Mercurial > hg > orthanc-stone
annotate Framework/Toolbox/FiniteProjectiveCamera.h @ 188:45b03b04a777 wasm
calibration of FiniteProjectiveCamera
author | Sebastien Jodogne <s.jodogne@gmail.com> |
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date | Fri, 16 Mar 2018 13:02:17 +0100 |
parents | 197a5ddaf68c |
children | 371da7fe2c0e |
rev | line source |
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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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parents:
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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 } |