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

#ifndef _GSOC_SFM_CAMERA_PINHOLE_DISTORTION_H
#define _GSOC_SFM_CAMERA_PINHOLE_DISTORTION_H 1

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

#include "macro.h" //SFM_EXPORTS
#include "CameraPinhole.h"
#include "opencv2/imgproc/imgproc.hpp"

namespace OpencvSfM{
  enum paramsOfDistoParameters{
    RADIAL_PARAM=0x10,  
    TANGEANT_PARAM=0x20  
  };

  
  class SFM_EXPORTS CameraPinholeDistor:public CameraPinhole{
  protected:
    cv::Vec<double, 6> radial_dist_;
    unsigned char nb_radial_params_;
    cv::Vec<double, 2> tangential_dist_;
    unsigned char nb_tangent_params_;
    cv::Mat distortionVector;
 
  public:
    CameraPinholeDistor( cv::Mat intra_params=cv::Mat::eye( 3, 3, CV_64F ),
      cv::Vec6d radial_dist=cv::Vec6d( 0.0,0.0,0.0,0.0,0.0,0.0 ),
      unsigned char nbRadialParam=6,cv::Vec2d tangential_dist=cv::Vec2d( 0.0,0.0 ),
      int img_w=640, int img_h=480,
      unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM|RADIAL_PARAM|TANGEANT_PARAM );
    CameraPinholeDistor( const std::vector<std::vector<cv::Point3f> >& objectPoints,
      const std::vector<std::vector<cv::Point2f> >& imagePoints, cv::Size imageSize,double aspectRatio=1.,
      cv::Vec6d radial_dist=cv::Vec6d( 0.0,0.0,0.0,0.0,0.0,0.0 ),
      unsigned char nbRadialParam=6,
      cv::Vec2d tangential_dist=cv::Vec2d( 0.0,0.0 ),
      int img_w=640, int img_h=480,
      unsigned char wantedEstimation=FOCAL_PARAM|SKEW_PARAM|PRINCIPAL_POINT_PARAM|RADIAL_PARAM|TANGEANT_PARAM );
    ~CameraPinholeDistor( );

    virtual uchar getNbMissingParams( ) const;
    virtual void updateIntrinsic( double* values, uchar nbVal, bool add_to_intra );

    void updateDistortionParameters( const cv::Vec6d& radial_dist, unsigned char nbRadialParam,const cv::Vec2d& tangential_dist,
      unsigned char wantedEstimation=RADIAL_PARAM|TANGEANT_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;
    
    static cv::Ptr<Camera> read( const cv::FileNode& node );
    
    virtual void write( cv::FileStorage& fs ) const;

  };

}

#endif