/*
|
* surview_fisheye_dewarp.h - dewarp fisheye image for surround view
|
*
|
* Copyright (c) 2016-2017 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: Junkai Wu <junkai.wu@intel.com>
|
*/
|
|
#ifndef XCAM_SURVIEW_FISHEYE_DEWARP_H
|
#define XCAM_SURVIEW_FISHEYE_DEWARP_H
|
|
#include <xcam_std.h>
|
#include <vec_mat.h>
|
#include <interface/data_types.h>
|
|
namespace XCam {
|
|
class SurViewFisheyeDewarp
|
{
|
|
public:
|
typedef std::vector<PointFloat2> MapTable;
|
|
explicit SurViewFisheyeDewarp ();
|
virtual ~SurViewFisheyeDewarp ();
|
|
void fisheye_dewarp(MapTable &map_table, uint32_t table_w, uint32_t table_h, uint32_t image_w, uint32_t image_h, const BowlDataConfig &bowl_config);
|
|
void set_intrinsic_param(const IntrinsicParameter &intrinsic_param);
|
void set_extrinsic_param(const ExtrinsicParameter &extrinsic_param);
|
|
IntrinsicParameter get_intrinsic_param();
|
ExtrinsicParameter get_extrinsic_param();
|
|
private:
|
XCAM_DEAD_COPY (SurViewFisheyeDewarp);
|
|
virtual void cal_image_coord (const PointFloat3 &cam_coord, PointFloat2 &image_coord);
|
|
void cal_cam_world_coord (const PointFloat3 &world_coord, PointFloat3 &cam_world_coord);
|
void world_coord2cam (const PointFloat3 &cam_world_coord, PointFloat3 &cam_coord);
|
|
Mat4f generate_rotation_matrix(float roll, float pitch, float yaw);
|
|
private:
|
IntrinsicParameter _intrinsic_param;
|
ExtrinsicParameter _extrinsic_param;
|
};
|
|
class PolyFisheyeDewarp : public SurViewFisheyeDewarp
|
{
|
|
public:
|
explicit PolyFisheyeDewarp ();
|
|
private:
|
void cal_image_coord (const PointFloat3 &cam_coord, PointFloat2 &image_coord);
|
|
};
|
|
} // Adopt Scaramuzza's approach to calculate image coordinates from camera coordinates
|
|
#endif // XCAM_SURVIEW_FISHEYE_DEWARP_H
|
