reconstruct3d.h

/*******************************************************************************
 * Copyright (c) 2023 Allied Vision Technologies 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 <stdexcept>
#include "visiontransfer/common.h"
#include "visiontransfer/imageset.h"
 
#ifdef OPEN3D_VERSION
#    include <memory>
#endif
 
namespace visiontransfer {
 
class VT_EXPORT Reconstruct3D {
public:
 
    enum ColorSource {
        COLOR_NONE,
        COLOR_AUTO,
        COLOR_LEFT,
        COLOR_THIRD_COLOR,
    };
 
    Reconstruct3D();
 
    ~Reconstruct3D();
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
    DEPRECATED("Use createPointMap(const ImageSet&, ...) instead.")
    float* createPointMap(const unsigned short* dispMap, int width, int height,
        int rowStride, const float* q, unsigned short minDisparity = 0,
        int subpixelFactor = 16, unsigned short maxDisparity = 0xFFF);
#endif
 
    float* createPointMap(const ImageSet& imageSet, unsigned short minDisparity = 0,
        unsigned short maxDisparity = 0xFFF);
 
    float* createZMap(const ImageSet& imageSet, unsigned short minDisparity = 0,
        unsigned short maxDisparity = 0xFFF);
 
    void projectSinglePoint(int imageX, int imageY, unsigned short disparity, const float* q,
        float& pointX, float& pointY, float& pointZ, int subpixelFactor = 16);
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
    DEPRECATED("Use writePlyFile(const char*, const ImageSet&, ...) instead.")
    void writePlyFile(const char* file, const unsigned short* dispMap,
        const unsigned char* image,  int width, int height, ImageSet::ImageFormat format,
        int dispRowStride, int imageRowStride, const float* q,
        double maxZ = (std::numeric_limits<double>::max)(),
        bool binary = false, int subpixelFactor = 16, unsigned short maxDisparity = 0xFFF);
#endif
 
    void writePlyFile(const char* file, const ImageSet& imageSet,
        double maxZ = (std::numeric_limits<double>::max)(),
        bool binary = false,
        ColorSource colSource = COLOR_AUTO,
        unsigned short maxDisparity = 0xFFF);
 
#ifdef PCL_MAJOR_VERSION
 
    inline pcl::PointCloud<pcl::PointXYZ>::Ptr createXYZCloud(const ImageSet& imageSet,
            const char* frameId, unsigned short minDisparity = 0);
 
    inline pcl::PointCloud<pcl::PointXYZI>::Ptr createXYZICloud(const ImageSet& imageSet,
            const char* frameId, unsigned short minDisparity = 0);
 
    inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr createXYZRGBCloud(const ImageSet& imageSet,
        const char* frameId, unsigned short minDisparity = 0);
#endif
 
#ifdef OPEN3D_VERSION
 
    inline std::shared_ptr<open3d::geometry::PointCloud> createOpen3DCloud(const ImageSet& imageSet,
        ColorSource colSource = COLOR_AUTO, unsigned short minDisparity = 0, unsigned short maxDisparity = 0xFFF);
    inline std::shared_ptr<open3d::geometry::RGBDImage> createOpen3DImageRGBD(const ImageSet& imageSet,
        ColorSource colSource = COLOR_AUTO, unsigned short minDisparity = 0);
#endif
 
private:
    // We follow the pimpl idiom
    class Pimpl;
    Pimpl* pimpl;
 
    // This class cannot be copied
    Reconstruct3D(const Reconstruct3D& other);
    Reconstruct3D& operator=(const Reconstruct3D&);
 
#ifdef PCL_MAJOR_VERSION
    // Initializes a PCL point cloud
    template <typename T>
    typename pcl::PointCloud<T>::Ptr initPointCloud(const ImageSet& imageSet, const char* frameId);
#endif
 
    // Inlined code, as it is needed by PCL and Open3D bindings
    static ImageSet::ImageType getColorImage(const ImageSet& imageSet, ColorSource colSource) {
        switch(colSource) {
            case COLOR_AUTO:
                if(imageSet.hasImageType(ImageSet::IMAGE_COLOR)) {
                    return ImageSet::IMAGE_COLOR;
                } else {
                    return ImageSet::IMAGE_LEFT;
                }
            case COLOR_LEFT:
                return ImageSet::IMAGE_LEFT;
            case COLOR_THIRD_COLOR:
                return ImageSet::IMAGE_COLOR;
                break;
            default:
                return ImageSet::IMAGE_UNDEFINED;
        }
    }
};
 
} // namespace
 
#include "visiontransfer/reconstruct3d-pcl.h"
#include "visiontransfer/reconstruct3d-open3d.h"
 
#endif