camera.h

Go to the documentation of this file.

/* This library 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 2.1 of the License, or (at your option) any later version.

   This library 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 this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef _GAN_CAMERA_H
#define _GAN_CAMERA_H

#include <stdio.h>
#include <gandalf/common/misc_defs.h>
#include <gandalf/vision/camera_defs.h>
#include <gandalf/linalg/3x3matrix.h>
#include <gandalf/linalg/2x3matrix.h>
#include <gandalf/linalg/3vector.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct Gan_PositionState
{
   Gan_Bool initialised;
   Gan_Vector3 pin, pout;
} Gan_PositionState;

typedef struct Gan_CubicBSplineSupport
{
   Gan_Vector2 warped_pos[1 + (1 << 4)][1 + (1 << 4)];
   Gan_Matrix22 warped_deriv[1 + (1 << 4)][1 + (1 << 4)];
} Gan_CubicBSplineSupport;

typedef Gan_Vector2 Gan_CubicBSplineWeightBlock[1 + (1<<4)];

typedef struct Gan_CubicBSplineWeights
{
   Gan_Vector2 weight[1 + (1 << 4)][1 + (1 << 4)];
} Gan_CubicBSplineWeights;
         
typedef struct Gan_Camera
{
   Gan_CameraType type;


   double fx, fy, fy_over_fx;

   double x0, y0;

   double zh;

   union
   {
      struct
      {
         double skew, kyx;

         Gan_Matrix23 Kinv;
      } affine;

      struct
      {
         double K1;

         double thres_R2, thres_dR;

         double outer_a, outer_b;
      } radial1;

      struct
      {
         double K1, K2;

         double thres_R2, thres_dR;

         double outer_a, outer_b;
      } radial2;

      struct
      {
         double K1, K2, K3;

         double thres_R2, thres_dR;

         double outer_a, outer_b;
      } radial3;

      struct { double cxx, cxy, cyx, cyy; } xydist4;

      struct
      {
         double xla, xlp, xha, xhp;
         double yla, ylp, yha, yhp;
         double axx, axy, ayx, ayy;
      } fcwarp;

      struct
      {
         double skew, kyx, kzx, kzy;

         Gan_Matrix33 K, Kinv;

         Gan_CubicBSplineWeightBlock *weight;

         Gan_CubicBSplineSupport* support;
      } cbspline;
   } nonlinear;

   struct
   {
      Gan_Bool (*project) ( const struct Gan_Camera *camera,
                            Gan_Vector3 *X, Gan_Vector3 *p, Gan_PositionState *Xpprev,
                            Gan_Matrix22 *HX, struct Gan_Camera *HC,
                            int *error_code );

      Gan_Bool (*backproject) ( const struct Gan_Camera *camera,
                                Gan_Vector3 *p, Gan_Vector3 *X, Gan_PositionState *pXprev,
                                int *error_code );

      Gan_Bool (*add_distortion) ( const struct Gan_Camera *camera,
                                   Gan_Vector3 *pu, Gan_Vector3 *p, Gan_PositionState *pupprev,
                                   int *error_code );

      Gan_Bool (*remove_distortion) ( const struct Gan_Camera *camera,
                                      Gan_Vector3 *p, Gan_Vector3 *pu, Gan_PositionState *ppuprev,
                                      int *error_code);
   } point;

   struct
   {
      Gan_Bool (*project) ( const struct Gan_Camera *camera,
                            Gan_Vector3 *L, Gan_Vector3 *l );

      Gan_Bool (*backproject) ( const struct Gan_Camera *camera,
                                Gan_Vector3 *l, Gan_Vector3 *L );
   } line;
} Gan_Camera;

 Gan_Bool gan_camera_build_va ( Gan_Camera *camera,
                               Gan_CameraType type,
                               double zh, double fx, double fy,
                               double x0, double y0, ... );
 Gan_Bool gan_camera_internalize ( Gan_Camera *camera );
 Gan_Bool gan_camera_identical ( const Gan_Camera *camera1, const Gan_Camera *pcamera2 );
 Gan_SquMatrix33 gan_camera_fill_matrix_s ( const Gan_Camera *camera );
 Gan_Matrix33    gan_camera_fill_fullmatrix_s ( const Gan_Camera *camera );

