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Diffstat (limited to 'extern/libmv/libmv/simple_pipeline/camera_intrinsics.h')
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/camera_intrinsics.h | 152 |
1 files changed, 152 insertions, 0 deletions
diff --git a/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h b/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h new file mode 100644 index 00000000000..f4bf903c36c --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h @@ -0,0 +1,152 @@ +// Copyright (c) 2011 libmv authors. +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +#ifndef LIBMV_SIMPLE_PIPELINE_CAMERA_INTRINSICS_H_ +#define LIBMV_SIMPLE_PIPELINE_CAMERA_INTRINSICS_H_ + +#include <Eigen/Core> +typedef Eigen::Matrix<double, 3, 3> Mat3; + +namespace libmv { + +struct Grid; + +class CameraIntrinsics { + public: + CameraIntrinsics(); + CameraIntrinsics(const CameraIntrinsics &from); + ~CameraIntrinsics(); + + const Mat3 &K() const { return K_; } + // FIXME(MatthiasF): these should be CamelCase methods + double focal_length() const { return K_(0, 0); } + double focal_length_x() const { return K_(0, 0); } + double focal_length_y() const { return K_(1, 1); } + double principal_point_x() const { return K_(0, 2); } + double principal_point_y() const { return K_(1, 2); } + int image_width() const { return image_width_; } + int image_height() const { return image_height_; } + double k1() const { return k1_; } + double k2() const { return k2_; } + double k3() const { return k3_; } + double p1() const { return p1_; } + double p2() const { return p2_; } + + /// Set the entire calibration matrix at once. + void SetK(const Mat3 new_k); + + /// Set both x and y focal length in pixels. + void SetFocalLength(double focal_x, double focal_y); + + void SetPrincipalPoint(double cx, double cy); + + void SetImageSize(int width, int height); + + void SetRadialDistortion(double k1, double k2, double k3 = 0); + + void SetTangentialDistortion(double p1, double p2); + + /*! + Apply camera intrinsics to the normalized point to get image coordinates. + + This applies the lens distortion to a point which is in normalized + camera coordinates (i.e. the principal point is at (0, 0)) to get image + coordinates in pixels. + */ + void ApplyIntrinsics(double normalized_x, double normalized_y, + double *image_x, double *image_y) const; + + /*! + Invert camera intrinsics on the image point to get normalized coordinates. + + This reverses the effect of lens distortion on a point which is in image + coordinates to get normalized camera coordinates. + */ + void InvertIntrinsics(double image_x, double image_y, + double *normalized_x, double *normalized_y) const; + + /*! + Distort an image using the current camera instrinsics + + The distorted image is computed in \a dst using samples from \a src. + both buffers should be \a width x \a height x \a channels sized. + + \note This is the reference implementation using floating point images. + */ + void Distort(const float* src, float* dst, + int width, int height, double overscan, int channels); + /*! + Distort an image using the current camera instrinsics + + The distorted image is computed in \a dst using samples from \a src. + both buffers should be \a width x \a height x \a channels sized. + + \note This version is much faster. + */ + void Distort(const unsigned char* src, unsigned char* dst, + int width, int height, double overscan, int channels); + /*! + Undistort an image using the current camera instrinsics + + The undistorted image is computed in \a dst using samples from \a src. + both buffers should be \a width x \a height x \a channels sized. + + \note This is the reference implementation using floating point images. + */ + void Undistort(const float* src, float* dst, + int width, int height, double overscan, int channels); + /*! + Undistort an image using the current camera instrinsics + + The undistorted image is computed in \a dst using samples from \a src. + both buffers should be \a width x \a height x \a channels sized. + + \note This version is much faster. + */ + void Undistort(const unsigned char* src, unsigned char* dst, + int width, int height, double overscan, int channels); + + private: + template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height, double overscan); + void CheckUndistortLookupGrid(int width, int height, double overscan); + void CheckDistortLookupGrid(int width, int height, double overscan); + void FreeLookupGrid(); + + // The traditional intrinsics matrix from x = K[R|t]X. + Mat3 K_; + + // This is the size of the image. This is necessary to, for example, handle + // the case of processing a scaled image. + int image_width_; + int image_height_; + + // OpenCV's distortion model with third order polynomial radial distortion + // terms and second order tangential distortion. The distortion is applied to + // the normalized coordinates before the focal length, which makes them + // independent of image size. + double k1_, k2_, k3_, p1_, p2_; + + struct Grid *distort_; + struct Grid *undistort_; +}; + +} // namespace libmv + +#endif // LIBMV_SIMPLE_PIPELINE_CAMERA_INTRINSICS_H_ |