3dpcp/include/slam6d/fbr/panorama.h

/**
 * @file panorama.h
 * @brife create panorama images from 3D scans.
 * This class is a panorama image container with different projections.
 * It creats panoramic images with specified resolutions.
 * @author HamidReza Houshiar. Jacobs University Bremen gGmbH, Germany.
 * @date Date: 2012/05/23 2:00
 */

#ifndef PANORAMA_H_
#define PANORAMA_H_

#include "fbr_global.h"

using namespace std;

namespace fbr{
  /**
   * @class panorama : create panorama images with different projection methods from input scan files(Mat from scan_cv class) in opencv Mat format
   * @param iReflectance panorama image from reflectance data             
   * @param iRange panorama image from range data             
   * @param iMap panorama map of 3D cartesian coordinate of input scan(same points as iRange and iReflectance)
   * @param extendedIMap 3D vector as panorama map with all the points
   * @param iWidth width of the panorama image (cols in opencv)
   * @param iHeight height of panorama image (rows in opencv)
   * @param pMethod projection method for panorama creation
   * @param nImage number of images per scan specially for Rectilinear, Pannini and Stereographic projections
   * @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)
   */
  class panorama{
    cv::Mat iReflectance;
    cv::Mat iMap;
    cv::Mat iRange;
    vector<vector<vector<cv::Vec3f> > > extendedIMap;
    unsigned int iWidth;
    unsigned int iHeight;
    projection_method pMethod;
    unsigned int nImages;
    double pParam;
    panorama_map_method mapMethod;

    void init(unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod);
    void map(int x, int y, cv::MatIterator_<cv::Vec4f> it, double range);
  public:
    /**
     * constructor of class panorama
     * @param width the width of the panorama image
     * @param height the height of the panorama image
     * @param method the projection method
     * @param images number of subsets to crate panorama image
     * @param param special parameter for pannini or stereographic projections
     * @param mapMethod mapping method for panorama image and 3D points
     */
    panorama (unsigned int width, unsigned int height, projection_method method);
    panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages);
    panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param);
    panorama (unsigned int width, unsigned int height, projection_method method, unsigned int numberOfImages, double param, panorama_map_method mapMethod);
    /**
     * @brief creates the panorama reflectance image and map.
     */
    void createPanorama(cv::Mat scan);
    /**
     * @brief recovers the point cloud from the panorama image and range information
     * @param image - input range image to be converted to point cloud
     * @param file - destination of .3d file containing the point cloud
     */
    void recoverPointCloud(const cv::Mat& range_image, cv::Mat& reflectance_image, vector<cv::Vec4f> &reduced_points);

    unsigned int getImageWidth();
    unsigned int getImageHeight();
    projection_method getProjectionMethod();
    unsigned int getNumberOfImages();
    double getProjectionParam();
    cv::Mat getReflectanceImage();
    cv::Mat getMap();
    cv::Mat getRangeImage();
    vector<vector<vector<cv::Vec3f> > > getExtendedMap();
    panorama_map_method getMapMethod();
    void getDescription();
  };
}
#endif /* PANORAMA_H_ */