reconstruct3d.h

/*******************************************************************************
 * Copyright (c) 2018 Nerian Vision GmbH
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *******************************************************************************/

#ifndef VISIONTRANSFER_RECONSTRUCT3D_H
#define VISIONTRANSFER_RECONSTRUCT3D_H

#include <limits>
#include "visiontransfer/common.h"
#include "visiontransfer/imagepair.h"

class VT_EXPORT Reconstruct3D {
public:
    Reconstruct3D();

    ~Reconstruct3D();

    float* createPointMap(const unsigned short* dispMap, int width, int height,
        int rowStride, const float* q, unsigned short minDisparity = 1);

    float* createPointMap(const ImagePair& imagePair, unsigned short minDisparity = 1);

    void projectSinglePoint(int imageX, int imageY, unsigned short disparity, const float* q,
        float& pointX, float& pointY, float& pointZ);

    void writePlyFile(const char* file, const unsigned short* dispMap,
        const unsigned char* image,  int width, int height, bool isRgb,
        int dispRowStride, int imageRowStride, const float* q,
        double maxZ = std::numeric_limits<double>::max(),
        bool binary = false);

    void writePlyFile(const char* file, const ImagePair& imagePair,
        double maxZ = std::numeric_limits<double>::max(), bool binary = false);

private:
    // We follow the pimpl idiom
    class Pimpl;
    Pimpl* pimpl;

    // This class cannot be copied
    Reconstruct3D(const Reconstruct3D& other);
    Reconstruct3D& operator=(const Reconstruct3D&);
};

#endif