Mercurial > hg > orthanc-stone
annotate Framework/Toolbox/FiniteProjectiveCamera.h @ 439:b70e9be013e4
preparing for 2019
| author | Sebastien Jodogne <s.jodogne@gmail.com> |
|---|---|
| date | Mon, 24 Dec 2018 13:41:12 +0100 |
| parents | 371da7fe2c0e |
| children | c3bbb130abc4 |
| 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 | |
| 439 | 5 * Copyright (C) 2017-2019 Osimis S.A., Belgium |
| 161 | 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" | |
|
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25 #include "../Volumes/ImageBuffer3D.h" |
| 161 | 26 |
| 27 namespace OrthancStone | |
| 28 { | |
| 29 // Reference: "Multiple View Geometry in Computer Vision (2nd Edition)" | |
| 30 class FiniteProjectiveCamera : public boost::noncopyable | |
| 31 { | |
| 32 private: | |
| 33 Matrix p_; // 3x4 matrix - Equation (6.11) - page 157 | |
| 34 Matrix k_; // 3x3 matrix of intrinsic parameters - Equation (6.10) - page 157 | |
| 35 Matrix r_; // 3x3 rotation matrix in 3D space | |
| 36 Vector c_; // 3x1 vector in 3D space corresponding to camera center | |
| 37 Matrix minv_; // Inverse of the M = P(1:3,1:3) submatrix | |
| 38 | |
| 39 void ComputeMInverse(); | |
| 40 | |
| 41 void Setup(const Matrix& k, | |
| 42 const Matrix& r, | |
| 43 const Vector& c); | |
| 44 | |
| 45 void Setup(const Matrix& p); | |
| 46 | |
| 47 public: | |
| 48 FiniteProjectiveCamera(const Matrix& k, | |
| 49 const Matrix& r, | |
| 50 const Vector& c) | |
| 51 { | |
| 52 Setup(k, r, c); | |
| 53 } | |
| 54 | |
| 55 FiniteProjectiveCamera(const Matrix& p) | |
| 56 { | |
| 57 Setup(p); | |
| 58 } | |
| 59 | |
| 60 FiniteProjectiveCamera(const double k[9], | |
| 61 const double r[9], | |
| 62 const double c[3]); | |
| 63 | |
| 64 FiniteProjectiveCamera(const double p[12]); | |
| 65 | |
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66 // Constructor that implements camera calibration |
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67 FiniteProjectiveCamera(const Vector& camera, |
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68 const Vector& principalPoint, |
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69 double angle, |
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70 unsigned int imageWidth, |
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71 unsigned int imageHeight, |
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72 double pixelSpacingX, |
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73 double pixelSpacingY); |
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74 |
| 161 | 75 const Matrix& GetMatrix() const |
| 76 { | |
| 77 return p_; | |
| 78 } | |
| 79 | |
| 80 const Matrix& GetRotation() const | |
| 81 { | |
| 82 return r_; | |
| 83 } | |
| 84 | |
| 85 const Vector& GetCenter() const | |
| 86 { | |
| 87 return c_; | |
| 88 } | |
| 89 | |
| 90 const Matrix& GetIntrinsicParameters() const | |
| 91 { | |
| 92 return k_; | |
| 93 } | |
| 94 | |
| 95 // Computes the 3D vector that represents the direction from the | |
| 96 // camera center to the (x,y) imaged point | |
| 97 Vector GetRayDirection(double x, | |
| 98 double y) const; | |
| 99 | |
| 100 // Apply the camera to a 3D point "v" that is not at infinity. "v" | |
| 101 // can be encoded either as a non-homogeneous vector (3 | |
| 102 // components), or as a homogeneous vector (4 components). | |
| 103 void ApplyFinite(double& x, | |
| 104 double& y, | |
| 105 const Vector& v) const; | |
| 106 | |
| 107 // Apply the camera to a 3D point "v" that is possibly at | |
| 108 // infinity. The result is a 2D point in homogeneous coordinates. | |
| 109 Vector ApplyGeneral(const Vector& v) const; | |
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110 |
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111 Orthanc::ImageAccessor* ApplyRaytracer(const ImageBuffer3D& source, |
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112 Orthanc::PixelFormat targetFormat, |
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113 unsigned int targetWidth, |
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114 unsigned int targetHeight, |
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115 bool mip) const; |
| 161 | 116 }; |
| 117 } |