engine.hpp

/* $Id$ */
#ifndef _SAS_ENGINE_HPP_
#define _SAS_ENGINE_HPP_

#include "datareader/DataReader.hpp"
#include "image/Image.hpp"
#include "sas/irdm.hpp"
#include "sas/ird.hpp"
#include "sas/irt.hpp"

namespace jafar {
  namespace sas {

    class Engine {
      public:

      Engine (IRDM * dm=0) {
        if (dm)
          m_dm = dm;
        else 
          m_dm = new IRDM();
        m_d = new IRD(m_dm);
        m_t = new BK_IRT(m_dm);
      };
      
      Engine (std::string const & filename) {
        m_dm = new IRDM();
        m_d = IRD::createIRD(m_dm,filename);
        m_t = BK_IRT::createBKIRT(m_dm,filename);
      };

      virtual ~Engine () {
        delete m_d;
        delete m_t;
        if (m_dm)
          delete m_dm;
      };

      inline void attachSrc(jafar::image::Image const & src) {
        m_dm->attachImg("src",src);
      };

      inline void setSrc(jafar::image::Image const & src) {
        m_dm->setImg("src",src);
      }

      inline IRDM * detachDM() {
        IRDM * dm = m_dm;
        m_dm = 0;
        return dm;
      }

      inline IRDM * getDM() const {
        return m_dm;
      };

      inline jafar::image::Image const & getImgFromDM(std::string const & label) const {
        return m_dm->m_imgs.find(label)->second;
      };
      
      inline jafar::image::Image const & getMapFromDetector(std::string const & label, int c=-1, int s=-1) const {
        if ( c==-1 && s==-1)
          return m_d->cmaps[label]->getMap("cmap");
        else if (c!=-1 && s!=-1)
          return m_d->cmaps[label]->getMap(jafar::sas::Conspicuity::getLabel(c,s));
        else 
          JFR_RUN_TIME("wrong feature map index");
      };

      void initCamModel(jafar::datareader::DataReader * dr);

      void processPano(jafar::datareader::DataReader * dr, int begin=-1, int last=-1);
      
      void processMono(jafar::datareader::DataReader * dr, std::string const & benchname, int begin, int last);
      
      void oneStepTracking(int rel=0);

      void computeSirs(int rel=0);

      
      inline void drawTracking(jafar::image::Image & display) const {
        m_t->draw(display);
      };
      
      inline void drawSirs(jafar::image::Image & display) const {
        m_d->draw(display);
      };
      
      private:
      IRDM * m_dm;
      IRD * m_d;
      BK_IRT * m_t;
      
      
    }; /* class Engine */

    namespace tools {
      void convert(jafar::image::Image const & src, jafar::image::Image & dst, jafar::image::Image const & lut=0);
    
      jafar::image::Image createRedHotLut();
      
      jafar::image::Image displayFromLut(jafar::image::Image const & lut);
      
    }; /* ns tools */
    
  } /* ns sas */
} /* ns jafar */


#endif /* _SAS_ENGINE_HPP_ */