StereoMatcher.h

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// ****************************************************************************
// This file is part of the Integrating Vision Toolkit (IVT).
//
// The IVT is maintained by the Karlsruhe Institute of Technology (KIT)
// (www.kit.edu) in cooperation with the company Keyetech (www.keyetech.de).
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// ****************************************************************************
// ****************************************************************************
// Filename:  StereoMatcher.h
// Author:    Pedram Azad
// Date:      12.03.2007
// ****************************************************************************


#ifndef _STEREO_MATCHER_H_
#define _STEREO_MATCHER_H_


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

class CStereoCalibration;
class CByteImage;
struct Vec2d;
struct Vec3d;



// ****************************************************************************
// CStereoMatcher
// ****************************************************************************

class CStereoMatcher
{
public:
        CStereoMatcher();
        
        ~CStereoMatcher();
        
        
        bool LoadCameraParameters(const char *pCameraParameterFileName);

        void InitCameraParameters(CStereoCalibration *pStereoCalibration, bool bCloneCalibration);
        
        int GetDisparityEstimate(const float z);

        int Match(const CByteImage *pLeftImage, const CByteImage *pRightImage, int x, int y, int nWindowSize, int d1, int d2, Vec2d &result, Vec3d &result_3d, float fThreshold, bool bInputImagesAreUndistorted = false);

        int MatchZSAD(const CByteImage *pLeftImage, const CByteImage *pRightImage, int x, int y, int nWindowSize, int d1, int d2, Vec2d &result, Vec3d &result_3d, float fThreshold, bool bInputImagesAreUndistorted = false);
        
        
private:
        // private methods
        int SingleZNCC(const CByteImage *pInputImage1, const CByteImage *pInputImage2, int x, int y, int nWindowSize, int d1, int d2, float *values);
        int SingleZSAD(const CByteImage *pInputImage1, const CByteImage *pInputImage2, int x, int y, int nWindowSize, int d1, int d2, float *values);
        
        // private attributes
        CStereoCalibration *m_pStereoCalibration;
        bool m_bOwnStereoCalibrationObject;
};



#endif /* _STEREO_MATCHER_H_ */