MultiCameraDistance.h

/*****************************************************************************
*   ExploringSfMWithOpenCV
******************************************************************************
*   by Roy Shilkrot, 5th Dec 2012
*   http://www.morethantechnical.com/
******************************************************************************
*   Ch4 of the book "Mastering OpenCV with Practical Computer Vision Projects"
*   Copyright Packt Publishing 2012.
*   http://www.packtpub.com/cool-projects-with-opencv/book
*****************************************************************************/

#pragma once

#include <opencv2/opencv.hpp>
#include <vector>
#include <utility>

#include "IDistance.h"
#include "Triangulation.h"
#include "IFeatureMatcher.h"
#include "FindCameraMatrices.h"


class MultiCameraDistance  : public IDistance {	
protected:
	std::vector<std::vector<cv::KeyPoint> > imgpts;
	std::vector<std::vector<cv::KeyPoint> > fullpts;
	std::vector<std::vector<cv::KeyPoint> > imgpts_good;

	std::map<std::pair<int,int> ,std::vector<cv::DMatch> > matches_matrix;
	
	std::vector<cv::Mat_<cv::Vec3b> > imgs_orig;
	std::vector<cv::Mat> imgs;
	std::vector<std::string> imgs_names;
	
	std::map<int,cv::Matx34d> Pmats;

	cv::Mat K;
	cv::Mat_<double> Kinv;
	
	cv::Mat cam_matrix,distortion_coeff;
	cv::Mat distcoeff_32f; 
	cv::Mat K_32f;

	std::vector<CloudPoint> pcloud;
	std::vector<cv::Vec3b> pointCloudRGB;
	std::vector<cv::KeyPoint> correspImg1Pt; //TODO: remove
	
	cv::Ptr<IFeatureMatcher> feature_matcher;
	
	bool features_matched;
public:
	bool use_rich_features;
	bool use_gpu;

	std::vector<cv::Point3d> getPointCloud() { return CloudPointsToPoints(pcloud); }
	const cv::Mat& get_im_orig(int frame_num) { return imgs_orig[frame_num]; }
	const std::vector<cv::KeyPoint>& getcorrespImg1Pt() { return correspImg1Pt; }
	const std::vector<cv::Vec3b>& getPointCloudRGB() { if(pointCloudRGB.size()==0) { GetRGBForPointCloud(pcloud,pointCloudRGB); } return pointCloudRGB; }
	std::vector<cv::Matx34d> getCameras() { 
		std::vector<cv::Matx34d> v; 
		for(std::map<int ,cv::Matx34d>::const_iterator it = Pmats.begin(); it != Pmats.end(); ++it ) {
			v.push_back( it->second );
		}
		return v;
    }

	void GetRGBForPointCloud(
		const std::vector<struct CloudPoint>& pcloud,
		std::vector<cv::Vec3b>& RGBforCloud
		);

	MultiCameraDistance(
		const std::vector<cv::Mat>& imgs_, 
		const std::vector<std::string>& imgs_names_, 
		const std::string& imgs_path_);	
	virtual void OnlyMatchFeatures(int strategy = STRATEGY_USE_FEATURE_MATCH);	
//	bool CheckCoherentRotation(cv::Mat_<double>& R);
};