cameraf.h

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/* 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_CAMERAF_H
#define _GAN_CAMERAF_H

#include <stdio.h>
#include <gandalf/common/misc_defs.h>
#include <gandalf/vision/camera_defs.h>
#include <gandalf/linalg/3x3matrixf.h>
#include <gandalf/linalg/2x3matrixf.h>
#include <gandalf/linalg/3vectorf.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct Gan_PositionState_f
{
   Gan_Bool initialised;
   Gan_Vector3_f pin, pout;
} Gan_PositionState_f;

typedef struct Gan_CubicBSplineSupportF
{
   Gan_Vector2_f warped_pos[1 + (1 << 4)][1 + (1 << 4)];
   Gan_Matrix22_f warped_deriv[1 + (1 << 4)][1 + (1 << 4)];
} Gan_CubicBSplineSupportF;

typedef Gan_Vector2_f Gan_CubicBSplineWeightBlockF[1 + (1<<4)];

typedef struct Gan_CubicBSplineWeightsF
{
   Gan_Vector2_f weight[1 + (1 << 4)][1 + (1 << 4)];
} Gan_CubicBSplineWeightsF;
         
typedef struct Gan_Camera_f
{
   Gan_CameraType type;


   float fx, fy, fy_over_fx;

   float x0, y0;

   float zh;

   union
   {
      struct
      {
         float skew, kyx;

         Gan_Matrix23_f Kinv;
      } affine;

      struct
      {
         float K1;

         float thres_R2, thres_dR;

         float outer_a, outer_b;
      } radial1;

      struct
      {
         float K1, K2;

         float thres_R2, thres_dR;

         float outer_a, outer_b;
      } radial2;

      struct
      {
         float K1, K2, K3;

         float thres_R2, thres_dR;

         float outer_a, outer_b;
      } radial3;

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

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

      struct
      {
         float skew, kyx, kzx, kzy;

         Gan_Matrix33_f K, Kinv;

         Gan_CubicBSplineWeightBlockF *weight;

         Gan_CubicBSplineSupportF* support;
      } cbspline;
   } nonlinear;

   struct
   {
      Gan_Bool (*project) ( const struct Gan_Camera_f *camera,
                            Gan_Vector3_f *X, Gan_Vector3_f *p, Gan_PositionState_f *Xpprev,
                            Gan_Matrix22_f *HX, struct Gan_Camera_f *HC,
                            int *error_code );

      Gan_Bool (*backproject) ( const struct Gan_Camera_f *camera,
                                Gan_Vector3_f *p, Gan_Vector3_f *X, Gan_PositionState_f *pXprev,
                                int *error_code );

      Gan_Bool (*add_distortion) ( const struct Gan_Camera_f *camera,
                                   Gan_Vector3_f *pu, Gan_Vector3_f *p, Gan_PositionState_f *pupprev,
                                   int *error_code );

      Gan_Bool (*remove_distortion) ( const struct Gan_Camera_f *camera,
                                      Gan_Vector3_f *p, Gan_Vector3_f *pu, Gan_PositionState_f *ppuprev,
                                      int *error_code);
   } pointf;

   struct
   {
      Gan_Bool (*project) ( const struct Gan_Camera_f *camera,
                            Gan_Vector3_f *L, Gan_Vector3_f *l );

      Gan_Bool (*backproject) ( const struct Gan_Camera_f *camera,
                                Gan_Vector3_f *l, Gan_Vector3_f *L );
   } linef;
} Gan_Camera_f;

 Gan_Bool gan_cameraf_build_va ( Gan_Camera_f *camera, Gan_CameraType type,
                                float zh,
                                float fx, float fy, float x0, float y0,
                                ... );
 Gan_Bool gan_cameraf_internalize ( Gan_Camera_f *camera );
 Gan_Bool gan_cameraf_identical ( const Gan_Camera_f *camera1, const Gan_Camera_f *pcamera2 );
 Gan_SquMatrix33_f gan_cameraf_fill_matrix_s ( const Gan_Camera_f *camera );
 Gan_Matrix33_f    gan_cameraf_fill_fullmatrix_s ( const Gan_Camera_f *camera );

