CamCalib.hpp

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#ifndef EVO_CAM_CALIB_HPP_
#define EVO_CAM_CALIB_HPP_
 
#include "Picture.hpp"
 
#include <mutex>
#include <memory>
#include <string>
 
 
#if defined(_WIN64)
#   ifdef EVOCC_EXPORTS
#       define EVOCC_DECLSPEC   __declspec(dllexport)
#   else
#       define EVOCC_DECLSPEC   __declspec(dllimport)
#   endif
#else //__linux__
#   define EVOCC_DECLSPEC
#endif
 
 
struct SwsContext;
namespace cv { class FileStorage; }
 
 
namespace Evo
{

namespace CC
{
 
struct CameraBody;
struct LensModule;

class Model
{
protected:
    const std::string calibName_;
    const CameraBody *camBody_;
    const LensModule *lensModule_;
    ::SwsContext *swsCtx_;
 
    mutable std::mutex mtx_;
 
protected:
    Model(const std::string &calibName);
    virtual ~Model(void);
 
    std::string GetCalibFile(void) const;
    EvoRC ParseCalibFile(cv::FileStorage &fs, CameraBody &camBody, LensModule &lensModule);
 
public:
    virtual const char* GetCalibName(void) const;

    virtual const char* GetCamProd(void) const;

    virtual const char* GetLensProd(void) const;

    virtual EvoSize GetMaxResol(void) const;
 
    EVO_RMV_SPECIAL_METHODS(Model)
};

class Fisheye : public Model
{
public:
    typedef std::shared_ptr<Fisheye> Ptr;
 
protected:
    Fisheye(const std::string &calibName);
    ~Fisheye(void);
 
public:
    virtual double GetFocalLen(void) const = 0;

    virtual EvoRC ChangeFocalLen(double delta) = 0;

    virtual EvoSize GetOutputSize(void) const = 0;

    virtual EvoRC SetOutputSize(const EvoSize &size) = 0;

    virtual Picture::Ptr Rectify(const char *imgPath) = 0;

    virtual Picture::Ptr Rectify(const EvoImage &img) = 0;

    virtual Picture::Ptr Rectify(const void *encImg, size_t len) = 0;

    EVOCC_DECLSPEC static Ptr Create(const char *calibName);
 
    typedef Ptr (*FP_Create)(const char*);
 
    EVO_RMV_SPECIAL_METHODS(Fisheye)
};
 
} // CC namespace
 
} // Evo namespace
 
#endif // EVO_CAM_CALIB_HPP_