otbDisparityMapTo3DFilter.h

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/*
 * Copyright (C) 2005-2022 Centre National d'Etudes Spatiales (CNES)
 *
 * This file is part of Orfeo Toolbox
 *
 *     https://www.orfeo-toolbox.org/
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
#ifndef otbDisparityMapTo3DFilter_h
#define otbDisparityMapTo3DFilter_h
 
#include "itkImageToImageFilter.h"
#include "otbGenericRSTransform.h"
#include "otbLineOfSightOptimizer.h"
#include "otbVectorImage.h"
#include "otbImage.h"
 
namespace otb
{
 
template <class TDisparityImage, class TOutputImage = otb::VectorImage<float, 2>, class TEpipolarGridImage = otb::VectorImage<float, 2>,
          class TMaskImage = otb::Image<unsigned char>>
class ITK_EXPORT DisparityMapTo3DFilter : public itk::ImageToImageFilter<TDisparityImage, TOutputImage>
{
public:
  typedef DisparityMapTo3DFilter Self;
  typedef itk::ImageToImageFilter<TDisparityImage, TOutputImage> Superclass;
  typedef itk::SmartPointer<Self>       Pointer;
  typedef itk::SmartPointer<const Self> ConstPointer;
 
  itkNewMacro(Self);
 
  itkTypeMacro(DisparityMapTo3DFilter, ImageToImageFilter);
 
  typedef TDisparityImage    DisparityMapType;
  typedef TOutputImage       OutputImageType;
  typedef TEpipolarGridImage GridImageType;
  typedef TMaskImage         MaskImageType;
 
  typedef typename OutputImageType::RegionType RegionType;
  typedef typename OutputImageType::PixelType  DEMPixelType;
 
  // 3D RS transform
  // TODO: Allow tuning precision (i.e. double or float)
  typedef double PrecisionType;
  typedef otb::GenericRSTransform<PrecisionType, 3, 3> RSTransformType;
 
  // 3D points
  typedef typename RSTransformType::InputPointType TDPointType;
 
  typedef otb::LineOfSightOptimizer<PrecisionType>  OptimizerType;
  typedef typename OptimizerType::PointSetType      PointSetType;
  typedef typename PointSetType::PointsContainer    PointsContainer;
  typedef typename PointSetType::PointDataContainer LabelContainer;
 
  void SetHorizontalDisparityMapInput(const TDisparityImage* hmap);
 
  void SetVerticalDisparityMapInput(const TDisparityImage* vmap);
 
  void SetLeftEpipolarGridInput(const TEpipolarGridImage* grid);
 
  void SetRightEpipolarGridInput(const TEpipolarGridImage* grid);
 
  void SetDisparityMaskInput(const TMaskImage* mask);
 
  const TDisparityImage*    GetHorizontalDisparityMapInput() const;
  const TDisparityImage*    GetVerticalDisparityMapInput() const;
  const TEpipolarGridImage* GetLeftEpipolarGridInput() const;
  const TEpipolarGridImage* GetRightEpipolarGridInput() const;
  const TMaskImage*         GetDisparityMaskInput() const;
 
  void SetLeftImageMetadata(const ImageMetadata* imd)
  {
    this->m_LeftImageMetadata = imd;
    this->Modified();
  }
 
  const ImageMetadata* GetLeftImageMetadata() const
  {
    return this->m_LeftImageMetadata;
  }
 
  void SetRightImageMetadata(const ImageMetadata* imd)
  {
    this->m_RightImageMetadata = imd;
    this->Modified();
  }
 
  const ImageMetadata* GetRightImageMetadata() const
  {
    return this->m_RightImageMetadata;
  }
 
protected:
  DisparityMapTo3DFilter();
 
  ~DisparityMapTo3DFilter() override = default;
 
  void GenerateOutputInformation() override;
 
  void GenerateInputRequestedRegion() override;
 
  void BeforeThreadedGenerateData() override;
 
  void ThreadedGenerateData(const RegionType& outputRegionForThread, itk::ThreadIdType threadId) override;
 
  void VerifyInputInformation() override
  {
  }
 
 
private:
  DisparityMapTo3DFilter(const Self&) = delete;
  void operator=(const Self&) = delete;
 
  const ImageMetadata*   m_LeftImageMetadata = nullptr;
 
  const ImageMetadata*   m_RightImageMetadata = nullptr;
 
  RSTransformType::Pointer m_LeftToGroundTransform;
 
  RSTransformType::Pointer m_RightToGroundTransform;
};
} // end namespace otb
 
#ifndef OTB_MANUAL_INSTANTIATION
#include "otbDisparityMapTo3DFilter.hxx"
#endif
 
#endif