82 lines
2.4 KiB
C++
82 lines
2.4 KiB
C++
// This file is part of OpenCV project.
|
|
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
|
// of this distribution and at http://opencv.org/license.html
|
|
|
|
#ifndef __OPENCV_RGBD_INTRINSICS_HPP__
|
|
#define __OPENCV_RGBD_INTRINSICS_HPP__
|
|
|
|
#include "opencv2/core/matx.hpp"
|
|
|
|
namespace cv
|
|
{
|
|
namespace kinfu
|
|
{
|
|
|
|
struct Intr
|
|
{
|
|
/** @brief Camera intrinsics */
|
|
/** Reprojects screen point to camera space given z coord. */
|
|
struct Reprojector
|
|
{
|
|
Reprojector() {}
|
|
inline Reprojector(Intr intr)
|
|
{
|
|
fxinv = 1.f/intr.fx, fyinv = 1.f/intr.fy;
|
|
cx = intr.cx, cy = intr.cy;
|
|
}
|
|
template<typename T>
|
|
inline cv::Point3_<T> operator()(cv::Point3_<T> p) const
|
|
{
|
|
T x = p.z * (p.x - cx) * fxinv;
|
|
T y = p.z * (p.y - cy) * fyinv;
|
|
return cv::Point3_<T>(x, y, p.z);
|
|
}
|
|
|
|
float fxinv, fyinv, cx, cy;
|
|
};
|
|
|
|
/** Projects camera space vector onto screen */
|
|
struct Projector
|
|
{
|
|
inline Projector(Intr intr) : fx(intr.fx), fy(intr.fy), cx(intr.cx), cy(intr.cy) { }
|
|
template<typename T>
|
|
inline cv::Point_<T> operator()(cv::Point3_<T> p) const
|
|
{
|
|
T invz = T(1)/p.z;
|
|
T x = fx*(p.x*invz) + cx;
|
|
T y = fy*(p.y*invz) + cy;
|
|
return cv::Point_<T>(x, y);
|
|
}
|
|
template<typename T>
|
|
inline cv::Point_<T> operator()(cv::Point3_<T> p, cv::Point3_<T>& pixVec) const
|
|
{
|
|
T invz = T(1)/p.z;
|
|
pixVec = cv::Point3_<T>(p.x*invz, p.y*invz, 1);
|
|
T x = fx*pixVec.x + cx;
|
|
T y = fy*pixVec.y + cy;
|
|
return cv::Point_<T>(x, y);
|
|
}
|
|
float fx, fy, cx, cy;
|
|
};
|
|
Intr() : fx(), fy(), cx(), cy() { }
|
|
Intr(float _fx, float _fy, float _cx, float _cy) : fx(_fx), fy(_fy), cx(_cx), cy(_cy) { }
|
|
Intr(cv::Matx33f m) : fx(m(0, 0)), fy(m(1, 1)), cx(m(0, 2)), cy(m(1, 2)) { }
|
|
// scale intrinsics to pyramid level
|
|
inline Intr scale(int pyr) const
|
|
{
|
|
float factor = (1.f /(1 << pyr));
|
|
return Intr(fx*factor, fy*factor, cx*factor, cy*factor);
|
|
}
|
|
inline Reprojector makeReprojector() const { return Reprojector(*this); }
|
|
inline Projector makeProjector() const { return Projector(*this); }
|
|
|
|
inline cv::Matx33f getMat() const { return Matx33f(fx, 0, cx, 0, fy, cy, 0, 0, 1); }
|
|
|
|
float fx, fy, cx, cy;
|
|
};
|
|
|
|
} // namespace rgbd
|
|
} // namespace cv
|
|
|
|
#endif
|