CameraSensorToolbox.h
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00001 /****************************************************************
00002 *
00003 * Copyright (c) 2010
00004 *
00005 * Fraunhofer Institute for Manufacturing Engineering
00006 * and Automation (IPA)
00007 *
00008 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009 *
00010 * Project name: care-o-bot
00011 * ROS stack name: cob3_driver
00012 * ROS package name: cob_camera_sensors
00013 * Description: Toolbox for cameras.
00014 *
00015 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00016 *
00017 * Author: Jan Fischer, email:jan.fischer@ipa.fhg.de
00018 * Supervised by: Jan Fischer, email:jan.fischer@ipa.fhg.de
00019 *
00020 * Date of creation: July 2009
00021 * ToDo:
00022 *
00023 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00024 *
00025 * Redistribution and use in source and binary forms, with or without
00026 * modification, are permitted provided that the following conditions are met:
00027 *
00028 * * Redistributions of source code must retain the above copyright
00029 * notice, this list of conditions and the following disclaimer.
00030 * * Redistributions in binary form must reproduce the above copyright
00031 * notice, this list of conditions and the following disclaimer in the
00032 * documentation and/or other materials provided with the distribution.
00033 * * Neither the name of the Fraunhofer Institute for Manufacturing
00034 * Engineering and Automation (IPA) nor the names of its
00035 * contributors may be used to endorse or promote products derived from
00036 * this software without specific prior written permission.
00037 *
00038 * This program is free software: you can redistribute it and/or modify
00039 * it under the terms of the GNU Lesser General Public License LGPL as
00040 * published by the Free Software Foundation, either version 3 of the
00041 * License, or (at your option) any later version.
00042 *
00043 * This program is distributed in the hope that it will be useful,
00044 * but WITHOUT ANY WARRANTY; without even the implied warranty of
00045 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00046 * GNU Lesser General Public License LGPL for more details.
00047 *
00048 * You should have received a copy of the GNU Lesser General Public
00049 * License LGPL along with this program.
00050 * If not, see <http://www.gnu.org/licenses/>.
00051 *
00052 ****************************************************************/
00053  
00054 
00059 
00060 #ifndef __IPA_CAMERASENSORTOOLBOX_H__
00061 #define __IPA_CAMERASENSORTOOLBOX_H__
00062 
00063 //#include "../../../../../cob_object_perception_intern/windows/src/PreCompiledHeaders/StdAfx.h"
00064 
00065 #ifdef __LINUX__
00066         #include "cob_vision_utils/CameraSensorDefines.h"
00067         #include "cob_vision_utils/CameraSensorTypes.h"
00068 #else
00069         #include "cob_perception_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorDefines.h"
00070         #include "cob_perception_common/cob_vision_utils/common/include/cob_vision_utils/CameraSensorTypes.h"
00071 #endif
00072 
00073 #include <opencv/cv.h>
00074 #include <map>
00075 #include <boost/shared_ptr.hpp>
00076 
00077 namespace ipa_CameraSensors {
00078 
00080 class CameraSensorToolbox;
00081 typedef boost::shared_ptr<CameraSensorToolbox> CameraSensorToolboxPtr;
00082 
00087 class __DLL_LIBCAMERASENSORS__ CameraSensorToolbox
00088 {
00089         public: 
00090                 CameraSensorToolbox();  
00091                 ~CameraSensorToolbox(); 
00092 
00093                 CameraSensorToolbox(const CameraSensorToolbox& cameraSensorToolbox); 
00094 
00096                 CameraSensorToolbox& operator= (const CameraSensorToolbox& cameraSensorToolbox); 
00097 
00100                 virtual unsigned long Release();
00101 
00109                 virtual unsigned long Init(std::string directory, ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, const CvSize imageSize);
00110 
00120                 virtual unsigned long Init(const std::map<std::string, cv::Mat>* intrinsicMatrices,
00121                                                                         const std::map<std::string, cv::Mat>* distortionParameters,
00122                                                                         const std::map<std::string, cv::Mat>* extrinsicMatrices,
00123                                                                         const std::map<std::string, cv::Mat>* undistortMapsX,
00124                                                                         const std::map<std::string, cv::Mat>* undistortMapY,
00125                                                                         const CvSize imageSize);
00126 
00133                 virtual cv::Mat GetExtrinsicParameters(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);
00134 
00143                 virtual unsigned long SetExtrinsicParameters(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, 
00144                         const cv::Mat& _rotation, const cv::Mat& _translation);
00145 
00153                 virtual unsigned long SetExtrinsicParameters(std::string key, 
00154                         const cv::Mat& _rotation, const cv::Mat& _translation);
00155 
00160                 virtual cv::Mat GetIntrinsicMatrix(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);
00161 
00168                 virtual cv::Mat GetDistortionParameters(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);
00169 
00175                 virtual cv::Mat GetDistortionMapY(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);
00176 
00182                 virtual cv::Mat GetDistortionMapX(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);
00183 
00195                 virtual unsigned long SetIntrinsicParameters(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, 
00196                         const cv::Mat& _intrinsicMatrix, const cv::Mat& _distortion_coeffs);
00197 
00208                 virtual unsigned long SetIntrinsicParameters(std::string key, const cv::Mat& _intrinsicMatrix, const cv::Mat& _distortion_coeffs);
00209 
00217                 virtual unsigned long RemoveDistortion(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex,
00218                         const cv::Mat& src, cv::Mat& dst);
00219 
00230                 virtual unsigned long ReprojectXYZ(ipa_CameraSensors::t_cameraType cameraType, int cameraIndex,
00231                         double x, double y, double z, int& u, int& v);
00232 
00233         private:
00234                 
00239                 virtual unsigned long ConvertCameraTypeToString(ipa_CameraSensors::t_cameraType cameraType, std::string &cameraTypeString);
00240 
00247                 virtual unsigned long LoadParameters(const char* filename, ipa_CameraSensors::t_cameraType cameraType, int cameraIndex);
00248 
00249                 bool m_Initialized; 
00250 
00251                 std::map<std::string, cv::Mat> m_intrinsicMatrices;     
00252                 std::map<std::string, cv::Mat> m_distortionCoeffs;      
00253                 std::map<std::string, cv::Mat> m_extrinsicMatrices; 
00254 
00255 
00256                 std::map<std::string, cv::Mat> m_undistortMapsX;        
00257                 std::map<std::string, cv::Mat> m_undistortMapsY;        
00258 
00259                 CvSize m_ImageSize; 
00260 };
00261 
00264 __DLL_LIBCAMERASENSORS__ CameraSensorToolboxPtr CreateCameraSensorToolbox();
00265 
00266 } // end namespace
00267 #endif // __IPA_CAMERASENSORTOOLBOX_H__
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cob_vision_utils
Author(s): Jan Fischer
autogenerated on Fri Mar 8 2013 15:03:41