thermalvis: thermalvis: stereo.hpp Source File

00001 
00005 #ifndef _THERMALVIS_STEREO_H_
00006 #define _THERMALVIS_STEREO_H_
00007 
00008 #include "general_resources.hpp"
00009 #include "opencv_resources.hpp"
00010 
00011 #include "improc.hpp"
00012 #include "tools.hpp"
00013 #include "features.hpp"
00014 
00015 void getContours(const Mat& src, vector<vector<vector<Point> > >& contours);
00016 void drawContours(const Mat& src, Mat& dst);
00017 
00018 double fitFixedLine(vector<unsigned short>& x, vector<unsigned short>& y, double grad = 1.0);
00019 
00020 void depthFromContours(vector<vector<vector<Point> > >& c1, vector<vector<vector<Point> > >& c2, Mat& disp);
00021 
00022 //bool findRadiometricMapping(const Mat& im1, const Mat& im2, double& grad, double& shift, const Mat& pim1, const Mat& pim2);
00023 
00024 void drawEpipolarLines(Mat& im1, Mat& im2, Mat& F);
00025 
00026 double findBestAlpha(const Mat& K1, const Mat& K2, const Mat& coeff1, const Mat& coeff2, const Size& camSize, const Mat& R0, const Mat& R1);
00027 
00028 // configData.cameraData1.newCamMat = getOptimalNewCameraMatrix(configData.cameraData1.K, configData.cameraData1.distCoeffs, configData.cameraData1.cameraSize, alpha, configData.cameraData1.cameraSize, &roi1, centerPrincipalPoint);
00029 
00030 bool relevelImages(const Mat& im1, const Mat& im2, const Mat& old_depth, const Mat& R1, const Mat& R2, const Mat& t, const Mat& Q1, const Mat& Q2, Mat& pim1, Mat& pim2, const Mat& map11, const Mat& map12, const Mat& map21, const Mat& map22);
00031 
00032 void findRadiometricMapping2(const Mat& im1, const Mat& im2, const Mat& depth, const Mat& R1, const Mat& R2, const Mat& t, const Mat& Q1, const Mat& Q2, double& grad, double& shift);
00033 
00034 void plotPoints(Mat& dispMat, vector<unsigned short>& i1, vector<unsigned short>& i2, unsigned short median_1 = 0, unsigned short median_2 = 0, double grad = 1.0, double shift = 0.0);
00035 
00036 #endif