CameraParameters.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP 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 General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------

#ifndef __CAM_PARS_H_
#define __CAM_PARS_H_

#include <R3Arma.h>
#include <LogTrace.h>

namespace MipBaselib{
class CameraPar3DArma{
 
 private:
  Decimal             _width;
  Decimal             _widthPixel;
  Decimal             _height;
  Decimal             _heightPixel;
  Decimal             _focal;
  Decimal             _focalPixel;
  Decimal             _fovW;
  Decimal             _fovH;
  Roto3DHomoArma         _rotoCamFromW;
  arma::Mat<Decimal>::fixed<3,3> _calibMatrix;
 public:
  
  CameraPar3DArma();
  
  CameraPar3DArma(const Decimal info1, const Decimal info2, const Decimal info3,int opt, const Position2DArma &pp=Position2DArma(), const Decimal sk = 0.0, const Roto3DHomoArma &rcfw=Roto3DHomoArma(IDENTITY_ARMA_MATRIX),CanonicalCameraArmaMatrix cc=PIXEL_CAMERA_ARMA_MATRIX);
  
  CameraPar3DArma(const CameraPar3DArma& rhs);
  
  void _findMetricInfo(const Decimal info, int opt);
  
  void _findPixelInfo(const Decimal info, int opt, const Position2DArma &pp=Position2DArma());
  
  Position2DArma getPrincipalPoint() const;
  
  Decimal getPrincipalPointX() const;
  
  Decimal getPrincipalPointY() const;
  
  void setPrincipalPoint(const Position2DArma &pp);
  
  void setPrincipalPoint(const Decimal &ppx, const Decimal &ppy);
  
  void setPrincipalPointX(const Decimal x);
  
  void setPrincipalPointY(const Decimal y);
  
  CameraPar3DArma& operator=(const CameraPar3DArma& rhs);
  
  Decimal getWidthMetric() const;
  
  void setWidthMetric(const Decimal w);
  
  Decimal getWidthPixel() const;
  
  void setWidthPixel(const Decimal w);
  
  Decimal getHeightMetric() const;
  
  void setHeightMetric(const Decimal h);
  
  Decimal getHeightPixel() const;
  
  void setHeightPixel(const Decimal h);
  
  Decimal getFocalMetric() const;
  
  void setFocalMetric(const Decimal f);
  
  Decimal getFocalPixel() const;
  
  void setFocalPixel(const Decimal f, bool update=true);
  
  Decimal getFovW() const;
  
  Angle getFovWAngle() const;
  
  void setFovW(const Decimal fov);
  
  void setFovWAngle(const Angle fov);
  
  Decimal getFovH() const;
  
  Angle getFovHAngle() const;
  
  void setFovH(const Decimal fov);
  
  void setFovHAngle(const Angle fov);
  
  Roto3DHomoArma getRotoCamFromW() const;
  
  Roto3DHomoArma* getRotoCamFromWPointer();
  
  Roto3DArma getRotationCamFromW() const;
  
  Position3DArma getTranslationCamFromW() const;
  
  void setRotoCamFromWPointer(const Roto3DHomoArma &roto);
  
  arma::Mat<Decimal>::fixed<3,3> getCalibMatrix() const;
  
  arma::Mat<Decimal>::fixed<3,3> getCalibInvMatrix() const;
  
  arma::Mat<Decimal>::fixed<3,3>* getCalibMatrixPointer();
  
  void setCalibMatrix(arma::Mat<Decimal>::fixed<3,3> calib);
  
  void setCalibMatrix(const Decimal f);
  
  void setCalibMatrix(const Decimal f, const Position2DArma &pp);
  
  void setCalibMatrix(const Decimal f, const Decimal ppx, const Decimal ppy);
  
  Decimal getSkew() const;
  
  void setSkew(const Decimal skew);
  
  string print(int opt=0);
};

class CameraCCDPar3DArma : public MIPObject{
 
 
 private:
  Decimal             _widthPx;
  Decimal             _heightPx;
  Decimal             _focalPx;
  
  // NOTE: I do not know if the relationship -> fovW = 2*tg(width/(2*f)) is valid anymore, so I delete fovW and fovH for a while
  Roto3DHomoArma         _rotoCamFromW;
  bool validCalMat;
  arma::Mat<Decimal>::fixed<3,3> _calibMatrix;
  arma::Mat<Decimal>::fixed<3,3> _invCalibMatrix;
  Decimal             _mX;
  Decimal             _mY;
  Position2DArma         _pp;
  
