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

#ifndef _GSOC_SFM_CAMERA_PINHOLE_H
#define _GSOC_SFM_CAMERA_PINHOLE_H 1

//A lot of methods are inspired of LIBMV project ( http://code.google.com/p/libmv_core/ )

#include "macro.h" //SFM_EXPORTS
#include "opencv2/calib3d/calib3d.hpp"
#include "Camera.h"

namespace OpencvSfM{
  enum paramsOfIntraParameters{
    FOCAL_PARAM=1,         
    SKEW_PARAM=2,          
    PRINCIPAL_POINT_PARAM=4
  };

  class SFM_EXPORTS CameraPinhole:public Camera{
  protected:
    cv::Mat intra_params_;
    cv::Mat inv_intra_params_;

    unsigned char estimation_needed_;
  public:
    CameraPinhole( cv::Mat intra_params=cv::Mat::eye( 3, 3, CV_64F ),
      int img_w=640, int img_h=480, unsigned char wantedEstimation
      = FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM );
    CameraPinhole( const std::vector<std::vector<cv::Point3f> >& objectPoints,
      const std::vector<std::vector<cv::Point2f> >& imagePoints,
      cv::Size imageSize, double aspectRatio=1., int img_w=640, int img_h=480,
      unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM );
    ~CameraPinhole( );
    virtual uchar getNbMissingParams( ) const;
    virtual void updateIntrinsic( double* values, uchar nbVal, bool add_to_intra );

    void updateIntrinsicMatrix( cv::Mat newParams,unsigned char intraValues=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM );

    virtual std::vector<cv::Vec4d> convertFromImageTo3Dray( std::vector<cv::Vec3d> points );
    
    virtual std::vector<cv::Vec2d> pixelToNormImageCoordinates( std::vector<cv::Vec2d> points ) const;
    virtual std::vector<cv::Vec2d> normImageToPixelCoordinates( std::vector<cv::Vec2d> points ) const;
    virtual cv::Mat getIntraMatrix( ) const
    {return intra_params_;};
    virtual double getFocal( ) const;
    
    static cv::Ptr<Camera> read( const cv::FileNode& node );
    
    virtual void write( cv::FileStorage& fs ) const;

  };

};

#endif