Mercurial > hg > orthanc-stone
diff OrthancStone/Sources/Toolbox/FiniteProjectiveCamera.h @ 1512:244ad1e4e76a
reorganization of folders
author | Sebastien Jodogne <s.jodogne@gmail.com> |
---|---|
date | Tue, 07 Jul 2020 16:21:02 +0200 |
parents | Framework/Toolbox/FiniteProjectiveCamera.h@2d8ab34c8c91 |
children | 85e117739eca |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/OrthancStone/Sources/Toolbox/FiniteProjectiveCamera.h Tue Jul 07 16:21:02 2020 +0200 @@ -0,0 +1,119 @@ +/** + * Stone of Orthanc + * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics + * Department, University Hospital of Liege, Belgium + * Copyright (C) 2017-2020 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" +#include "../Volumes/ImageBuffer3D.h" +#include "../Volumes/VolumeImageGeometry.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]); + + // Constructor that implements camera calibration + FiniteProjectiveCamera(const Vector& camera, + const Vector& principalPoint, + double angle, + unsigned int imageWidth, + unsigned int imageHeight, + double pixelSpacingX, + double pixelSpacingY); + + 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; + + Orthanc::ImageAccessor* ApplyRaytracer(const ImageBuffer3D& source, + const VolumeImageGeometry& geometry, + Orthanc::PixelFormat targetFormat, + unsigned int targetWidth, + unsigned int targetHeight, + bool mip) const; + }; +}