//   Decimal             _skew;
  
 public:
  CameraCCDPar3DArma();
  
  CameraCCDPar3DArma(const Decimal f, const Decimal mx, const Decimal my, const Decimal w = -1.0, const Decimal h = -1.0, const Decimal sk = 0.0, const Position2DArma &pp=Position2DArma(), const Roto3DHomoArma &rcfw=Roto3DHomoArma(IDENTITY_ARMA_MATRIX));
  
  CameraCCDPar3DArma(const Decimal &alphax, const Decimal &alphay, const Decimal w = -1.0, const Decimal h = -1.0, const Decimal sk = -1.0, const Position2DArma &pp=Position2DArma(), const Roto3DHomoArma &rcfw=Roto3DHomoArma(IDENTITY_ARMA_MATRIX));
  
  CameraCCDPar3DArma(const CameraCCDPar3DArma& rhs);
  
  CameraCCDPar3DArma& operator=(const CameraCCDPar3DArma& rhs);
  
  // Get methods: the key idea is that some field of this class might or not be initialized in the constructor.
  // Then, if not, it's initialized with a negative value (that are not reasonable for the field of this class). 
  // If it is so, the get method will return false;
  // otherwise it will return true if a valid value is set
  
  bool getFocalPixel(Decimal &f);
  
  bool getWidthPixel(Decimal &w);
  
  bool getHeightPixel(Decimal &h);
  
  bool getCalibMatrix(arma::Mat<Decimal>::fixed<3,3>& cm);
  
  arma::Mat<Decimal>::fixed<3,3>* getCalibMatrixPointer(bool &ret);
  
  bool getCalibInvMatrix(arma::Mat<Decimal>::fixed<3,3>& cm);
  
  bool getCalibMatrixPointer(arma::Mat<Decimal>::fixed<3,3>* &cm);
  
  bool getCalibInvMatrixPointer(arma::Mat<Decimal>::fixed<3,3>* &cm);
  
  arma::Mat<Decimal>::fixed<3,3>* getCalibInvMatrixPointer(bool &ret);
  
  bool getMx(Decimal &mx);
  
  bool getMy(Decimal &my);
  
  bool getFocalMx(Decimal &fmx);
  
  bool getFocalMy(Decimal &fmy);
  
  bool getPrincipalPointMxMy(Position2DArma &ppmx);
  
  bool getPrincipalPointMxX(Decimal &ppmxx);
  
  bool getPrincipalPointMyY(Decimal &ppmxy);
  
  bool getSkew(Decimal &s);
  
  // Direct get methods: NOTE: no check about validity of data
  
  Decimal getFocalPixel() const;
  
  Decimal getWidthPixel() const;
  
  Decimal getHeightPixel() const;
  
  Position2DArma getPrincipalPointPixel() const;
  
  Decimal getPrincipalPointPixelX() const;
  
  Decimal getPrincipalPointPixelY() const;
  
  arma::Mat<Decimal>::fixed<3,3> getCalibMatrix() const;
  
  arma::Mat<Decimal>::fixed<3,3> getCalibInvMatrix() const;
  
  arma::Mat<Decimal>::fixed<3,3>* getCalibMatrixPointer();
  
  arma::Mat<Decimal>::fixed<3,3>* getCalibInvMatrixPointer();
  
  Decimal getMx();
  
  Decimal getMy();
  
  Decimal getFocalMx() const;
  
  Decimal getFocalMy() const;
  
  Position2DArma getPrincipalPointMx() const;
  
  Decimal getPrincipalPointMxX() const;
  
  Decimal getPrincipalPointMyY() const;
  
  Decimal getSkew() const;
  
  // Set methods
  
  void setFocalPixel(const Decimal &f,int opt = 2);
  
  void setWidthPixel(const Decimal &w);
  
  void setHeightPixel(const Decimal &h);
  
  void setSkew(const Decimal &s,int opt = 2);
  
  void setPrincipalPoint(const Position2DArma &pp,int opt = 2);
  
  void setMx(const Decimal &mx, int opt=2);
  
  void setMy(const Decimal &my, int opt=2);
  
  void setMxMy(const Decimal &mx, const Decimal &my, int opt=2);
  
  void updateCalibrationMatrix();
  
  string getObjectName() const {
   return string("CameraCCDPar3DArma");
  }
  
  string print(int opt = 0);
};

}

#endif