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