densestereo.h

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/* Author: Jan Frädrich */

#ifndef __DENSE_STEREO_H__
#define __DENSE_STEREO_H__

#include <iostream>
#include <libelas/elas.h>
#include <frame_helper/CalibrationCv.h>
#include "dense_stereo_types.h"
#include <base/samples/DistanceImage.hpp>

namespace stereo {

class DenseStereo {
  
public:
  DenseStereo();
  
  virtual ~DenseStereo();
  
  void setStereoCalibration(const frame_helper::StereoCalibration& stereoCal,
                            const int imgWidth,
                            const int imgHeight);
  
  void setLibElasConfiguration(const libElasConfiguration &libElasParam);

  void setGaussianKernel( int size ) { gaussian_kernel = size; }
  
  void processFramePair(const cv::Mat &left_frame, const cv::Mat &right_frame,
                          cv::Mat &left_output_frame, cv::Mat &right_output_frame,
                          bool isRectified = false );

  void getDistanceImages( cv::Mat &left_disp_image, cv::Mat &right_disp_image );

  void getDistanceImages( const cv::Mat &left_frame, const cv::Mat &right_frame,
                          cv::Mat &left_output_frame, cv::Mat &right_output_frame,
                          bool isRectified = false );

  void getDistanceImages( const cv::Mat &left_frame, const cv::Mat &right_frame,
                          base::samples::DistanceImage &left_output_frame, base::samples::DistanceImage &right_output_frame,
                          bool isRectified = false );

  cv::Mat createDistanceImage( 
          frame_helper::CameraCalibrationCv const& calib, 
          base::samples::DistanceImage& dist_image );

  cv::Mat createLeftDistanceImage( 
          base::samples::DistanceImage& dist_image )
  {
      return createDistanceImage( calParam.camLeft, dist_image );
  }

  cv::Mat createRightDistanceImage( 
          base::samples::DistanceImage& dist_image )
  {
      return createDistanceImage( calParam.camRight, dist_image );
  }
                          
  
private:
  int gaussian_kernel;

  Elas *elas;
  
  frame_helper::StereoCalibrationCv calParam;
  
  bool calibrationInitialized;
  
  void undistortAndRectify(cv::Mat &image, const frame_helper::CameraCalibrationCv& calib);
  
  void cvtCvMatToGrayscaleImage(cv::Mat &image);
};

}

#endif