Mercurial > hg > orthanc-stone
annotate Framework/Toolbox/FiniteProjectiveCamera.h @ 188:45b03b04a777 wasm
calibration of FiniteProjectiveCamera
| author | Sebastien Jodogne <s.jodogne@gmail.com> |
|---|---|
| date | Fri, 16 Mar 2018 13:02:17 +0100 |
| parents | 197a5ddaf68c |
| children | 371da7fe2c0e |
| rev | line source |
|---|---|
| 161 | 1 /** |
| 2 * Stone of Orthanc | |
| 3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics | |
| 4 * Department, University Hospital of Liege, Belgium | |
| 5 * Copyright (C) 2017-2018 Osimis S.A., Belgium | |
| 6 * | |
| 7 * This program is free software: you can redistribute it and/or | |
| 8 * modify it under the terms of the GNU Affero General Public License | |
| 9 * as published by the Free Software Foundation, either version 3 of | |
| 10 * the License, or (at your option) any later version. | |
| 11 * | |
| 12 * This program is distributed in the hope that it will be useful, but | |
| 13 * WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | |
| 15 * Affero General Public License for more details. | |
| 16 * | |
| 17 * You should have received a copy of the GNU Affero General Public License | |
| 18 * along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 19 **/ | |
| 20 | |
| 21 | |
| 22 #pragma once | |
| 23 | |
| 24 #include "LinearAlgebra.h" | |
| 25 | |
| 26 namespace OrthancStone | |
| 27 { | |
| 28 // Reference: "Multiple View Geometry in Computer Vision (2nd Edition)" | |
| 29 class FiniteProjectiveCamera : public boost::noncopyable | |
| 30 { | |
| 31 private: | |
| 32 Matrix p_; // 3x4 matrix - Equation (6.11) - page 157 | |
| 33 Matrix k_; // 3x3 matrix of intrinsic parameters - Equation (6.10) - page 157 | |
| 34 Matrix r_; // 3x3 rotation matrix in 3D space | |
| 35 Vector c_; // 3x1 vector in 3D space corresponding to camera center | |
| 36 Matrix minv_; // Inverse of the M = P(1:3,1:3) submatrix | |
| 37 | |
| 38 void ComputeMInverse(); | |
| 39 | |
| 40 void Setup(const Matrix& k, | |
| 41 const Matrix& r, | |
| 42 const Vector& c); | |
| 43 | |
| 44 void Setup(const Matrix& p); | |
| 45 | |
| 46 public: | |
| 47 FiniteProjectiveCamera(const Matrix& k, | |
| 48 const Matrix& r, | |
| 49 const Vector& c) | |
| 50 { | |
| 51 Setup(k, r, c); | |
| 52 } | |
| 53 | |
| 54 FiniteProjectiveCamera(const Matrix& p) | |
| 55 { | |
| 56 Setup(p); | |
| 57 } | |
| 58 | |
| 59 FiniteProjectiveCamera(const double k[9], | |
| 60 const double r[9], | |
| 61 const double c[3]); | |
| 62 | |
| 63 FiniteProjectiveCamera(const double p[12]); | |
| 64 | |
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65 // Constructor that implements camera calibration |
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66 FiniteProjectiveCamera(const Vector& camera, |
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67 const Vector& principalPoint, |
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68 double angle, |
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69 unsigned int imageWidth, |
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70 unsigned int imageHeight, |
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71 double pixelSpacingX, |
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72 double pixelSpacingY); |
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73 |
| 161 | 74 const Matrix& GetMatrix() const |
| 75 { | |
| 76 return p_; | |
| 77 } | |
| 78 | |
| 79 const Matrix& GetRotation() const | |
| 80 { | |
| 81 return r_; | |
| 82 } | |
| 83 | |
| 84 const Vector& GetCenter() const | |
| 85 { | |
| 86 return c_; | |
| 87 } | |
| 88 | |
| 89 const Matrix& GetIntrinsicParameters() const | |
| 90 { | |
| 91 return k_; | |
| 92 } | |
| 93 | |
| 94 // Computes the 3D vector that represents the direction from the | |
| 95 // camera center to the (x,y) imaged point | |
| 96 Vector GetRayDirection(double x, | |
| 97 double y) const; | |
| 98 | |
| 99 // Apply the camera to a 3D point "v" that is not at infinity. "v" | |
| 100 // can be encoded either as a non-homogeneous vector (3 | |
| 101 // components), or as a homogeneous vector (4 components). | |
| 102 void ApplyFinite(double& x, | |
| 103 double& y, | |
| 104 const Vector& v) const; | |
| 105 | |
| 106 // Apply the camera to a 3D point "v" that is possibly at | |
| 107 // infinity. The result is a 2D point in homogeneous coordinates. | |
| 108 Vector ApplyGeneral(const Vector& v) const; | |
| 109 }; | |
| 110 } |