83 lines
3.6 KiB
Text
83 lines
3.6 KiB
Text
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/**
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* @file panorama.h
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* @brife create panorama images from 3D scans.
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* This class is a panorama image container with different projections.
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* It creats panoramic images with specified resolutions.
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* @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany.
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* @date Date: 2012/05/23 2:00
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*/
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#ifndef PANORAMA_H_
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#define PANORAMA_H_
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#include "fbr_global.h"
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using namespace std;
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namespace fbr{
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/**
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* @class panorama : create panorama images with different projection methods from input scan files(Mat from scan_cv class) in opencv Mat format
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* @param iReflectance panorama image from reflectance data
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* @param iRange panorama image from range data
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* @param iMap panorama map of 3D cartesian coordinate of input scan(same points as iRange and iReflectance)
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* @param extendedIMap 3D vector as panorama map with all the points
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* @param iWidth width of the panorama image (cols in opencv)
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* @param iHeight height of panorama image (rows in opencv)
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* @param pMethod projection method for panorama creation
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* @param nImage number of images per scan specially for Rectilinear, Pannini and Stereographic projections
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* @param pParam special d parameter of Pannini projection (Master Thesis for more info) or special R parameter of Stereographic projection (Master Thesis for more info)
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*/
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class panorama{
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cv::Mat iReflectance;
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cv::Mat iMap;
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cv::Mat iRange;
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vector<vector<vector<cv::Vec3f> > > extendedIMap;
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unsigned int iWidth;
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unsigned int iHeight;
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projection_method pMethod;
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unsigned int nImages;
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double pParam;
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panorama_map_method mapMethod;
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void init(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod);
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void map(int x, int y, cv::MatIterator_<cv::Vec4f> it, double range);
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public:
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/**
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* constructor of class panorama
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* @param width the width of the panorama image
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* @param height the height of the panorama image
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* @param method the projection method
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* @param images number of subsets to crate panorama image
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* @param param special parameter for pannini or stereographic projections
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* @param mapMethod mapping method for panorama image and 3D points
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*/
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panorama (unsigned int width, unsigned int height, projection_method method);
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panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages);
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panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param);
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panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod);
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/**
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* @brief creates the panorama reflectance image and map.
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*/
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void createPanorama(cv::Mat scan);
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/**
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* @brief recovers the point cloud from the panorama image and range information
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* @param image - input range image to be converted to point cloud
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* @param file - destination of .3d file containing the point cloud
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*/
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void recoverPointCloud(const cv::Mat& range_image, cv::Mat& reflectance_image, vector<cv::Vec4f> &reduced_points);
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unsigned int getImageWidth();
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unsigned int getImageHeight();
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projection_method getProjectionMethod();
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unsigned int getNumberOfImages();
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double getProjectionParam();
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cv::Mat getReflectanceImage();
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cv::Mat getMap();
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cv::Mat getRangeImage();
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vector<vector<vector<cv::Vec3f> > > getExtendedMap();
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panorama_map_method getMapMethod();
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void getDescription();
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};
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}
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#endif /* PANORAMA_H_ */
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