CameraBridge.h

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#ifndef __CAMERA_BRIDGE__
#define __CAMERA_BRIDGE__

#include <cv.h>

class CameraBridge
{
        public:
                enum ImageType
                {
                        BW,  // used for those cases where the conversion is done by ros
                        RGB, // DEPRECATED
                        BGR, // DEPRECATED
                        // used when we have to remove the bayer pattern
                        BAYER_BG, 
                        BAYER_GB,
                        BAYER_RG,
                        BAYER_GR
                };
        
public:

  CameraBridge();
  
  CameraBridge(int w, int h,
                float cx, float cy, float fx, float fy);

  CameraBridge(int w, int h,
                float cx, float cy, float fx, float fy,
                float k1, float k2, float p1, float p2);

  void SetParameters(int w, int h,
                float cx, float cy, float fx, float fy);

  void SetParameters(int w, int h,
                float cx, float cy, float fx, float fy,
                float k1, float k2, float p1, float p2);

        CameraBridge(ImageType _imageType);

        CameraBridge(ImageType _imageType, 
                int w, int h,
                float cx, float cy, float fx, float fy);

        CameraBridge(ImageType _imageType, 
                int w, int h,
                float cx, float cy, float fx, float fy,
                float k1, float k2, float p1, float p2);

  // Changes the camera parameters
  void SetParameters(ImageType _imageType, 
                int w, int h,
                float cx, float cy, float fx, float fy);

  void SetParameters(ImageType _imageType, 
                int w, int h,
                float cx, float cy, float fx, float fy,
                float k1, float k2, float p1, float p2);
        
        // Converts a raw image into a rectified image
        void ConvertImage(cv::Mat &image) const;

        // Applies distortion to an undistorted point
        void DistortPoint(int &x, int &y) const;

        // The same as above
        void DistortPoint(float x, float y, float& distx, float& disty) const;

        // Returns whether there is calibration
        inline bool ThereIsCalibration() const 
        {
                return m_there_is_calibration;
        }
        
        // Returns whether there is distortion
        inline bool ThereIsDistortion() const
        {
          return m_there_is_distortion;
        }

        // Returns a read-only version of the intrinsic parameters
        inline const cv::Mat& GetIntrinsicParameters() const
        {
                return m_intrinsic_parameters;
        }
        
        // Returns a read-only version of the distortion parameters
        inline const cv::Mat& GetDistortionParameters() const
        {
                return m_distortion;
        }
        
        // Returns trye if the camera uses a bayer pattern
        inline bool usesBayer() const
        {
          return
            m_image_type == BAYER_BG ||
                        m_image_type == BAYER_GB ||
                        m_image_type == BAYER_RG ||
                        m_image_type == BAYER_GR;
        }

protected:
        
        // Creates un/distortion maps
        void createMaps();
                        
protected:

        ImageType m_image_type; // DEPRECATED. It is ignored
        bool m_there_is_calibration;
        cv::Mat m_intrinsic_parameters; // 3x3 matrix
        cv::Mat m_distortion; // 4x1 vector

        // maps to un/distort points
        bool m_there_is_distortion;
        cv::Mat m_remap_1, m_remap_2;

        int m_image_width;
        int m_image_height;

};

#endif