Engine.h

#pragma once

namespace vr {

class Engine {
public:
 /*Diese Daten brauchen wir fuer den Aufruf v. Measuring.*/
    Engine (Front3D& front3d, const RealConstants& real, const PhotoParams& frontValues,
        ComputationModel computationModel);
    ~Engine(void);

    void initAspects(FrontPic2D& frontPicData, 
        SidePic2D* sidePicDataR, 
        SidePic2D* sidePicDataL,
        PhotoParams* valuesR, 
        PhotoParams* valuesL);
    // Bekommt Daten der Kameras und der Bilder und berechnet aus ihnen Raumpunkte
    void compute3D();
    int calcSys_B(double* residuum, 
        const cv::Vec2d& m_R, 
        const cv::Vec2d& m_L, 
        const cv::Vec2d& m_M);   
    bool isRightAvailable() const;
    bool isLeftAvailable() const;

    void print();
    void print(std::ofstream& rFile);

    const cv::Vec3d& getPupil(LateralSide side) const { return front_.B.pupil[side]; };
    const FrontPic3D& getFrontPic3D() const { return front_.im3D; };
    const FrontB& world() const { return front_.B; };
    const cv::Matx33d& getRotationMatrixBToF();
private:
    // to satisfy the Rule of Three, see http://drdobbs.com/184401400
    Engine (const Engine& engine);              // not (yet) implemented
    Engine& operator= (const Engine& engine);   // not (yet) implemented

    void compute3D(LateralSide side);
    double estimatedYDepthOfSide(SideAspect& side, const cv::Vec3d& frontImagePoint, double a = 0) const;
    // Wertet eine Seitenansicht aus
    void calcSide(SideAspect& side);
    void calc_coordinates_ohne_Buegel();
    bool hasSideAspect(LateralSide side) const;

    FrontAspect front_;
    SideAspect* right_;
    SideAspect* left_;
    const RealConstants real_;
    ComputationModel computationModel_;
};

} // namespace vr