147 lines
5.4 KiB
C++
147 lines
5.4 KiB
C++
/*
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* Image.h
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*
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* Copyright (c) 2014-2015 SEACAVE
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*
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* Author(s):
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*
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* cDc <cdc.seacave@gmail.com>
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*
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Affero General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Affero General Public License for more details.
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*
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* You should have received a copy of the GNU Affero General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*
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* Additional Terms:
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*
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* You are required to preserve legal notices and author attributions in
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* that material or in the Appropriate Legal Notices displayed by works
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* containing it.
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*/
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#ifndef _MVS_VIEW_H_
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#define _MVS_VIEW_H_
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// I N C L U D E S /////////////////////////////////////////////////
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#include "Platform.h"
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// D E F I N E S ///////////////////////////////////////////////////
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// S T R U C T S ///////////////////////////////////////////////////
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namespace MVS {
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typedef uint32_t IIndex;
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typedef SEACAVE::cList<IIndex, IIndex, 0, 16, IIndex> IIndexArr;
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typedef _INTERFACE_NAMESPACE::Interface::Image::ViewScore ViewScore;
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typedef MVS_API CLISTDEF0IDX(ViewScore, IIndex) ViewScoreArr;
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/*----------------------------------------------------------------*/
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// a view instance seeing the scene
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class MVS_API Image
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{
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public:
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uint32_t platformID; // ID of the associated platform
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uint32_t cameraID; // ID of the associated camera on the associated platform
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uint32_t poseID; // ID of the pose of the associated platform
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uint32_t ID; // global ID of the image (the ID given outside the current scene - ex. the index in the full list of image files)
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String name; // image file name (relative path)
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String maskName; // segmentation file name (optional)
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Camera camera; // view's pose
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uint32_t width, height; // image size
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Image8U3 image; // image color pixels
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ViewScoreArr neighbors; // scored neighbor images
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float scale; // image scale relative to the original size
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float avgDepth; // average depth of the points seen by this camera
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public:
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inline Image() : poseID(NO_ID), width(0), height(0), avgDepth(0) {}
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inline bool IsValid() const { return poseID != NO_ID; }
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inline bool HasResolution() const { return width > 0 && height > 0; }
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inline Image8U::Size GetSize() const { return Image8U::Size(width, height); }
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// read image data from the file
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static IMAGEPTR OpenImage(const String& fileName);
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static IMAGEPTR ReadImageHeader(const String& fileName);
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static IMAGEPTR ReadImage(const String& fileName, Image8U3& image);
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static bool ReadImage(IMAGEPTR pImage, Image8U3& image);
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bool LoadImage(const String& fileName, unsigned nMaxResolution=0);
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bool ReloadImage(unsigned nMaxResolution=0, bool bLoadPixels=true);
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void ReleaseImage();
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float ResizeImage(unsigned nMaxResolution=0);
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unsigned RecomputeMaxResolution(unsigned& level, unsigned minImageSize, unsigned maxImageSize=INT_MAX) const;
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Image GetImage(const PlatformArr& platforms, double scale, bool bUseImage=true) const;
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Camera GetCamera(const PlatformArr& platforms, const Image8U::Size& resolution) const;
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void UpdateCamera(const PlatformArr& platforms);
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REAL ComputeFOV(int dir) const;
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static bool StereoRectifyImages(const Image& image1, const Image& image2, const Point3fArr& points1, const Point3fArr& points2, Image8U3& rectifiedImage1, Image8U3& rectifiedImage2, Image8U& mask1, Image8U& mask2, Matrix3x3& H, Matrix4x4& Q);
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static void ScaleStereoRectification(Matrix3x3& H, Matrix4x4& Q, REAL scale);
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static float Disparity2Depth(const Matrix4x4& Q, const ImageRef& u, float d);
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static float Disparity2Depth(const Matrix4x4& Q, const Point2f& u, float d);
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static float Disparity2Depth(const Matrix4x4& Q, const ImageRef& u, float d, Point2f& pt);
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static float Disparity2Depth(const Matrix4x4& Q, const Point2f& u, float d, Point2f& pt);
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static float Disparity2Distance(const Matrix3x3& K, const Matrix4x4& Q, const Point2f& u, float d);
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static bool Depth2Disparity(const Matrix4x4& Q, const Point2f& u, float d, float& disparity);
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float GetNormalizationScale() const {
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ASSERT(width > 0 && height > 0);
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return camera.GetNormalizationScale(width, height);
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}
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#ifdef _USE_BOOST
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// implement BOOST serialization
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template<class Archive>
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void save(Archive& ar, const unsigned int /*version*/) const {
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ar & platformID;
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ar & cameraID;
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ar & poseID;
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ar & ID;
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const String relName(MAKE_PATH_REL(WORKING_FOLDER_FULL, name));
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ar & relName;
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const String relMaskName(maskName.empty() ? String() : MAKE_PATH_REL(WORKING_FOLDER_FULL, maskName));
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ar & relMaskName;
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ar & width & height;
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ar & neighbors;
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ar & avgDepth;
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}
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template<class Archive>
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void load(Archive& ar, const unsigned int /*version*/) {
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ar & platformID;
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ar & cameraID;
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ar & poseID;
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ar & ID;
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ar & name;
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name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, name);
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ar & maskName;
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maskName = maskName.empty() ? String() : MAKE_PATH_FULL(WORKING_FOLDER_FULL, maskName);
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ar & width & height;
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ar & neighbors;
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ar & avgDepth;
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}
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BOOST_SERIALIZATION_SPLIT_MEMBER()
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#endif
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};
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typedef MVS_API CLISTDEF2IDX(Image,IIndex) ImageArr;
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/*----------------------------------------------------------------*/
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} // namespace MVS
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#endif // _MVS_VIEW_H_
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