stage-providers.hpp

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#ifndef STAGE_PROVIDERS_H_
#define STAGE_PROVIDERS_H_
 
#include <memory>
 
#include "command-line/parsing/options.hpp"
 
#include "common/pipeline.hpp"
 
#include "calibrate/calibrate.hpp"
 
#include "distance/edge.hpp"
#include "distance/distance.hpp"
#include "distance/vectorize.hpp"
 
#include "orbit/orbit.hpp"
 
// TODO(nguy8tri): Include statement for Orbit Pipeline
// TODO: Fully Implement this when orbit stage is implemented
 
#include "common/decimal.hpp"
 
namespace found {
 
std::unique_ptr<CalibrationAlgorithm> ProvideCalibrationAlgorithm([[maybe_unused]] CalibrationOptions &&options) {
    return std::make_unique<LOSTCalibrationAlgorithm>();
}
 
std::unique_ptr<EdgeDetectionAlgorithm> ProvideEdgeDetectionAlgorithm(DistanceOptions &&options) {
    return std::make_unique<SimpleEdgeDetectionAlgorithm>(options.SEDAThreshold,
                                                          options.SEDABorderLen,
                                                          options.SEDAOffset);
}
 
std::unique_ptr<DistanceDeterminationAlgorithm> ProvideDistanceDeterminationAlgorithm(DistanceOptions &&options) {
    if (options.distanceAlgo == SDDA) {
        return std::make_unique<SphericalDistanceDeterminationAlgorithm>(options.radius,
                                                                         Camera(options.focalLength,
                                                                                options.pixelSize,
                                                                                options.image.width,
                                                                                options.image.height));
    } else if (options.distanceAlgo == ISDDA) {
        return std::make_unique<IterativeSphericalDistanceDeterminationAlgorithm>(options.radius,
                                                                                  Camera(options.focalLength,
                                                                                         options.pixelSize,
                                                                                         options.image.width,
                                                                                         options.image.height),
                                                                                  options.ISDDAMinIters,
                                                                                  options.ISDDADistRatio,
                                                                                  options.ISDDADiscimRatio,
                                                                                  options.ISDDAPdfOrd,
                                                                                  options.ISDDARadLossOrd);
    } else {
        LOG_ERROR("Unrecognized distance algorithm: " << options.distanceAlgo);
        throw std::runtime_error("Unrecognized distance algorithm: " + options.distanceAlgo);
    }
}
 
std::unique_ptr<VectorGenerationAlgorithm> ProvideVectorGenerationAlgorithm(DistanceOptions &&options) {
    Quaternion referenceOrientation = SphericalToQuaternion(options.refOrientation);
    if (options.calibrationData.header.version != emptyDFVer) {
        LOG_INFO("Using DataFile for calibration information");
        return std::make_unique<LOSTVectorGenerationAlgorithm>(options.calibrationData.relative_attitude,
                                                               referenceOrientation);
    } else {
        Quaternion relativeOrientation = SphericalToQuaternion(options.relOrientation);
        if (options.refAsOrientation) {
            LOG_INFO("Using provided reference orientation for calibration information");
            return std::make_unique<LOSTVectorGenerationAlgorithm>(referenceOrientation);
        }
        return std::make_unique<LOSTVectorGenerationAlgorithm>(relativeOrientation, referenceOrientation);
    }
}
 
// TODO: Uncomment when orbit stage is implemented
// std::unique_ptr<OrbitPropagationAlgorithm> ProvideOrbitPropagationAlgorithm(OrbitOptions &&options) {
//     return std::make_unique<ApproximateOrbitPropagationAlgorithm>(options.totalTime,
//                                                                   options.dt,
//                                                                   options.radius,
//                                                                   options.mu);
// }
 
}  // namespace found
 
#endif  // STAGE_PROVIDERS_H_