InversePerspectiveMapping.hh

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/***
 * \file InversePerspectiveMapping.hh
 * \author Mohamed Aly <malaa@caltech.edu>
 * \date 11/29/2006
 */

#ifndef INVERSEPERSPECTIVEMAPPING_HH_
#define INVERSEPERSPECTIVEMAPPING_HH_


#include "cv.h"
#include "mcv.hh"
#include <list>

//conf file for cameraInfo
#include "CameraInfoOpt.h"

using namespace std;

namespace LaneDetector
{

typedef struct IPMInfo
{
  FLOAT xLimits[2];
  FLOAT yLimits[2];
  FLOAT xScale;
  FLOAT yScale;
  int width;
  int height;
  float vpPortion;
  float ipmLeft;
  float ipmRight;
  float ipmTop;
  float ipmBottom;
  int ipmInterpolation;
}IPMInfo;

typedef struct CameraInfo
{
  FLOAT_POINT2D focalLength;
  FLOAT_POINT2D opticalCenter;
  FLOAT cameraHeight;
  FLOAT pitch;
  FLOAT yaw;
  FLOAT imageWidth;
  FLOAT imageHeight;
}CameraInfo;

//functions definitions
void mcvGetIPM(const CvMat* inImage, CvMat* outImage,
               IPMInfo *ipmInfo, const CameraInfo *cameraInfo,
               list<CvPoint>* outPoints=NULL);


void mcvTransformImage2Ground(const CvMat *inPoints,
                              CvMat *outPoints, const CameraInfo *cameraInfo);


void mcvTransformGround2Image(const CvMat *inPoints,
                              CvMat *outPoints, const CameraInfo *cameraInfo);

FLOAT_POINT2D mcvGetVanishingPoint(const CameraInfo *cameraInfo);

void mcvPointImIPM2World(FLOAT_POINT2D *point, const IPMInfo *ipmInfo);

void mcvInitCameraInfo (char *const fileName, CameraInfo *cameraInfo);

 void mcvScaleCameraInfo (CameraInfo *cameraInfo, CvSize size);

void mcvGetIPMExtent(const CameraInfo *cameraInfo, IPMInfo *ipmInfo);

void mcvTransformImIPM2Ground(const CvMat *inMat, CvMat* outMat,
                              const IPMInfo *ipmInfo);

void mcvTransformImIPM2Im(const CvMat *inMat, CvMat* outMat,
                          const IPMInfo *ipmInfo,
                          const CameraInfo *cameraInfo);

} // namespace LaneDetector

#endif /*INVERSEPERSPECTIVEMAPPING_HH_*/