otbMultiDisparityMapTo3DFilter.h

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/*
 * Copyright (C) 2005-2024 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 otbMultiDisparityMapTo3DFilter_h
#define otbMultiDisparityMapTo3DFilter_h
 
#include "itkImageToImageFilter.h"
#include "otbGenericRSTransform.h"
#include "otbLineOfSightOptimizer.h"
#include "itkImageRegionIteratorWithIndex.h"
#include "itkImageRegionConstIterator.h"
#include "otbVectorImage.h"
#include "otbImage.h"
 
namespace otb
{
 
template <class TDisparityImage, class TOutputImage = otb::VectorImage<float, 2>, class TMaskImage = otb::Image<unsigned char>,
          class TResidueImage = otb::Image<float>>
class ITK_EXPORT MultiDisparityMapTo3DFilter : public itk::ImageToImageFilter<TDisparityImage, TOutputImage>
{
public:
  typedef MultiDisparityMapTo3DFilter Self;
  typedef itk::ImageToImageFilter<TDisparityImage, TOutputImage> Superclass;
  typedef itk::SmartPointer<Self>       Pointer;
  typedef itk::SmartPointer<const Self> ConstPointer;
 
  itkNewMacro(Self);
 
  itkTypeMacro(MultiDisparityMapTo3DFilter, ImageToImageFilter);
 
  typedef TDisparityImage DisparityMapType;
  typedef TOutputImage    OutputImageType;
  typedef TMaskImage      MaskImageType;
  typedef TResidueImage   ResidueImageType;
 
  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;
 
  typedef std::map<unsigned int, itk::ImageRegionConstIterator<DisparityMapType>> DispMapIteratorList;
 
  typedef std::map<unsigned int, itk::ImageRegionConstIterator<MaskImageType>> MaskIteratorList;
 
  void SetNumberOfMovingImages(unsigned int nb);
 
  unsigned int GetNumberOfMovingImages();
 
  void SetHorizontalDisparityMapInput(unsigned int index, const TDisparityImage* hmap);
 
  void SetVerticalDisparityMapInput(unsigned int index, const TDisparityImage* vmap);
 
  void SetDisparityMaskInput(unsigned int index, const TMaskImage* mask);
 
  const TDisparityImage* GetHorizontalDisparityMapInput(unsigned int index) const;
  const TDisparityImage* GetVerticalDisparityMapInput(unsigned int index) const;
  const TMaskImage* GetDisparityMaskInput(unsigned int index) const;
 
  const TResidueImage* GetResidueOutput() const;
  TResidueImage*       GetResidueOutput();
 
  void SetReferenceImageMetadata(const ImageMetadata* imd)
  {
    this->m_ReferenceImageMetadata = imd;
    this->Modified();
  }
 
  const ImageMetadata* GetReferenceImageMetadata() const
  {
    return this->m_ReferenceImageMetadata;
  }
 
  void SetMovingImageMetadata(unsigned int index, const ImageMetadata* imd);
 
  const ImageMetadata* GetMovingImageMetadata(unsigned int index) const;
 
protected:
  MultiDisparityMapTo3DFilter();
 
  ~MultiDisparityMapTo3DFilter() override;
 
  void GenerateOutputInformation() override;
 
  void GenerateInputRequestedRegion() override;
 
  void DynamicThreadedGenerateData(const RegionType& outputRegionForThread) override;
 
private:
  MultiDisparityMapTo3DFilter(const Self&) = delete;
  void operator=(const Self&) = delete;
 
  const ImageMetadata*   m_ReferenceImageMetadata = nullptr;
 
  std::vector<const ImageMetadata*> m_MovingImageMetadatas;
 
 
};
} // end namespace otb
 
#ifndef OTB_MANUAL_INSTANTIATION
#include "otbMultiDisparityMapTo3DFilter.hxx"
#endif
 
#endif