D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/Camera.h

#ifndef _GSOC_SFM_CAMERA_H
#define _GSOC_SFM_CAMERA_H 1

#include "macro.h" //SFM_EXPORTS

#include "opencv2/core/core.hpp"
#include <vector>

namespace OpencvSfM{
  class PointOfView;//We will need this class, but PointOfView need our class too...


  class SFM_EXPORTS Camera
  {
    friend class PointOfView;//PointOfView is a good friend of Camera as it's intimately related!
  protected:

    int img_width;
    int img_height;

    std::vector<PointOfView*> pointsOfView_;

    Camera( int img_w=640, int img_h=480 );
  public:
    virtual ~Camera( void );
    virtual uchar getNbMissingParams( ) const{return 0;};
    virtual const std::vector<PointOfView*> getRelatedViews( ) const {
      return pointsOfView_;
    };
    int getImgWidth() const { return img_width;};
    int getImgHeight() const { return img_height;};
    virtual std::vector<cv::Vec4d> convertFromImageTo3Dray( std::vector<cv::Vec3d> points ) =0;//we don't know how this transformation can be done, so pure virtual
    
    virtual std::vector<cv::Vec2d> pixelToNormImageCoordinates(
      std::vector<cv::Vec2d> points ) const=0;
    virtual std::vector<cv::Vec2d> normImageToPixelCoordinates(
      std::vector<cv::Vec2d> points ) const=0;
    virtual cv::Mat getIntraMatrix( ) const
    {return cv::Mat::eye( 3,3,CV_64FC1 );};

    virtual void updateIntrinsic( double* values, uchar nbVal, bool add_to_intra ) {};
    
    virtual double getFocal( ) const=0;
    
    static cv::Ptr<Camera> read( const cv::FileNode& node );
    
    virtual void write( cv::FileStorage& fs ) const = 0;

  };

}

#endif