Mercurial > hg > orthanc-stone
annotate OrthancStone/Sources/Toolbox/FiniteProjectiveCamera.h @ 1871:7053b8a0aaec
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| author | Sebastien Jodogne <s.jodogne@gmail.com> |
|---|---|
| date | Tue, 11 Jan 2022 11:18:48 +0100 |
| parents | 3889ae96d2e9 |
| children | 07964689cb0b |
| 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 | |
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5 * Copyright (C) 2017-2022 Osimis S.A., Belgium |
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6 * Copyright (C) 2021-2022 Sebastien Jodogne, ICTEAM UCLouvain, Belgium |
| 161 | 7 * |
| 8 * This program is free software: you can redistribute it and/or | |
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9 * modify it under the terms of the GNU Lesser General Public License |
| 161 | 10 * as published by the Free Software Foundation, either version 3 of |
| 11 * the License, or (at your option) any later version. | |
| 12 * | |
| 13 * This program is distributed in the hope that it will be useful, but | |
| 14 * WITHOUT ANY WARRANTY; without even the implied warranty of | |
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 * Lesser General Public License for more details. |
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17 * |
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18 * You should have received a copy of the GNU Lesser General Public |
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19 * License along with this program. If not, see |
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20 * <http://www.gnu.org/licenses/>. |
| 161 | 21 **/ |
| 22 | |
| 23 | |
| 24 #pragma once | |
| 25 | |
| 26 #include "LinearAlgebra.h" | |
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27 #include "../Volumes/ImageBuffer3D.h" |
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28 #include "../Volumes/VolumeImageGeometry.h" |
| 161 | 29 |
| 30 namespace OrthancStone | |
| 31 { | |
| 32 // Reference: "Multiple View Geometry in Computer Vision (2nd Edition)" | |
| 33 class FiniteProjectiveCamera : public boost::noncopyable | |
| 34 { | |
| 35 private: | |
| 36 Matrix p_; // 3x4 matrix - Equation (6.11) - page 157 | |
| 37 Matrix k_; // 3x3 matrix of intrinsic parameters - Equation (6.10) - page 157 | |
| 38 Matrix r_; // 3x3 rotation matrix in 3D space | |
| 39 Vector c_; // 3x1 vector in 3D space corresponding to camera center | |
| 40 Matrix minv_; // Inverse of the M = P(1:3,1:3) submatrix | |
| 41 | |
| 42 void ComputeMInverse(); | |
| 43 | |
| 44 void Setup(const Matrix& k, | |
| 45 const Matrix& r, | |
| 46 const Vector& c); | |
| 47 | |
| 48 void Setup(const Matrix& p); | |
| 49 | |
| 50 public: | |
| 51 FiniteProjectiveCamera(const Matrix& k, | |
| 52 const Matrix& r, | |
| 53 const Vector& c) | |
| 54 { | |
| 55 Setup(k, r, c); | |
| 56 } | |
| 57 | |
| 1571 | 58 explicit FiniteProjectiveCamera(const Matrix& p) |
| 161 | 59 { |
| 60 Setup(p); | |
| 61 } | |
| 62 | |
| 63 FiniteProjectiveCamera(const double k[9], | |
| 64 const double r[9], | |
| 65 const double c[3]); | |
| 66 | |
| 1571 | 67 explicit FiniteProjectiveCamera(const double p[12]); |
| 161 | 68 |
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69 // Constructor that implements camera calibration |
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70 FiniteProjectiveCamera(const Vector& camera, |
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71 const Vector& principalPoint, |
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72 double angle, |
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73 unsigned int imageWidth, |
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74 unsigned int imageHeight, |
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75 double pixelSpacingX, |
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76 double pixelSpacingY); |
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77 |
| 161 | 78 const Matrix& GetMatrix() const |
| 79 { | |
| 80 return p_; | |
| 81 } | |
| 82 | |
| 83 const Matrix& GetRotation() const | |
| 84 { | |
| 85 return r_; | |
| 86 } | |
| 87 | |
| 88 const Vector& GetCenter() const | |
| 89 { | |
| 90 return c_; | |
| 91 } | |
| 92 | |
| 93 const Matrix& GetIntrinsicParameters() const | |
| 94 { | |
| 95 return k_; | |
| 96 } | |
| 97 | |
| 98 // Computes the 3D vector that represents the direction from the | |
| 99 // camera center to the (x,y) imaged point | |
| 100 Vector GetRayDirection(double x, | |
| 101 double y) const; | |
| 102 | |
| 103 // Apply the camera to a 3D point "v" that is not at infinity. "v" | |
| 104 // can be encoded either as a non-homogeneous vector (3 | |
| 105 // components), or as a homogeneous vector (4 components). | |
| 106 void ApplyFinite(double& x, | |
| 107 double& y, | |
| 108 const Vector& v) const; | |
| 109 | |
| 110 // Apply the camera to a 3D point "v" that is possibly at | |
| 111 // infinity. The result is a 2D point in homogeneous coordinates. | |
| 112 Vector ApplyGeneral(const Vector& v) const; | |
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113 |
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114 Orthanc::ImageAccessor* ApplyRaytracer(const ImageBuffer3D& source, |
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115 const VolumeImageGeometry& geometry, |
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116 Orthanc::PixelFormat targetFormat, |
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117 unsigned int targetWidth, |
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118 unsigned int targetHeight, |
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119 bool mip) const; |
| 161 | 120 }; |
| 121 } |