CameraSensorToolbox.h

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/****************************************************************
*
* Copyright (c) 2010
*
* Fraunhofer Institute for Manufacturing Engineering
* and Automation (IPA)
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Project name: care-o-bot
* ROS stack name: cob3_driver
* ROS package name: cob_camera_sensors
* Description: Toolbox for cameras.
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
* Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
*
* Date of creation: July 2009
* ToDo:
*
* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Fraunhofer Institute for Manufacturing
* Engineering and Automation (IPA) nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License LGPL as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License LGPL for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License LGPL along with this program.
* If not, see <http://www.gnu.org/licenses/>.
*
****************************************************************/
 


#ifndef __IPA_CAMERASENSORTOOLBOX_H__
#define __IPA_CAMERASENSORTOOLBOX_H__

//#include "../../../../../cob_object_perception_intern/windows/src/PreCompiledHeaders/StdAfx.h"

#ifdef __LINUX__
        #include "cob_vision_utils/CameraSensorDefines.h"
        #include "cob_vision_utils/CameraSensorTypes.h"
#else
        #include "cob_perception_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorDefines.h"
        #include "cob_perception_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorTypes.h"
#endif

#include <opencv/cv.h>
#include <map>
#include <boost/shared_ptr.hpp>

namespace ipa_CameraSensors {

class CameraSensorToolbox;
typedef boost::shared_ptr<CameraSensorToolbox> CameraSensorToolboxPtr;

class __DLL_LIBCAMERASENSORS__ CameraSensorToolbox
{
        public: 
                CameraSensorToolbox();  
                ~CameraSensorToolbox(); 

                CameraSensorToolbox(const CameraSensorToolbox& cameraSensorToolbox); 

                CameraSensorToolbox& operator= (const CameraSensorToolbox& cameraSensorToolbox); 

                virtual unsigned long Release();

                virtual unsigned long Init(std::string directory, ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, const CvSize imageSize);

                virtual unsigned long Init(const std::map<std::string, cv::Mat>* intrinsicMatrices,
                                                                        const std::map<std::string, cv::Mat>* distortionParameters,
                                                                        const std::map<std::string, cv::Mat>* extrinsicMatrices,
                                                                        const std::map<std::string, cv::Mat>* undistortMapsX,
                                                                        const std::map<std::string, cv::Mat>* undistortMapY,
                                                                        const CvSize imageSize);

                virtual cv::Mat GetExtrinsicParameters(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);

                virtual unsigned long SetExtrinsicParameters(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, 
                        const cv::Mat& _rotation, const cv::Mat& _translation);

                virtual unsigned long SetExtrinsicParameters(std::string key, 
                        const cv::Mat& _rotation, const cv::Mat& _translation);

                virtual cv::Mat GetIntrinsicMatrix(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);

                virtual cv::Mat GetDistortionParameters(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);

                virtual cv::Mat GetDistortionMapY(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);

                virtual cv::Mat GetDistortionMapX(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);

                virtual unsigned long SetIntrinsicParameters(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, 
                        const cv::Mat& _intrinsicMatrix, const cv::Mat& _distortion_coeffs);

                virtual unsigned long SetIntrinsicParameters(std::string key, const cv::Mat& _intrinsicMatrix, const cv::Mat& _distortion_coeffs);

                virtual unsigned long RemoveDistortion(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex,
                        const cv::Mat& src, cv::Mat& dst);

                virtual unsigned long ReprojectXYZ(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex,
                        double x, double y, double z, int& u, int& v);

        private:
                
                virtual unsigned long ConvertCameraTypeToString(ipa_CameraSensors::t_cameraType cameraType, std::string &cameraTypeString);

                virtual unsigned long LoadParameters(const char* filename, ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);

                bool m_Initialized; 

                std::map<std::string, cv::Mat> m_intrinsicMatrices;     
                std::map<std::string, cv::Mat> m_distortionCoeffs;      
                std::map<std::string, cv::Mat> m_extrinsicMatrices; 


                std::map<std::string, cv::Mat> m_undistortMapsX;        
                std::map<std::string, cv::Mat> m_undistortMapsY;        

                CvSize m_ImageSize; 
};

__DLL_LIBCAMERASENSORS__ CameraSensorToolboxPtr CreateCameraSensorToolbox();

} // end namespace
#endif // __IPA_CAMERASENSORTOOLBOX_H__