datastructures.h
资源名称:estereo2.zip [点击查看]
上传用户:fengshi120
上传日期:2014-07-17
资源大小:6155k
文件大小:5k
源码类别:
3D图形编程
开发平台:
C/C++
- /***************************************************************************
- *
- * Copyright 2000 by David Demirdjian. All rights reserved.
- *
- * Developed by David Demirdjian
- *
- * Permission to use, copy, or modify this software and its documentation
- * for educational and research purposes only and without fee is hereby
- * granted, provided that this copyright notice and the original authors's
- * names appear on all copies and supporting documentation. If individual
- * files are separated from this distribution directory structure, this
- * copyright notice must be included. For any other uses of this software,
- * in original or modified form, including but not limited to distribution
- * in whole or in part, specific prior permission must be obtained from
- * MIT. These programs shall not be used, rewritten, or adapted as the
- * basis of a commercial software or hardware product without first
- * obtaining appropriate licenses from David Demirdjian. The author makes
- * no representations about the suitability of this software for any purpose.
- * It is provided "as is" without express or implied warranty.
- *
- **************************************************************************/
- #ifndef _DATASTRUCTURES_H
- #define _DATASTRUCTURES_H
- // ********************************************************************
- // ********************************************************************
- // InputImages: structure containing the input images (at a given scale)
- class InputImages {
- public:
- InputImages();
- ~InputImages();
- void alloc(int w, int h, int extra_margin);
- void deAlloc();
- int numImages; // 2 (pair) or 3
- unsigned char *subIm_l, *subIm_r, *subIm_t;
- unsigned char *subIm_l_origin, *subIm_r_origin, *subIm_t_origin;
- };
- // **********************************************************************
- // StereoImage: structure representing the depth information (disparity and sub-pixel)
- // at a given scale.
- // This contains in particular: imDepth8u and imDepth32f
- // which contain the disparity images (size width*height, 8bits unsigned char
- // and 32bits float) stored as 1-dim. arrays.
- class StereoImage {
- public:
- StereoImage();
- ~StereoImage();
- void alloc(int w, int h);
- void deAlloc();
- void Reset(void);
- void createValidPixelsList(int topmargin);
- // create some 'borders' around the stereo image
- void setUndefinedBorders(int leftMargin, int rightMargin);
- // set the undefined depth value ...
- void setUndefinedDepthValue(const unsigned char undefined_val);
- void generateDepth32f();
- void generateDepth8uFromDepth32f();
- // ***** dense representation *************
- int width,height;
- // disparity image (8bits unsigned char)
- unsigned char *imDepth8u, *imDepth8u_origin;
- // disparity image (32bits float)
- float *imDepth32f, *imDepth32f_origin;
- // ***** sparse representation *************
- // index of valid pixels in imDepth
- int *valid_pixels;
- short *x, *y;
- float *depth_float_list;
- unsigned int m_nGood3DPoints; // nb of valid pixels
- // undefined depth value: all undefined pixels in the disp. image will have this value
- unsigned char UNDEFINED_DEPTH;
- private:
- int *valid_pixels_origin;
- short *x_origin, *y_origin;
- float *depth_float_list_origin;
- };
- // ***********************************************************************
- // ***********************************************************************
- // ReconstPoints3D: structure representing a 3D Euclidean reconstruction
- class ReconstPoints3D {
- public:
- ReconstPoints3D();
- ~ReconstPoints3D();
- void alloc(int N);
- void FreeMemoryBuffers(void);
- // I/O functions to load/save a 3D reconstruction
- int load(char* filename);
- int save(char* filename);
- // return arrays containing 3-D reconstruction
- float* getXlist() const;
- float* getYlist() const;
- float* getZlist() const;
- unsigned char* getARGBlist() const; // color (ARGB) list
- float* getPointSizelist() const; // size of the points
- // return num. of reconstructed points
- int getNumPoints() const;
- // return 3 images containing X,Y and Z values
- void getImages_3D(float* X_im, float* Y_im, float* Z_im, const int* valid_pixels);
- friend class Reconst3D;
- // ROI of the scene
- float m_fExtentMinX;
- float m_fExtentMaxX;
- float m_fExtentMinY;
- float m_fExtentMaxY;
- float m_fExtentMinZ;
- float m_fExtentMaxZ;
- protected:
- // 3D reconstruction
- float *m_p3DPointsX;
- float *m_p3DPointsY;
- float *m_p3DPointsZ;
- unsigned char *m_p3DPointsC; // Color: RGBA values
- float *m_p3DPointsS; // size of the 3D points
- unsigned int m_nGood3DPoints; // number of points in the scene
- private:
- // original data pointers
- float *m_p3DPointsX_origin;
- float *m_p3DPointsY_origin;
- float *m_p3DPointsZ_origin;
- };
- #endif