/home/jgoppert/Projects/uvsim/uvsim/src/uvsim/sensing/StereoEngine.h

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/*
 * StereoEngine.h
 * Copyright (C) Brandon Wampler 2009 <bwampler@purdue.edu>
 *
 * StereoEngine.h is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * StereoEngine.h 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef StereoEngine_H
#define StereoEngine_H

#include "cv.h"
#include "cxmisc.h"
#include "highgui.h"
#include <vector>
#include <string>
#include <algorithm>
#include <stdio.h>
#include <ctype.h>
#include <iostream>
#include "uvsim/sensing/Camera.h"
#include <osg/StateAttribute>
#include <osg/BlendFunc>
#include "pthread.h"
#include <osgViewer/Viewer>

namespace uvsim
{

class StereoEngine
{
public:
    static const int winSize = 10;
    static const int maxCount = 20;
    static const double quality = 0.01;
    static const double minDistance = 10;
        pthread_t viewerThread;
    osgViewer::Viewer viewer;

    // Dynamically Allocated (Must Release Memory)
    IplImage  *leftImage, *rightImage, *leftGreyR, *rightGreyR,
    *leftGrey, *rightGrey, *eig, *temp, *threeD, *leftImageR;
    CvPoint2D32f *points[2];
    CvMat *Q, *F, *R1, *R2, *P1, *P2, *M1, *M2, *D1, *D2,
    *mx1, *my1, *mx2, *my2, *pair, *R, *T, *E, *disp, *vdisp, *img1r, *img2r, *realDisp;

    CvStereoBMState *BMState;

    // Links (Don't Deallocate)
    IplImage *frameL, *frameR;


    // Statically Allocated
    int pointCount;
    CvSize imageSize;
        std::vector<std::string> imageNames[2];
public:
    StereoEngine(IplImage *frameL, IplImage *frameR);
    virtual ~StereoEngine();
    void captureCalibrationImages(int number);
    static void stereoCalibrate(std::string imageList, int nx, int ny, int useUncalibrated);
    void findDisparity();
    void displayDisparity();
    IplImage* reprojectTo3d();
    void drawPointCloud();
    osg::StateSet* makeStateSet(float size);
    void loadMatrices();
    void capture();
    void drawPoints(int index);
};

}

#endif

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