otbDisparityMapToDEMFilter.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 otbDisparityMapToDEMFilter_h
#define otbDisparityMapToDEMFilter_h
 
#include "itkImageToImageFilter.h"
#include "otbGenericRSTransform.h"
#include "itkImageRegionSplitter.h"
#include "otbVectorImage.h"
#include "otbImage.h"
 
namespace otb
{
 
template <class TDisparityImage, class TInputImage, class TOutputDEMImage = TDisparityImage, class TEpipolarGridImage = otb::VectorImage<float, 2>,
          class TMaskImage = otb::Image<unsigned char>>
class ITK_EXPORT DisparityMapToDEMFilter : public itk::ImageToImageFilter<TDisparityImage, TOutputDEMImage>
{
public:
  typedef DisparityMapToDEMFilter Self;
  typedef itk::ImageToImageFilter<TDisparityImage, TOutputDEMImage> Superclass;
  typedef itk::SmartPointer<Self>       Pointer;
  typedef itk::SmartPointer<const Self> ConstPointer;
 
  itkNewMacro(Self);
 
  itkTypeMacro(DisparityMapToDEMFilter, ImageToImageFilter);
 
  typedef TDisparityImage    DisparityMapType;
  typedef TInputImage        SensorImageType;
  typedef TOutputDEMImage    DEMImageType;
  typedef TEpipolarGridImage GridImageType;
  typedef TMaskImage         MaskImageType;
 
  typedef typename DEMImageType::RegionType RegionType;
  typedef typename DEMImageType::PixelType  DEMPixelType;
 
  typedef itk::ImageRegionSplitter<2> SplitterType;
 
  // 3D RS transform
  // TODO: Allow tuning precision (i.e. double or float)
  typedef otb::GenericRSTransform<double, 3, 3> RSTransformType;
  // typedef typename RSTransformType::Pointer         RSTransformPointerType;
 
  // 3D points
  typedef typename RSTransformType::InputPointType TDPointType;
 
  void SetHorizontalDisparityMapInput(const TDisparityImage* hmap);
 
  void SetVerticalDisparityMapInput(const TDisparityImage* vmap);
 
  void SetLeftInput(const TInputImage* image);
 
  void SetRightInput(const TInputImage* image);
 
  void SetLeftEpipolarGridInput(const TEpipolarGridImage* grid);
 
  void SetRightEpipolarGridInput(const TEpipolarGridImage* grid);
 
  void SetDisparityMaskInput(const TMaskImage* mask);
 
  const TDisparityImage*    GetHorizontalDisparityMapInput() const;
  const TDisparityImage*    GetVerticalDisparityMapInput() const;
  const TInputImage*        GetLeftInput() const;
  const TInputImage*        GetRightInput() const;
  const TEpipolarGridImage* GetLeftEpipolarGridInput() const;
  const TEpipolarGridImage* GetRightEpipolarGridInput() const;
  const TMaskImage*         GetDisparityMaskInput() const;
 
  const TOutputDEMImage* GetDEMOutput() const;
  TOutputDEMImage*       GetDEMOutput();
 
  itkSetMacro(ElevationMin, double);
  itkGetConstReferenceMacro(ElevationMin, double);
 
  itkSetMacro(ElevationMax, double);
  itkGetConstReferenceMacro(ElevationMax, double);
 
  itkSetMacro(DEMGridStep, double);
  itkGetConstReferenceMacro(DEMGridStep, double);
 
protected:
  DisparityMapToDEMFilter();
 
  ~DisparityMapToDEMFilter() override;
 
  void GenerateOutputInformation() override;
 
  void GenerateInputRequestedRegion() override;
 
  void BeforeThreadedGenerateData() override;
 
  void ThreadedGenerateData(const RegionType& outputRegionForThread, itk::ThreadIdType threadId) override;
 
  void AfterThreadedGenerateData() override;
 
  void VerifyInputInformation() override
  {
  }
 
 
private:
  DisparityMapToDEMFilter(const Self&) = delete;
  void operator=(const Self&) = delete;
 
  double m_ElevationMin;
 
  double m_ElevationMax;
 
  double m_DEMGridStep;
 
  SplitterType::Pointer m_InputSplitter;
 
  unsigned int m_UsedInputSplits;
 
  std::vector<typename DEMImageType::Pointer> m_TempDEMRegions;
 
  RSTransformType::Pointer m_LeftToGroundTransform;
 
  RSTransformType::Pointer m_RightToGroundTransform;
};
} // end namespace otb
 
#ifndef OTB_MANUAL_INSTANTIATION
#include "otbDisparityMapToDEMFilter.hxx"
#endif
 
#endif