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// 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 <iostream>
#include <string>
#include <Eigen/Core>
namespace libmv {
typedef Eigen::Matrix<double, 3, 3> Mat3;
struct Grid;
class CameraIntrinsics {
public:
CameraIntrinsics();
CameraIntrinsics(const CameraIntrinsics &from);
~CameraIntrinsics();
const Mat3 &K() const { return K_; }
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);
/// Set principal point in pixels.
void SetPrincipalPoint(double cx, double cy);
/// Set the image size in pixels.
void SetImageSize(int width, int height);
void SetRadialDistortion(double k1, double k2, double k3 = 0);
void SetTangentialDistortion(double p1, double p2);
/// Set number of threads using for buffer distortion/undistortion
void SetThreads(int threads);
/*!
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_;
int threads_;
};
/// A human-readable representation of the camera intrinsic parameters.
std::ostream& operator <<(std::ostream &os,
const CameraIntrinsics &intrinsics);
// Apply camera intrinsics to the normalized point to get image coordinates.
// This applies the radial 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. Templated for use with autodifferentiation.
template <typename T>
inline void ApplyRadialDistortionCameraIntrinsics(const T &focal_length_x,
const T &focal_length_y,
const T &principal_point_x,
const T &principal_point_y,
const T &k1,
const T &k2,
const T &k3,
const T &p1,
const T &p2,
const T &normalized_x,
const T &normalized_y,
T *image_x,
T *image_y) {
T x = normalized_x;
T y = normalized_y;
// Apply distortion to the normalized points to get (xd, yd).
T r2 = x*x + y*y;
T r4 = r2 * r2;
T r6 = r4 * r2;
T r_coeff = (T(1) + k1*r2 + k2*r4 + k3*r6);
T xd = x * r_coeff + T(2)*p1*x*y + p2*(r2 + T(2)*x*x);
T yd = y * r_coeff + T(2)*p2*x*y + p1*(r2 + T(2)*y*y);
// Apply focal length and principal point to get the final image coordinates.
*image_x = focal_length_x * xd + principal_point_x;
*image_y = focal_length_y * yd + principal_point_y;
}
} // namespace libmv
#endif // LIBMV_SIMPLE_PIPELINE_CAMERA_INTRINSICS_H_
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