 Gan_Bool gan_camera_set_common_fields ( Gan_Camera *camera,
                                        Gan_CameraType type,
                                        double zh, double fx, double fy,
                                        double x0, double y0 );

 Gan_Bool
 gan_camera_project_point_gen ( const Gan_Camera *camera,
                                Gan_Vector3 *X, Gan_Vector3 *p, Gan_PositionState *Xpprev,
                                Gan_Matrix22 *HX, Gan_Camera HC[2],
                                int *error_code );

 Gan_Bool
 gan_camera_project_point ( const Gan_Camera *camera,
                            Gan_Vector3 *X, Gan_Vector3 *p,
                            int *error_code );

 Gan_Bool
 gan_camera_project_point_q ( const Gan_Camera *camera,
                              Gan_Vector3 *X, Gan_Vector3 *p );

 Gan_Bool
 gan_camera_project_point_i ( const Gan_Camera *camera, Gan_Vector3 *X );

 Gan_Bool
 gan_camera_backproject_point_gen ( const Gan_Camera *camera,
                                    Gan_Vector3 *p, Gan_Vector3 *X, Gan_PositionState *pXprev,
                                    int *error_code );

 Gan_Bool
 gan_camera_backproject_point ( const Gan_Camera *camera,
                                Gan_Vector3 *p, Gan_Vector3 *X,
                                int *error_code );

 Gan_Bool
 gan_camera_backproject_point_q ( const Gan_Camera *camera,
                                  Gan_Vector3 *p, Gan_Vector3 *X );

 Gan_Bool
 gan_camera_backproject_point_i ( const Gan_Camera *camera,
                                  Gan_Vector3 *p );

 Gan_Bool
 gan_camera_add_distortion_gen ( const Gan_Camera *camera,
                                 Gan_Vector3 *pu, Gan_Vector3 *p, Gan_PositionState *pupprev,
                                 int *error_code );

 Gan_Bool
 gan_camera_add_distortion ( const Gan_Camera *camera,
                             Gan_Vector3 *pu, Gan_Vector3 *p,
                             int *error_code );

 Gan_Bool
 gan_camera_add_distortion_q ( const Gan_Camera *camera,
                               Gan_Vector3 *pu, Gan_Vector3 *p );

 Gan_Bool
 gan_camera_add_distortion_i ( const Gan_Camera *camera, Gan_Vector3 *p );

 Gan_Bool
 gan_camera_remove_distortion_gen ( const Gan_Camera *camera,
                                    Gan_Vector3 *p, Gan_Vector3 *pu, Gan_PositionState *ppuprev,
                                    int *error_code );

 Gan_Bool
 gan_camera_remove_distortion ( const Gan_Camera *camera,
                                Gan_Vector3 *p, Gan_Vector3 *pu,
                                int *error_code );

 Gan_Bool
 gan_camera_remove_distortion_q ( const Gan_Camera *camera,
                                  Gan_Vector3 *p, Gan_Vector3 *pu );

 Gan_Bool
 gan_camera_remove_distortion_i ( const Gan_Camera *camera, Gan_Vector3 *p );

 Gan_Bool
 gan_camera_project_line_q ( const Gan_Camera *camera,
                             Gan_Vector3 *L, Gan_Vector3 *l );

 Gan_Bool
 gan_camera_project_line_i ( const Gan_Camera *camera, Gan_Vector3 *L );

 Gan_Bool
 gan_camera_backproject_line_q ( const Gan_Camera *camera,
                                 Gan_Vector3 *l, Gan_Vector3 *L );

 Gan_Bool
 gan_camera_backproject_line_i ( const Gan_Camera *camera, Gan_Vector3 *l );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_CAMERA_H */

---