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

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2012-09-16 12:33:11 +00:00
/**
* @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);
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/**
* @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, const std::string& file);
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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_ */