PinholeFaugerasCamera.hpp

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/*
 * 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
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 */



#ifndef SLIP_PINHOLEFAUGERASCAMERA_HPP
#define SLIP_PINHOLEFAUGERASCAMERA_HPP

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

#include "CameraModel.hpp"
#include "camera_algo.hpp"
#include "PinholeCamera.hpp"

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

namespace slip 
{
  template <typename Type>
  class PinholeFaugerasCamera;
  
  template <typename Type>
  std::ostream& operator<<(std::ostream & out, const PinholeFaugerasCamera<Type>& c);

  template <typename Type>
  class PinholeFaugerasCamera: public PinholeCamera<Type> 
  {
    typedef PinholeFaugerasCamera<Type> self;
    typedef PinholeCamera<Type> base;
  public:

    PinholeFaugerasCamera():base()
    {
    }

    PinholeFaugerasCamera(const self& rhs):base(rhs)
    {}

    self& operator=(const self & rhs)
    {
      if(this != &rhs)
                {
                  this->base::operator=(rhs);
                  
                }
      return *this;
    }
    void compute(const slip::Matrix<Type>& P) 
    {
      getpars_Faugeras(P,*base::calibration_matrix_);
    }
  private:
    friend class boost::serialization::access;
    template<class Archive>
    void save(Archive & ar, const unsigned int version) const
    {
      ar & boost::serialization::base_object<slip::PinholeCamera<Type> >(*this);
    }
  template<class Archive>
    void load(Archive & ar, const unsigned int version)
    {
      ar & boost::serialization::base_object<slip::PinholeCamera<Type> >(*this);
    }
   BOOST_SERIALIZATION_SPLIT_MEMBER()

  };

}//slip::

namespace slip 
{
  template<typename Type>
  std::ostream& operator<<(std::ostream & out, const slip::PinholeFaugerasCamera<Type>& c) 
  {
    out<<*c.calibration_matrix_<<std::endl;
    return out;
  }
}//slip::

#endif //SLIP_PINHOLEFAUGERASCAMERA_HPP