CameraModel.hpp

Go to the documentation of this file.

/*
 * Copyright(c):
 * Signal Image and Communications (SIC) Department 
 * http://www.sic.sp2mi.univ-poitiers.fr/ 
 *  - University of Poitiers, France http://www.univ-poitiers.fr 
 *  - XLIM  Institute UMR CNRS 7252  http://www.xlim.fr/ 
 * 
 * and 
 * 
 * D2 Fluid, Thermic and Combustion 
 *  - University of Poitiers, France http://www.univ-poitiers.fr 
 *  - PPRIME Institute -  UPR CNRS 3346  http://www.pprime.fr
 *  - ISAE-ENSMA http://www.ensma.fr
 *
 * Contributor(s):
 * The SLIP team,
 * Benoit Tremblais <tremblais_AT_sic.univ-poitiers.fr>,
 * Laurent David <laurent.david_AT_lea.univ-poitiers.fr>, 
 * Ludovic Chatellier <ludovic.chatellier_AT_univ-poitiers.fr>, 
 * Lionel Thomas <lionel.thomas_AT_univ-poitiers.fr>, 
 * Denis Arrivault <arrivault_AT_sic.univ-poitiers.fr>, 
 * Julien Dombre <julien.dombre_AT_univ-poitiers.fr>.
 *
 * Description:
 * The Simple Library of Image Processing (SLIP) is a new image processing 
 * library. It is written in the C++ language following as much as possible 
 * the ISO/ANSI C++ standard. It is consequently compatible with any system  
 * satisfying the ANSI C++ complience. It works on different Unix , Linux ,  
 * Mircrosoft Windows and Mac OS X plateforms. SLIP is a research library that  
 * was created by the Signal, Image and Communications (SIC) departement of  
 * the XLIM, UMR 7252 CNRS Institute in collaboration with the Fluids, Thermic  
 * and Combustion departement of the P', UPR 3346 CNRS Institute of the  
 * University of Poitiers.
 * 
 * The SLIP Library source code has been registered to the APP (French Agency 
 * for the Protection of Programs) by the University of Poitiers and CNRS, 
 * under  registration number IDDN.FR.001.300034.000.S.P.2010.000.21000.

 * http://www.sic.sp2mi.univ-poitiers.fr/slip/
 *
 * This software is governed by the CeCILL-C license under French law and
 * abiding by the rules of distribution of free software.  You can  use, 
 * modify and/ or redistribute the software under the terms of the CeCILL-C 
 * license as circulated by CEA, CNRS and INRIA at the following URL 
 * http://www.cecill.info.
 * As a counterpart to the access to the source code and  rights to copy,
 * modify and redistribute granted by the license, users are provided only
 * with a limited warranty  and the software's author,  the holder of the
 * economic rights,  and the successive licensors  have only  limited
 * liability.
 * 
 * In this respect, the user's attention is drawn to the risks associated
 * with loading,  using,  modifying and/or developing or reproducing the
 * software by the user in light of its specific status of free software,
 * that may mean  that it is complicated to manipulate,  and  that  also
 * therefore means  that it is reserved for developers  and  experienced
 * professionals having in-depth computer knowledge. Users are therefore
 * encouraged to load and test the software's suitability as regards their
 * requirements in conditions enabling the security of their systems and/or
 * data to be ensured and,  more generally, to use and operate it in the 
 * same conditions as regards security. 
 *
 * The fact that you are presently reading this means that you have had
 * knowledge of the CeCILL-C license and that you accept its terms.
 */



#ifndef SLIP_CAMERAMODEL_HPP
#define SLIP_CAMERAMODEL_HPP


#include <iostream>
#include <cassert>
#include "Point2d.hpp"
#include "Point3d.hpp"
#include "Matrix.hpp"

#include <boost/serialization/access.hpp>
#include <boost/serialization/split_member.hpp>
#include <boost/serialization/version.hpp>

namespace slip
{

template <typename Type>
class CameraModel;

template <typename Type>
class CameraModel
{
typedef CameraModel<Type> self;

public:

  CameraModel(const self& other);

  virtual ~CameraModel();


  virtual void read(const std::string& file) = 0;

  virtual void write(const std::string& file) = 0;
  self& operator=(const self & other);
  virtual slip::Point2d<Type> projection(const slip::Point3d<Type>& p) = 0;

  virtual slip::Point3d<Type> backprojection(const slip::Point2d<Type>& p2, const Type& z) = 0;

//  virtual void compute(const slip::Matrix<Type>& P, const slip::ArgsStruct &s) = 0;
virtual void compute(const slip::Matrix<Type>& P) = 0;
  
protected:


  CameraModel();

private:
  void copy_attributes(const self& other);
 friend class boost::serialization::access;
  template<class Archive>
    void save(Archive & ar, const unsigned int version) const
    {
    }
  template<class Archive>
    void load(Archive & ar, const unsigned int version)
    {
    }
  BOOST_SERIALIZATION_SPLIT_MEMBER()
}; // end of Camera group
}//slip::


namespace slip
{

  template<typename Type>
  inline
  CameraModel<Type>::CameraModel()
  {}

  template<typename Type>
  inline
  CameraModel<Type>::CameraModel(const CameraModel<Type>& c)
  {
  }

  template<typename Type>
  inline
  CameraModel<Type>::~CameraModel()
  {}

  template<typename Type>
  inline
  CameraModel<Type>&
  CameraModel<Type>::operator=(const CameraModel<Type> & other)
  {
    if(this != &other)
      {

      }
    return *this;
  }

}//slip::
#endif //SLIP_CAMERAMODEL_HPP