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// -*- C++ -*-
/*
Copyright (c) 2008 University of North Carolina at Chapel Hill
This file is part of SSBA (Simple Sparse Bundle Adjustment).
SSBA is free software: you can redistribute it and/or modify it under the
terms of the GNU Lesser General Public License as published by the Free
Software Foundation, either version 3 of the License, or (at your option) any
later version.
SSBA 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 Lesser General Public License for more
details.
You should have received a copy of the GNU Lesser General Public License along
with SSBA. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef V3D_CAMERA_MATRIX_H
#define V3D_CAMERA_MATRIX_H
#include "Math/v3d_linear.h"
#include "Geometry/v3d_distortion.h"
namespace V3D
{
struct CameraMatrix
{
CameraMatrix()
{
makeIdentityMatrix(_K);
makeIdentityMatrix(_R);
makeZeroVector(_T);
this->updateCachedValues(true, true);
}
CameraMatrix(double f, double cx, double cy)
{
makeIdentityMatrix(_K);
_K[0][0] = f;
_K[1][1] = f;
_K[0][2] = cx;
_K[1][2] = cy;
makeIdentityMatrix(_R);
makeZeroVector(_T);
this->updateCachedValues(true, true);
}
CameraMatrix(Matrix3x3d const& K,
Matrix3x3d const& R,
Vector3d const& T)
: _K(K), _R(R), _T(T)
{
this->updateCachedValues(true, true);
}
void setIntrinsic(Matrix3x3d const& K) { _K = K; this->updateCachedValues(true, false); }
void setRotation(Matrix3x3d const& R) { _R = R; this->updateCachedValues(false, true); }
void setTranslation(Vector3d const& T) { _T = T; this->updateCachedValues(false, true); }
template <typename Mat>
void setOrientation(Mat const& RT)
{
_R[0][0] = RT[0][0]; _R[0][1] = RT[0][1]; _R[0][2] = RT[0][2];
_R[1][0] = RT[1][0]; _R[1][1] = RT[1][1]; _R[1][2] = RT[1][2];
_R[2][0] = RT[2][0]; _R[2][1] = RT[2][1]; _R[2][2] = RT[2][2];
_T[0] = RT[0][3]; _T[1] = RT[1][3]; _T[2] = RT[2][3];
this->updateCachedValues(false, true);
}
Matrix3x3d const& getIntrinsic() const { return _K; }
Matrix3x3d const& getRotation() const { return _R; }
Vector3d const& getTranslation() const { return _T; }
Matrix3x4d getOrientation() const
{
Matrix3x4d RT;
RT[0][0] = _R[0][0]; RT[0][1] = _R[0][1]; RT[0][2] = _R[0][2];
RT[1][0] = _R[1][0]; RT[1][1] = _R[1][1]; RT[1][2] = _R[1][2];
RT[2][0] = _R[2][0]; RT[2][1] = _R[2][1]; RT[2][2] = _R[2][2];
RT[0][3] = _T[0]; RT[1][3] = _T[1]; RT[2][3] = _T[2];
return RT;
}
Matrix3x4d getProjection() const
{
Matrix3x4d const RT = this->getOrientation();
return _K * RT;
}
double getFocalLength() const { return _K[0][0]; }
double getAspectRatio() const { return _K[1][1] / _K[0][0]; }
Vector2d getPrincipalPoint() const
{
Vector2d pp;
pp[0] = _K[0][2];
pp[1] = _K[1][2];
return pp;
}
Vector2d projectPoint(Vector3d const& X) const
{
Vector3d q = _K*(_R*X + _T);
Vector2d res;
res[0] = q[0]/q[2]; res[1] = q[1]/q[2];
return res;
}
template <typename Distortion>
Vector2d projectPoint(Distortion const& distortion, Vector3d const& X) const
{
Vector3d XX = _R*X + _T;
Vector2d p;
p[0] = XX[0] / XX[2];
p[1] = XX[1] / XX[2];
p = distortion(p);
Vector2d res;
res[0] = _K[0][0] * p[0] + _K[0][1] * p[1] + _K[0][2];
res[1] = _K[1][1] * p[1] + _K[1][2];
return res;
}
Vector3d unprojectPixel(Vector2d const &p, double depth = 1) const
{
Vector3d pp;
pp[0] = p[0]; pp[1] = p[1]; pp[2] = 1.0;
Vector3d ray = _invK * pp;
ray[0] *= depth/ray[2];
ray[1] *= depth/ray[2];
ray[2] = depth;
ray = _Rt * ray;
return _center + ray;
}
Vector3d transformPointIntoCameraSpace(Vector3d const& p) const
{
return _R*p + _T;
}
Vector3d transformPointFromCameraSpace(Vector3d const& p) const
{
return _Rt*(p-_T);
}
Vector3d transformDirectionFromCameraSpace(Vector3d const& dir) const
{
return _Rt*dir;
}
Vector3d const& cameraCenter() const
{
return _center;
}
Vector3d opticalAxis() const
{
return this->transformDirectionFromCameraSpace(makeVector3(0.0, 0.0, 1.0));
}
Vector3d upVector() const
{
return this->transformDirectionFromCameraSpace(makeVector3(0.0, 1.0, 0.0));
}
Vector3d rightVector() const
{
return this->transformDirectionFromCameraSpace(makeVector3(1.0, 0.0, 0.0));
}
Vector3d getRay(Vector2d const& p) const
{
Vector3d pp = makeVector3(p[0], p[1], 1.0);
Vector3d ray = _invK * pp;
ray = _Rt * ray;
normalizeVector(ray);
return ray;
}
protected:
void updateCachedValues(bool intrinsic, bool orientation)
{
if (intrinsic) _invK = invertedMatrix(_K);
if (orientation)
{
makeTransposedMatrix(_R, _Rt);
_center = _Rt * (-1.0 * _T);
}
}
Matrix3x3d _K, _R;
Vector3d _T;
Matrix3x3d _invK, _Rt;
Vector3d _center;
}; // end struct CameraMatrix
} // end namespace V3D
#endif
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