SphericalDepthPanorama.hh

/* 
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
Multimediale Systeme der Informationsverarbeitung
Institut fuer Informatik
Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/


#ifndef _SPHERICALDEPTHPANORAMA_HH_
#define _SPHERICALDEPTHPANORAMA_HH_

#include <Base/Common/W32Compat.hh>
#include <math.h>
#include <vector>
#include <Base/Image/Image.hh>
#include <Geometry/PMatrix.hh>
#include <Geometry/Projection.hh>
#include <Geometry/ProjectionParametersSpherical.hh>
#include <Utils/TriangleMesh.hh>

namespace BIAS {

  /** \class SphericalDepthPanorama
   * \author ischiller
   * \brief create and represent spherical depth panorama
   */
  class BIASImage_EXPORT SphericalDepthPanorama {
  public:
    /** 
        @brief Constructor with default params
        @param range: the range of degrees in which a panorama is to be build
               360 = full circle
        @param sampling: The sampling rate. 10 = 10 steps per degree
        @author ischiller
        @date 05/07
    */ 
    SphericalDepthPanorama(Projection *initialProjection_ = NULL);
    ~SphericalDepthPanorama();

  
    /** Call Process to update the measurement */
    int ProcessSphericalProjection(BIAS::Image<float> &depthMap,
                                   BIAS::Projection & p,
                                   BIAS::Image<unsigned char> *texture=NULL);

    int GetPanorama(BIAS::Image<float> &image, 
                    BIAS::Image<unsigned char> &texture);

    int GetTriangleMesh(BIAS::TriangleMesh &mesh);

  protected:
    
    bool  bFirstPoseSet_;
    BIAS::Image<float> panorama_,panoramaHitCount_,panoramaVarianz_;
    BIAS::Image<unsigned char> panoramaTexture_;
    unsigned int panoramaWidth_,panoramaHeight_;
    BIAS::Projection* pSphericalProj_;    
    BIAS::Projection* pInitialProj_;
    int dOffsetX_,dOffsetY_;
    bool bTextureFilled_;
  };  //end class

}//end namespace


#endif