| 1 | /***************************************************************************
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| 2 | *
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| 3 | * Copyright 2000 by David Demirdjian. All rights reserved.
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| 4 | *
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| 5 | * Developed by David Demirdjian
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| 6 | *
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| 7 | * Permission to use, copy, or modify this software and its documentation
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| 8 | * for educational and research purposes only and without fee is hereby
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| 9 | * granted, provided that this copyright notice and the original authors's
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| 10 | * names appear on all copies and supporting documentation. If individual
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| 11 | * files are separated from this distribution directory structure, this
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| 12 | * copyright notice must be included. For any other uses of this software,
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| 13 | * in original or modified form, including but not limited to distribution
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| 14 | * in whole or in part, specific prior permission must be obtained from
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| 15 | * MIT. These programs shall not be used, rewritten, or adapted as the
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| 16 | * basis of a commercial software or hardware product without first
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| 17 | * obtaining appropriate licenses from David Demirdjian. The author makes
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| 18 | * no representations about the suitability of this software for any purpose.
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| 19 | * It is provided "as is" without express or implied warranty.
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| 20 | *
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| 21 | **************************************************************************/
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| 22 | #ifndef _RECONST3D_H
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| 23 | #define _RECONST3D_H
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| 24 |
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| 25 | class StereoImage;
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| 26 | class ReconstPoints3D;
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| 27 | #ifdef _USEGDI
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| 28 | #include <gdiplus.h>
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| 29 | #else
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| 30 | class Bitmap;
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| 31 | #endif
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| 32 |
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| 33 | // ********************************************************************
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| 34 | // ********************************************************************
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| 35 | // Reconst3D: class used for 3D Euclidean reconstruction stereo images
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| 36 | class Reconst3D
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| 37 | {
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| 38 | public:
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| 39 | Reconst3D();
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| 40 | ~Reconst3D();
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| 41 |
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| 42 | enum Error { CAMERA_PARAM_NOT_SET, IMAGE_BUFFER_NULL, WRONG_IMAGE_SIZE, RECONST_OK };
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| 43 |
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| 44 | // -------- set/get stereo parameters --------
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| 45 | void setCameraParameters(float focal, float baseline, float u0, float v0);
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| 46 | void getCameraParameters(float& focal, float& baseline, float& u0, float& v0) const;
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| 47 |
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| 48 | // -----------------------------------------------------------------------
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| 49 | // -------- doReconstruction: 3D reconstruction of the full scene --------
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| 50 | // input:
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| 51 | // - pStereoData: Pointer on a StereoImage structure containing the stereo data
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| 52 | // output:
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| 53 | // - reconstPts3d: Pointer on a the calculated 3D reconstruction
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| 54 | int doReconstruction(ReconstPoints3D* reconstPts3d, const StereoImage* pStereoData);
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| 55 |
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| 56 | //#ifdef _USEGDI
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| 57 | // ------------------------------------------------------------------------------
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| 58 | // -------- doReconstruction: 3D reconstruction of the full scene with color info
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| 59 | // input:
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| 60 | // - pStereoData: Pointer on a StereoImage structure containing the stereo data
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| 61 | // output:
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| 62 | // - reconstPts3d: Pointer on a the calculated 3D reconstruction
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| 63 | int doReconstruction(ReconstPoints3D* reconstPts3d, const StereoImage* pStereoData,
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| 64 | Bitmap *bitmap);
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| 65 | //#endif
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| 66 | // camera parameters
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| 67 | float m_fFocalLength;
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| 68 | float m_fBaseLine;
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| 69 | float m_u0;
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| 70 | float m_v0;
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| 71 | };
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| 72 |
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| 73 | #endif |
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