--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Framework/Toolbox/FiniteProjectiveCamera.h	Wed Feb 14 11:29:26 2018 +0100
@@ -0,0 +1,101 @@
+/**
+ * Stone of Orthanc
+ * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
+ * Department, University Hospital of Liege, Belgium
+ * Copyright (C) 2017-2018 Osimis S.A., Belgium
+ *
+ * This program is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Affero General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Affero General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ **/
+
+
+#pragma once
+
+#include "LinearAlgebra.h"
+
+namespace OrthancStone
+{
+  // Reference: "Multiple View Geometry in Computer Vision (2nd Edition)"
+  class FiniteProjectiveCamera : public boost::noncopyable
+  {
+  private:
+    Matrix  p_;     // 3x4 matrix - Equation (6.11) - page 157
+    Matrix  k_;     // 3x3 matrix of intrinsic parameters - Equation (6.10) - page 157
+    Matrix  r_;     // 3x3 rotation matrix in 3D space
+    Vector  c_;     // 3x1 vector in 3D space corresponding to camera center
+    Matrix  minv_;  // Inverse of the M = P(1:3,1:3) submatrix
+
+    void ComputeMInverse();
+
+    void Setup(const Matrix& k,
+               const Matrix& r,
+               const Vector& c);
+
+    void Setup(const Matrix& p);
+
+  public:
+    FiniteProjectiveCamera(const Matrix& k,
+                           const Matrix& r,
+                           const Vector& c)
+    {
+      Setup(k, r, c);
+    }
+
+    FiniteProjectiveCamera(const Matrix& p)
+    {
+      Setup(p);
+    }
+
+    FiniteProjectiveCamera(const double k[9],
+                           const double r[9],
+                           const double c[3]);
+
+    FiniteProjectiveCamera(const double p[12]);
+
+    const Matrix& GetMatrix() const
+    {
+      return p_;
+    }
+
+    const Matrix& GetRotation() const
+    {
+      return r_;
+    }
+
+    const Vector& GetCenter() const
+    {
+      return c_;
+    }
+
+    const Matrix& GetIntrinsicParameters() const
+    {
+      return k_;
+    }
+
+    // Computes the 3D vector that represents the direction from the
+    // camera center to the (x,y) imaged point
+    Vector GetRayDirection(double x,
+                           double y) const;
+
+    // Apply the camera to a 3D point "v" that is not at infinity. "v"
+    // can be encoded either as a non-homogeneous vector (3
+    // components), or as a homogeneous vector (4 components).
+    void ApplyFinite(double& x,
+                     double& y,
+                     const Vector& v) const;
+
+    // Apply the camera to a 3D point "v" that is possibly at
+    // infinity. The result is a 2D point in homogeneous coordinates.
+    Vector ApplyGeneral(const Vector& v) const;
+  };
+}