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comparison Framework/Toolbox/FiniteProjectiveCamera.h @ 161:197a5ddaf68c wasm

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FiniteProjectiveCamera
author Sebastien Jodogne <s.jodogne@gmail.com>
date Wed, 14 Feb 2018 11:29:26 +0100
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children 45b03b04a777
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160:e9dae7e7bffc 161:197a5ddaf68c
1 /**
2 * Stone of Orthanc
3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
4 * Department, University Hospital of Liege, Belgium
5 * Copyright (C) 2017-2018 Osimis S.A., Belgium
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"
25
26 namespace OrthancStone
27 {
28 // Reference: "Multiple View Geometry in Computer Vision (2nd Edition)"
29 class FiniteProjectiveCamera : public boost::noncopyable
30 {
31 private:
32 Matrix p_; // 3x4 matrix - Equation (6.11) - page 157
33 Matrix k_; // 3x3 matrix of intrinsic parameters - Equation (6.10) - page 157
34 Matrix r_; // 3x3 rotation matrix in 3D space
35 Vector c_; // 3x1 vector in 3D space corresponding to camera center
36 Matrix minv_; // Inverse of the M = P(1:3,1:3) submatrix
37
38 void ComputeMInverse();
39
40 void Setup(const Matrix& k,
41 const Matrix& r,
42 const Vector& c);
43
44 void Setup(const Matrix& p);
45
46 public:
47 FiniteProjectiveCamera(const Matrix& k,
48 const Matrix& r,
49 const Vector& c)
50 {
51 Setup(k, r, c);
52 }
53
54 FiniteProjectiveCamera(const Matrix& p)
55 {
56 Setup(p);
57 }
58
59 FiniteProjectiveCamera(const double k[9],
60 const double r[9],
61 const double c[3]);
62
63 FiniteProjectiveCamera(const double p[12]);
64
65 const Matrix& GetMatrix() const
66 {
67 return p_;
68 }
69
70 const Matrix& GetRotation() const
71 {
72 return r_;
73 }
74
75 const Vector& GetCenter() const
76 {
77 return c_;
78 }
79
80 const Matrix& GetIntrinsicParameters() const
81 {
82 return k_;
83 }
84
85 // Computes the 3D vector that represents the direction from the
86 // camera center to the (x,y) imaged point
87 Vector GetRayDirection(double x,
88 double y) const;
89
90 // Apply the camera to a 3D point "v" that is not at infinity. "v"
91 // can be encoded either as a non-homogeneous vector (3
92 // components), or as a homogeneous vector (4 components).
93 void ApplyFinite(double& x,
94 double& y,
95 const Vector& v) const;
96
97 // Apply the camera to a 3D point "v" that is possibly at
98 // infinity. The result is a 2D point in homogeneous coordinates.
99 Vector ApplyGeneral(const Vector& v) const;
100 };
101 }