/*
|
* image_projector.h - Calculate 2D image projective matrix
|
*
|
* Copyright (c) 2017 Intel Corporation
|
*
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
* you may not use this file except in compliance with the License.
|
* You may obtain a copy of the License at
|
*
|
* http://www.apache.org/licenses/LICENSE-2.0
|
*
|
* Unless required by applicable law or agreed to in writing, software
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
* See the License for the specific language governing permissions and
|
* limitations under the License.
|
*
|
* Author: Zong Wei <wei.zong@intel.com>
|
*/
|
|
#ifndef XCAM_IMAGE_PROJECTIVE_2D_H
|
#define XCAM_IMAGE_PROJECTIVE_2D_H
|
|
#include <xcam_std.h>
|
#include <meta_data.h>
|
#include <vec_mat.h>
|
#include <vector>
|
|
namespace XCam {
|
|
struct CalibrationParams {
|
double focal_x; //Focal length, x axis, in pixels
|
double focal_y; //Focal length, y axis, in pixels
|
double offset_x; //Principal point x coordinate on the image, in pixels
|
double offset_y; //Principal point y coordinate on the image, in pixels
|
double skew; //in case if the image coordinate axes u and v are not orthogonal to each other
|
double readout_time;
|
double gyro_delay;
|
Vec4d gyro_drift;
|
|
CalibrationParams ()
|
: focal_x (0)
|
, focal_y (0)
|
, offset_x (0)
|
, offset_y (0)
|
, skew (0)
|
, readout_time (0)
|
, gyro_delay (0)
|
{
|
gyro_drift.zeros();
|
}
|
};
|
|
enum CoordinateAxisType {
|
AXIS_X = 0,
|
AXIS_MINUS_X,
|
AXIS_Y,
|
AXIS_MINUS_Y,
|
AXIS_Z,
|
AXIS_MINUS_Z,
|
AXIS_NONE,
|
};
|
|
struct CoordinateSystemConv {
|
CoordinateAxisType axis_to_x;
|
CoordinateAxisType axis_to_y;
|
CoordinateAxisType axis_mirror;
|
|
CoordinateSystemConv ()
|
{
|
axis_to_x = AXIS_X;
|
axis_to_y = AXIS_Y;
|
axis_mirror = AXIS_NONE;
|
}
|
|
CoordinateSystemConv (
|
CoordinateAxisType to_x,
|
CoordinateAxisType to_y,
|
CoordinateAxisType mirror)
|
{
|
axis_to_x = to_x;
|
axis_to_y = to_y;
|
axis_mirror = mirror;
|
}
|
};
|
|
class ImageProjector
|
{
|
public:
|
explicit ImageProjector () {};
|
explicit ImageProjector (CalibrationParams ¶ms);
|
explicit ImageProjector (
|
double focal_x,
|
double focal_y,
|
double offset_x,
|
double offset_y,
|
double skew);
|
|
virtual ~ImageProjector () {};
|
|
XCamReturn set_sensor_calibration (CalibrationParams ¶ms);
|
XCamReturn set_camera_intrinsics (
|
double focal_x,
|
double focal_y,
|
double offset_x,
|
double offset_y,
|
double skew);
|
|
Mat3d get_camera_intrinsics () {
|
return _intrinsics;
|
}
|
|
Mat3d calc_camera_extrinsics (
|
const int64_t frame_ts,
|
const std::vector<int64_t> &pose_ts,
|
const std::vector<Vec4d> &orientation,
|
const std::vector<Vec3d> &translation);
|
|
Mat3d calc_camera_extrinsics (
|
const int64_t frame_ts,
|
DevicePoseList &pose_list);
|
|
Mat3d calc_projective (
|
Mat3d &extrinsic0,
|
Mat3d &extrinsic1);
|
|
Mat3d align_coordinate_system (
|
CoordinateSystemConv &world_to_device,
|
Mat3d &extrinsics,
|
CoordinateSystemConv &device_to_image);
|
|
protected:
|
Quaternd interp_orientation (
|
int64_t ts,
|
const std::vector<Vec4d> &orientation,
|
const std::vector<int64_t> &orient_ts,
|
int& index);
|
|
Mat3d rotate_coordinate_system (
|
CoordinateAxisType axis_to_x,
|
CoordinateAxisType axis_to_y);
|
|
Mat3d mirror_coordinate_system (CoordinateAxisType axis_mirror);
|
|
Mat3d transform_coordinate_system (CoordinateSystemConv &transform);
|
|
private:
|
XCAM_DEAD_COPY (ImageProjector);
|
|
private:
|
Mat3d _intrinsics;
|
CalibrationParams _calib_params;
|
};
|
|
}
|
|
#endif //XCAM_IMAGE_PROJECTIVE_2D_H
|