 Gan_Bool gan_cameraf_set_common_fields ( Gan_Camera_f *camera,
                                         Gan_CameraType type,
                                         float zh, float fx, float fy,
                                         float x0, float y0 );

 Gan_Bool
 gan_cameraf_project_point_gen ( const Gan_Camera_f *camera,
                                 Gan_Vector3_f *X, Gan_Vector3_f *p, Gan_PositionState_f *Xpprev,
                                 Gan_Matrix22_f *HX, Gan_Camera_f HC[2],
                                 int *error_code );

 Gan_Bool
 gan_cameraf_project_point ( const Gan_Camera_f *camera,
                             Gan_Vector3_f *X, Gan_Vector3_f *p,
                             int *error_code );

 Gan_Bool
 gan_cameraf_project_point_q ( const Gan_Camera_f *camera,
                               Gan_Vector3_f *X, Gan_Vector3_f *p );

 Gan_Bool
 gan_cameraf_project_point_i ( const Gan_Camera_f *camera, Gan_Vector3_f *X );

 Gan_Bool
 gan_cameraf_backproject_point_gen ( const Gan_Camera_f *camera,
                                     Gan_Vector3_f *p, Gan_Vector3_f *X, Gan_PositionState_f *pXprev,
                                     int *error_code );

 Gan_Bool
 gan_cameraf_backproject_point ( const Gan_Camera_f *camera,
                                 Gan_Vector3_f *p, Gan_Vector3_f *X,
                                 int *error_code );

 Gan_Bool
 gan_cameraf_backproject_point_q ( const Gan_Camera_f *camera,
                                   Gan_Vector3_f *p, Gan_Vector3_f *X );

 Gan_Bool
 gan_cameraf_backproject_point_i ( const Gan_Camera_f *camera,
                                   Gan_Vector3_f *p );

 Gan_Bool
 gan_cameraf_add_distortion_gen ( const Gan_Camera_f *camera,
                                 Gan_Vector3_f *pu, Gan_Vector3_f *p, Gan_PositionState_f *pupprev,
                                 int *error_code );

 Gan_Bool
 gan_cameraf_add_distortion ( const Gan_Camera_f *camera,
                              Gan_Vector3_f *pu, Gan_Vector3_f *p,
                              int *error_code );

 Gan_Bool
 gan_cameraf_add_distortion_q ( const Gan_Camera_f *camera,
                                Gan_Vector3_f *pu, Gan_Vector3_f *p );

 Gan_Bool
 gan_cameraf_add_distortion_i ( const Gan_Camera_f *camera, Gan_Vector3_f *p );

 Gan_Bool
 gan_cameraf_remove_distortion_gen ( const Gan_Camera_f *camera,
                                     Gan_Vector3_f *p, Gan_Vector3_f *pu, Gan_PositionState_f *ppuprev,
                                     int *error_code );

 Gan_Bool
 gan_cameraf_remove_distortion ( const Gan_Camera_f *camera,
                                 Gan_Vector3_f *p, Gan_Vector3_f *pu,
                                 int *error_code );

 Gan_Bool
 gan_cameraf_remove_distortion_q ( const Gan_Camera_f *camera,
                                   Gan_Vector3_f *p, Gan_Vector3_f *pu );

 Gan_Bool
 gan_cameraf_remove_distortion_i ( const Gan_Camera_f *camera, Gan_Vector3_f *p );

 Gan_Bool
 gan_cameraf_project_line_q ( const Gan_Camera_f *camera,
                              Gan_Vector3_f *L, Gan_Vector3_f *l );

 Gan_Bool
 gan_cameraf_project_line_i ( const Gan_Camera_f *camera, Gan_Vector3_f *L );

 Gan_Bool
 gan_cameraf_backproject_line_q ( const Gan_Camera_f *camera,
                                  Gan_Vector3_f *l, Gan_Vector3_f *L );

 Gan_Bool
 gan_cameraf_backproject_line_i ( const Gan_Camera_f *camera, Gan_Vector3_f *l );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_CAMERAF_H */

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