CameraSensorToolbox.h

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 

#ifndef __IPA_CAMERASENSORTOOLBOX_H__
#define __IPA_CAMERASENSORTOOLBOX_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 <opencv2/core/core.hpp>
#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__