stereo_processor.h

00001 
00002 /***************************************************************************
00003  *  stereo_processor.h - Stereo processor interface
00004  *
00005  *  Created: Fri May 18 15:58:30 2007
00006  *  Copyright  2007  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #ifndef __FIREVISION_FVUTILS_STEREO_STEREO_PROCESSOR_H_
00025 #define __FIREVISION_FVUTILS_STEREO_STEREO_PROCESSOR_H_
00026 
00027 #include <sys/types.h>
00028 
00029 namespace firevision {
00030 #if 0 /* just to make Emacs auto-indent happy */
00031 }
00032 #endif
00033 
00034 class ROI;
00035 
00036 class StereoProcessor
00037 {
00038  public:
00039   virtual ~StereoProcessor();
00040 
00041   virtual bool get_xyz(unsigned int px, unsigned int py,
00042                        float *x, float *y, float *z)                     = 0;
00043 
00044   virtual bool get_world_xyz(unsigned int px, unsigned int py,
00045                              float *x, float *y, float *z)               = 0;
00046 
00047   virtual void             preprocess_stereo()                           = 0;
00048   virtual void             calculate_disparity(ROI *roi = 0)             = 0;
00049   virtual void             calculate_yuv(bool both = false)              = 0;
00050 
00051   virtual unsigned char *  disparity_buffer()                            = 0;
00052   virtual size_t           disparity_buffer_size() const                 = 0;
00053   virtual unsigned char *  yuv_buffer()                                  = 0;
00054   virtual unsigned char *  auxiliary_yuv_buffer()                        = 0;
00055 };
00056 
00057 } // end namespace firevision
00058 
00059 #endif

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