vpCameraParameters.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Camera intrinsic parameters.
 *
 * Authors:
 * Eric Marchand
 * Anthony Saunier
 *
 *****************************************************************************/



#ifndef vpCameraParameters_H
#define vpCameraParameters_H

#include <vector>

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpDebug.h>

class VISP_EXPORT vpCameraParameters
{
  friend class vpMeterPixelConversion;
  friend class vpPixelMeterConversion;
public :
  typedef enum{
    perspectiveProjWithoutDistortion, 
    perspectiveProjWithDistortion  
  } vpCameraParametersProjType ;
  

  //generic functions
  vpCameraParameters() ;
  vpCameraParameters(const vpCameraParameters &c) ;
  vpCameraParameters(const double px, const double py,
             const double u0, const double v0) ;
  vpCameraParameters(const double px, const double py,
                     const double u0, const double v0,
                     const double kud, const double kdu) ;

  vpCameraParameters& operator =(const vpCameraParameters &c) ;
  virtual ~vpCameraParameters() ;

  void init() ;
  void init(const vpCameraParameters &c) ;
  void initFromCalibrationMatrix(const vpMatrix& _K);
  void initFromFov(const unsigned int &w, const unsigned int &h, const double &hfov, const double &vfov);
  void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0);
  void initPersProjWithDistortion(const double px, const double py, const double u0, const double v0,
                                  const double kud,const double kdu) ;
     
  inline bool isFovComputed() const { return isFov; }
     
  void computeFov(const unsigned int &w, const unsigned int &h);
  
  inline double getHorizontalFovAngle() const {
    if(!isFov) vpTRACE("Warning: The FOV is not computed, getHorizontalFovAngle() won't be significant.");
    return m_hFovAngle;
  }

  inline double getVerticalFovAngle() const {
    if(!isFov) vpTRACE("Warning: The FOV is not computed, getVerticalFovAngle() won't be significant.");
    return m_vFovAngle;
  }
  
  inline std::vector<vpColVector> getFovNormals() const { 
    if(!isFov) vpTRACE("Warning: The FOV is not computed, getFovNormals() won't be significant.");
    return fovNormals; 
  }
  
  inline double get_px() const { return px; }
  inline double get_px_inverse() const {return inv_px; }
  inline double get_py_inverse() const {return inv_py; }
  inline double get_py() const { return py; }
  inline double get_u0() const { return u0; }
  inline double get_v0() const { return v0; }
  inline double get_kud() const { return kud; }
  inline double get_kdu() const { return kdu; }
   
  inline vpCameraParametersProjType get_projModel() const {
    return projModel; 
  } 
  
  vpMatrix get_K() const;
  vpMatrix get_K_inverse() const;

  void printParameters() ;
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpCameraParameters &cam);

private:
  static const double DEFAULT_U0_PARAMETER;
  static const double DEFAULT_V0_PARAMETER;
  static const double DEFAULT_PX_PARAMETER;
  static const double DEFAULT_PY_PARAMETER;
  static const double DEFAULT_KUD_PARAMETER;
  static const double DEFAULT_KDU_PARAMETER;
  static const vpCameraParametersProjType DEFAULT_PROJ_TYPE; 


  double px, py ; 
  double u0, v0 ; 
  double kud ; 
  double kdu ; 
  
  unsigned int width ; 
  unsigned int height ; 
  bool isFov ; 
  double m_hFovAngle ; 
  double m_vFovAngle ; 
  std::vector<vpColVector> fovNormals ; 
  
  double inv_px, inv_py; 
   
  vpCameraParametersProjType projModel ; 
} ;

#endif