Jafar: modules/stereo/include/stereo/calife

00001 /* $Id$ */
00002 
00003 #ifndef CALIFE_PROTO_HPP
00004 #define CALIFE_PROTO_HPP
00005 
00006 #include "stereo/ImagesSizes.hpp"
00007 #include "stereo/RectificationParams.hpp"
00008 #include "stereo/CorrelationParams.hpp"
00009 #include "stereo/CorrelationResults.hpp"
00010 #include "stereo/ImagesTemporary.hpp"
00011 #include "stereo/ReconstructionParams.hpp"
00012 
00013 /* This header file contains all proto for functions originally come
00014  * from calife
00015  * \note If you want to add some other functions, we recommend that
00016  * you add it here
00017  *
00018  *
00019  */
00020 
00021 namespace jafar {
00022   namespace stereo {
00023 
00024     // ================ Correlation
00025     extern void correlation_census (unsigned char* image_gauche,
00026             unsigned char* image_droite, 
00027             ImagesSizes& images_sizes, 
00028             CorrelationParams& correlationParams, 
00029             CorrelationResults& correlationResults );
00030 
00031     extern void correlation_zncc ( unsigned char* source_gauche, 
00032            unsigned char* source_droite, 
00033            ImagesTemporary& images_tmp_gauches, 
00034            ImagesTemporary& images_tmp_droites, 
00035            CorrelationParams& correlationParams, 
00036            CorrelationResults& correlationResults );
00037 
00038     extern void get_census_disparity ( float* pix_disp, 
00039                int nblig, 
00040                double* tab_scores, 
00041                int* tab_disp_nj2_min, 
00042                int* tab_disp_nj2_max, 
00043                int delta_max_disp, 
00044                int disp_min_general, 
00045                int j_min, 
00046                int j_max, 
00047                double seuil_score, 
00048                double seuil_difference, 
00049                double seuil_voisins, 
00050                int epsilon_inverse, 
00051                CorrelationParams::INTERPOLATION_TYPE interpolation_type);
00052 
00053 
00054 
00055     extern void get_census_disparity_sigma (float* pix_disp, 
00056               float* pix_sigma, 
00057               int nblig, 
00058               double*  tab_scores,
00059               int* tab_disp_nj2_min, 
00060               int* tab_disp_nj2_max, 
00061               int delta_max_disp,
00062               int disp_min_general, 
00063               int j_min, 
00064               int j_max,
00065               double seuil_score, 
00066               double seuil_difference, 
00067               double seuil_voisins,
00068               int epsilon_inverse);
00069 
00070 
00071     extern void get_disparity ( float* pix_disp, 
00072         float* pix_sigma_g, 
00073         int nblig, 
00074         double* tab_scores,
00075         int* tab_disp_nj2_min, 
00076         int* tab_disp_nj2_max, 
00077         int delta_max_disp, 
00078         int disp_min_general, 
00079         int j_min, 
00080         int j_max, 
00081         double seuil_sigma, 
00082         double seuil_score, 
00083         double seuil_difference, 
00084         double seuil_voisins, 
00085         int epsilon_inverse, 
00086         CorrelationParams::INTERPOLATION_TYPE interpolation);
00087 
00088     extern void get_disparity_sigma ( float* pix_disp, 
00089               float* pix_sigma_g, 
00090               float* pix_sigma, 
00091               int nblig, 
00092               double* tab_scores, 
00093               int* tab_disp_nj2_min, 
00094               int* tab_disp_nj2_max, 
00095               int delta_max_disp, 
00096               int disp_min_general, 
00097               int j_min, 
00098               int j_max, 
00099               double seuil_sigma, 
00100               double seuil_score, 
00101               double seuil_difference, 
00102               double seuil_voisins, 
00103               int epsilon_inverse );
00104 
00105     extern void moyennes_sigmas ( unsigned char* im_source, 
00106           ImagesTemporary& images_tmp, 
00107           CorrelationParams& correlationParams );
00108 
00109     //============== PreProcessing
00110     extern void extrait_sous_image ( unsigned char* im_source, 
00111              ImagesSizes& images_sizes, 
00112              int reduction, 
00113              unsigned char* im_extraite );
00114     
00115 
00116     extern void moyennes ( unsigned char* im_source, 
