Mercurial > hg > orthanc-stone
annotate OrthancStone/Sources/Toolbox/FiniteProjectiveCamera.h @ 2169:fe5406abd43f
added separate class Windowing
author | Sebastien Jodogne <s.jodogne@gmail.com> |
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date | Mon, 21 Oct 2024 15:40:34 +0200 |
parents | 16c01cc201e7 |
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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) 2017-2023 Osimis S.A., Belgium |
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6 * Copyright (C) 2021-2024 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 } |