuals[12]))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalculateRigidBodyTransformationWithParamsFromPiece, (CVCOMPOSITE DenseCloud, CVMAQS12SEGMENTOR3D Segmentor, const CVC3DPointD Points[12], double TopBasePlaneDistance, CVC3DTransformation& ExtrinsicTransformation, CVC3DAffineTransformationParameters& TransformationParameters, CVC3DPointD Residuals[12]))
  CVB_DEF_CAPI(cvbres_t, CVMAQS12CalculateRigidBodyTransformationWithParamsFromPieceRect, (CVCOMPOSITE DenseCloud, cvbdim_t Left, cvbdim_t Top, cvbdim_t Right, cvbdim_t Bottom, CVMAQS12SEGMENTOR3D Segmentor, const CVC3DPointD Points[12], double TopBasePlaneDistance, CVC3DTransformation& ExtrinsicTransformation, CVC3DAffineTransformationParameters& TransformationParameters, CVC3DPointD Residuals[12]))
  CVB_DEF_CAPI(cvbres_t, CVMCalculateRigidBodyTransformationWithParams, (const CVC3DPointD* ReferencePoints, const CVC3DPointD* MeasuredPoints, cvbdim_t PointsLength, CVC3DTransformation& Transformation, CVC3DAffineTransformationParameters& TransformationParameters, CVC3DPointD Residuals[12]))
  CVB_DEF_CAPI(cvbres_t, CVMCalculateCorrectionOfLaserPlaneInclinationWithParams, (const CVC3DPointD* ReferencePoints, const CVC3DPointD* MeasuredPoints, cvbdim_t PointsLength, CVMExtrinsicTransformationModel Model, cvbbool_t CalculateEncoderStep, CVC3DTransformation& Transformation, CVC3DAffineTransformationParameters& TransformationParameters, CVC3DPointD Residuals[12]))
 
CVB_DEF_CAPI(cvbres_t, CVMCalculateAffineTransformation,
            (const CVC3DPointD* ReferencePoints, 
              const CVC3DPointD* MeasuredPoints, 
              cvbdim_t PointsLength, 
              CVC3DTransformation& Transformation))
 
 
CVB_DEF_CAPI(cvbres_t, CVMExtractLaserLineFromMonoImage,
             (IMG MonoImage, const CVMLineExtractionParameters& Params, 
               int LineOut, IMG RangeMapImage, IMG IntensityImage))
 

}
 
CVB_END_INLINE_NS
 
}