00117          int win_nb_lig, 
00118          int win_nb_col, 
00119          ImagesTemporary& images_tmp );
00120     
00121     
00122     extern void transform_census_8bits (unsigned char* im_source, 
00123           ImagesTemporary& imagesTemporary, 
00124           CorrelationParams::CENSUS_TYPE type_census, 
00125           unsigned char* im_census );
00126 
00127     // blob filter
00128     extern void blob_filter_disparites (CorrelationResults& correlationResults,
00129           int sizeMin,
00130           float diffMax );
00131 
00132     //====================== rectification    
00133     extern void rectification_ima1_michel ( unsigned char* im_source, 
00134               ImagesSizes& images_sizes, 
00135               int reduction, 
00136               RectificationParams& rectificationParams,
00137               RectificationParams::RECTIFICATION_TYPE type_rectification, 
00138               RectificationParams::DISTORTION_TYPE type_distortion,
00139               RectificationParams::DO_INTERPOLATION do_interpolation, 
00140               unsigned char* im_rectifiee );
00141     
00142     extern void rectifie_sous_ima1_michel ( unsigned char* im_source, 
00143               ImagesSizes& images_sizes, 
00144               RectificationParams::DISTORTION_TYPE type_distortion, 
00145               RectificationParams::DO_INTERPOLATION do_interpolation, 
00146               double* mat_rectification, 
00147               double* mat_intrinseque, 
00148               double* mat_distortion, 
00149               unsigned char* im_rectifiee );
00150     
00151     extern void rectifie_sous_ima1_tables_michel(unsigned char* im_source, 
00152              ImagesSizes& images_sizes,
00153              RectificationParams& rectificationParams,
00154              RectificationParams::DO_INTERPOLATION do_interpolation,
00155              unsigned char* im_rectifiee );
00156 
00157     extern void rectification_ima1_old ( unsigned char* im_source, 
00158            ImagesSizes& images_sizes, 
00159            int reduction, 
00160            RectificationParams& rectificationParams,
00161            RectificationParams::RECTIFICATION_TYPE type_rectification, 
00162            RectificationParams::DISTORTION_TYPE type_distortion,
00163            RectificationParams::DO_INTERPOLATION do_interpolation, 
00164            unsigned char* im_rectifiee );
00165     
00166     extern void rectifie_sous_ima1_old ( unsigned char* im_source, 
00167            ImagesSizes& images_sizes, 
00168            int reduction,
00169            RectificationParams::DISTORTION_TYPE type_distortion, 
00170            RectificationParams::DO_INTERPOLATION do_interpolation, 
00171            double* mat_rectification, 
00172            double* mat_intrinseque, 
00173            double* mat_distortion, 
00174            unsigned char* im_rectifiee );
00175     extern void rectifie_sous_ima1_tables_old (unsigned char* im_source,
00176                  ImagesSizes& images_sizes,
00177                  int      reduction,
00178                  RectificationParams&  rectif_params,
00179                  unsigned char* im_rectifiee);
00180 
00181     extern void
00182     rectifie_sous_ima1_inverse_old (unsigned char*  im_source,
00183             ImagesSizes&  images_sizes,
00184             int     reduction,
00185             RectificationParams& rectif_params,
00186             unsigned char*  im_derectifiee);
00187     
00188     
00189     // ============== estimation des parametres de rectification
00190 
00191     extern int corrige_distr3_pt_michel (double ud, double vd, 
00192            double *I, double *coefDist, 
00193            double *u, double *v);
00194     
00195     extern void estim_rectification_params_michel (double*  P1,
00196                double*  P2,
00197                double*  PP1,
00198                double*  PP2,
00199                int    imin,
00200                int    jmin,
00201                int    imax,
00202                int    jmax,
00203                int         nblig_rect,
00204                int         nbcol_rect,
00205                double*  W1,
00206                double*  W2,
00207                double*  base,
00208                double*  rotation,
00209                double*  intrinsinc);
00210     
00211 
00212     
00213     
00214   }// namespace stereo
00215 }// namespace jafar
00216 
00217 #endif // CALIFE_PROTO_HPP