OmniFastLookupTable.hh

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/*
 *  Copyright (C) Massimo Cora' 2005 <maxcvs@email.it>
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 */


#ifndef __OMNI_FAST_LOOKUP_TABLE_H__
#define __OMNI_FAST_LOOKUP_TABLE_H__


#include "OmniConfig.hh"
#include "OmniAngle.hh"

// opencv
#include <cv.h>
#include <highgui.h>


// some defines to clean the code and make it more readable
#define OMNI_COORD(theta,radius) \
        omni_bounds.omni_data[theta][radius]

#define PANO_COORD(theta,radius) \
        pano_bounds.pano_data[theta][radius]

class OmniFastLookupTable {
public: 
        OmniFastLookupTable( int min_radius,
                                                 int max_radius,
                                                 int omni_center_x_pixel,
                                                 int omni_center_y_pixel,
                                                 double theta_step = 0,         
                                                 bool flipped_mode = false );
        virtual ~OmniFastLookupTable();

        void angle_type_conversion( const OmniAngle<double> &in_double_interval, 
                                                                OmniAngle<int> &out_int_interval );

        IplImage* omni2pano( IplImage *omni_frame, const OmniAngle<int> &IN_interval );
        
        // we shouldn't need this implementation right now
        //IplImage* omni2pano( IplImage *omni_frame, const OmniAngle<double> &IN_interval );

        void pano2omni_xy( CvPoint *pano_point, 
                                           int theta_start,
                                           CvPoint *omni_point );

        int get_min_radius();
        int get_max_radius();
        int get_omni_center_x();
        int get_omni_center_y();
        
        bool is_initialized ();

private:                // functions
        bool omnipano_lookup_table_make();

private:                // data

        typedef struct _image_coord_xy {
                int x_rgb;              
                int y_rgb;              

        } pano_coord_xy, *pano_coord_xy_ptr,
        omni_coord_xy, *omni_coord_xy_ptr;

        struct _omni_bounds {
                omni_coord_xy **omni_data;              

                int theta_length;                               
                int radius_length;                              
        } omni_bounds;
        
        struct _pano_bounds {
                pano_coord_xy **pano_data;              

                int width;
                int height;
        } pano_bounds;


        double _theta_step;
        int _theta_max;
        int _min_radius;
        int _max_radius;
        int _min_to_max_radius_range;

        bool _flipped_mode;
        
        int _omni_center_x_rgb;
        
        int _omni_center_y_rgb;

        int _omni_center_x;
        int _omni_center_y;
        
        bool _is_valid;
};


#endif

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