Rectification.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
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// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  Rectification.h
// Author:    Pedram Azad
// Date:      04.10.2008
// ****************************************************************************


#ifndef _RECTIFICATION_H_
#define _RECTIFICATION_H_


// ****************************************************************************
// Necessary includes
// ****************************************************************************

#include "Image/ImageMapper.h"
#include "Math/Math3d.h"


// ****************************************************************************
// Forward declarations
// ****************************************************************************

class CByteImage;
class CCalibration;
class CStereoCalibration;
struct Vec2d;



// ****************************************************************************
// CRectification
// ****************************************************************************

class CRectification
{
public:
        // constructor
        CRectification(bool bInterpolate = true, bool bUndistort = true);

        // destructor
        ~CRectification();


        // public methods

        // initialize by reading a camera parameter file
        bool Init(const char *pCameraParameterFileName);

        // initialize by setting a calibration object
        void Init(const CStereoCalibration *pStereoCalibration);
        // use this method for re-calculating the maps (not needed for static calibrations)
        void UpdateMaps();

        void Rectify(const CByteImage * const *ppInputImages, CByteImage **ppOutputImages);
        
        
private:
        class CRectificationMapper : public CImageMapper
        {
        public:
                CRectificationMapper(bool bInterpolate, bool bUndistort) : CImageMapper(bInterpolate)
                {
                        m_bUndistort = bUndistort;
                }

                void Init(const Mat3d &homography, const CCalibration *pCalibration);

        private:
                void ComputeOriginalCoordinates(const Vec2d &newCoordinates, Vec2d &originalCoordinates);

                const CCalibration *m_pCalibration;
                Mat3d m_homography;

                bool m_bUndistort;
        };


        // private attributes
        CStereoCalibration *m_pStereoCalibration;
        const CStereoCalibration *m_pUsedStereoCalibration;
        
        CRectificationMapper *m_pRectificationMapperLeft;
        CRectificationMapper *m_pRectificationMapperRight;
};



#endif /* _RECTIFICATION_H_ */