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

#ifndef _GSOC_SFM_FIELD_OF_VIEW_H
#define _GSOC_SFM_FIELD_OF_VIEW_H 1
#include <vector>
#include <string>

#include "opencv2/core/core.hpp"

#include "macro.h" //SFM_EXPORTS
//#include "Camera.h"
//#include "TracksOfPoints.h"


namespace OpencvSfM{

  class SFM_EXPORTS Camera;
  class SFM_EXPORTS TrackOfPoints;

  enum paramsToEstimate
  {
    ROTATION_OK=1,    
    TRANSLATION_OK=2 
  };

  class SFM_EXPORTS PointOfView
  {
  protected:
    cv::Mat rotation_;
    cv::Mat translation_;
    cv::Mat projection_matrix_;
    cv::Ptr<Camera> device_;

    unsigned char config_;

  public:
    PointOfView( cv::Ptr<Camera> device,cv::Mat rotation=cv::Mat::eye( 3, 3, CV_64F ),cv::Vec3d translation=cv::Vec3d( 0.0,0.0,0.0 ));
    PointOfView( cv::Mat projection_matrix );
    PointOfView( const PointOfView& ref );
    virtual ~PointOfView( void );
    
    cv::Ptr<Camera> getIntraParameters( ) const{return device_;};
    
    uchar getNbMissingParams( ) const;
    
    virtual std::vector<cv::Vec2d> project3DPointsIntoImage( std::vector<TrackOfPoints> points ) const;
    virtual std::vector<cv::Vec2d> project3DPointsIntoImage( std::vector<cv::Vec3d> points ) const;
    virtual cv::Vec2d project3DPointIntoImage( cv::Vec3d point ) const;
    virtual bool pointInFrontOfCamera( cv::Vec4d point ) const;
    virtual cv::Mat getProjectionMatrix( ) const;

    inline cv::Mat getRotationMatrix( ) const
    {
      return rotation_;
    };
    virtual void setRotationMatrix( cv::Mat newRot )
    {
      for( int i=0; i<3; ++i )
        for( int j=0; j<3; ++j )
          rotation_.at<double>( i,j ) = newRot.at<double>( i,j );
    };
    
    inline cv::Mat getTranslationVector( ) const
    {
      return translation_;
    };
    inline void setTranslationVector( cv::Mat newVect )
    {
      for( int i=0; i<3; ++i )
        translation_.at<double>( i,0 ) = newVect.at<double>( i,0 );
    };

    inline void rotationAroundX( double angle ) {
        double c = cos( angle ), s = sin( angle );
        double data[ ] = {1,  0,  0, 0,  c, -s, 0,  s,  c};
        cv::Mat R( 3,3,CV_64F,data );
        rotation_ *= R;
    }
    inline void rotationAroundY( double angle ) {
      double c = cos( angle ), s = sin( angle );
      double data[ ] = {c, 0, s, 0, 1, 0, -s, 0, c};
      cv::Mat R( 3,3,CV_64F,data );
      rotation_ *= R;
    }
    inline void rotationAroundZ( double angle ) {
      double c = cos( angle ), s = sin( angle );
      double data[ ] = {c, -s,  0, s,  c,  0, 0,  0,  1};
      cv::Mat R( 3,3,CV_64F,data );
      rotation_ *= R;
    }
    
    static cv::Ptr<PointOfView> read( const cv::FileNode& node );
    
    static void write( cv::FileStorage& fs, const PointOfView& points );

    void print( std::ostream &flux ) const;
  };

}
SFM_EXPORTS std::ostream& operator<<( std::ostream &flux, OpencvSfM::PointOfView const & pov );

#endif