/*
* This file is part of robotreality
*
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
* http://opensource.cit-ec.de/projects/robotreality
*
* This file may be licensed under the terms of the
* GNU General Public License Version 3 (the ``GPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the GPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the GPL along with this
* program. If not, go to http://www.gnu.org/licenses/gpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* 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.
*
*/
#ifndef UnitConverter_H
#define UnitConverter_H

#include <math.h>
#include <stdlib.h>

#include "MarkerModel.h"
#include "EyeFinder.h"


class UnitConverter{
public:
	UnitConverter();
	~UnitConverter();
	void process_data(MarkerModel *m, EyeFinder *e, int f);
	void set_eye_zero(Point2d left, Point2d right);
	
private:
	void convert_eye_angles(Point2d left, Point2d right);
		
	double convert_px_to_cm_x(double pixel);
	double convert_px_to_cm_y(double pixel);
	double calc_deg_from_cm(double radius, double cm);
	double calc_eye_deg_from_px_x(double pixel);
	double calc_eye_deg_from_px_y(double pixel);
	
	double conversion_factor_pxx2cm; //pixel -> cm (x)
	double conversion_factor_pxy2cm; //pixel -> cm (Y)
	double const_eyeball_radius;
	
	Point2d eye_zero_position[2];
	bool zero_uninitialized;
	
	//processed data:
	Point2d translated_angle_eye[2];
};

#endif