annotate OrthancStone/Sources/Toolbox/FiniteProjectiveCamera.h @ 1652:fa9e6bf84958

integrating pdf.js into Stone Web viewer
author Sebastien Jodogne <s.jodogne@gmail.com>
date Mon, 16 Nov 2020 20:47:53 +0100
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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) 2017-2020 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 Lesser 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 * Lesser 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 Lesser General Public
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18 * License along with this program. If not, see
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19 * <http://www.gnu.org/licenses/>.
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20 **/
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23 #pragma once
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24
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25 #include "LinearAlgebra.h"
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26 #include "../Volumes/ImageBuffer3D.h"
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27 #include "../Volumes/VolumeImageGeometry.h"
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29 namespace OrthancStone
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30 {
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31 // Reference: "Multiple View Geometry in Computer Vision (2nd Edition)"
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32 class FiniteProjectiveCamera : public boost::noncopyable
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33 {
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34 private:
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35 Matrix p_; // 3x4 matrix - Equation (6.11) - page 157
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36 Matrix k_; // 3x3 matrix of intrinsic parameters - Equation (6.10) - page 157
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37 Matrix r_; // 3x3 rotation matrix in 3D space
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38 Vector c_; // 3x1 vector in 3D space corresponding to camera center
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39 Matrix minv_; // Inverse of the M = P(1:3,1:3) submatrix
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40
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41 void ComputeMInverse();
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43 void Setup(const Matrix& k,
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44 const Matrix& r,
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45 const Vector& c);
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47 void Setup(const Matrix& p);
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49 public:
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50 FiniteProjectiveCamera(const Matrix& k,
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51 const Matrix& r,
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52 const Vector& c)
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53 {
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54 Setup(k, r, c);
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55 }
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56
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57 explicit FiniteProjectiveCamera(const Matrix& p)
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58 {
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59 Setup(p);
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60 }
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61
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62 FiniteProjectiveCamera(const double k[9],
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63 const double r[9],
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64 const double c[3]);
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65
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66 explicit FiniteProjectiveCamera(const double p[12]);
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67
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68 // Constructor that implements camera calibration
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69 FiniteProjectiveCamera(const Vector& camera,
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70 const Vector& principalPoint,
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71 double angle,
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72 unsigned int imageWidth,
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73 unsigned int imageHeight,
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74 double pixelSpacingX,
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75 double pixelSpacingY);
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76
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77 const Matrix& GetMatrix() const
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78 {
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79 return p_;
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80 }
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81
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82 const Matrix& GetRotation() const
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83 {
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84 return r_;
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85 }
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86
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87 const Vector& GetCenter() const
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88 {
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89 return c_;
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90 }
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91
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92 const Matrix& GetIntrinsicParameters() const
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93 {
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94 return k_;
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95 }
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96
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97 // Computes the 3D vector that represents the direction from the
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98 // camera center to the (x,y) imaged point
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99 Vector GetRayDirection(double x,
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100 double y) const;
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101
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102 // Apply the camera to a 3D point "v" that is not at infinity. "v"
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103 // can be encoded either as a non-homogeneous vector (3
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104 // components), or as a homogeneous vector (4 components).
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105 void ApplyFinite(double& x,
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106 double& y,
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107 const Vector& v) const;
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108
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109 // Apply the camera to a 3D point "v" that is possibly at
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110 // infinity. The result is a 2D point in homogeneous coordinates.
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111 Vector ApplyGeneral(const Vector& v) const;
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112
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113 Orthanc::ImageAccessor* ApplyRaytracer(const ImageBuffer3D& source,
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114 const VolumeImageGeometry& geometry,
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115 Orthanc::PixelFormat targetFormat,
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116 unsigned int targetWidth,
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117 unsigned int targetHeight,
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118 bool mip) const;
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119 };
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120 }