Distortion.hpp

// This file is part of the AliceVision project.
// Copyright (c) 2016 AliceVision contributors.
// Copyright (c) 2012 openMVG contributors.
// This Source Code Form is subject to the terms of the Mozilla Public License,
// v. 2.0. If a copy of the MPL was not distributed with this file,
// You can obtain one at https://mozilla.org/MPL/2.0/.
 
#pragma once
 
#include <aliceVision/camera/cameraCommon.hpp>
 
#include <aliceVision/numeric/numeric.hpp>
 
#include <vector>
 
namespace aliceVision {
namespace camera {
 
class Distortion
{
  public:
    Distortion() = default;
 
    virtual EDISTORTION getType() const = 0;
 
    virtual Distortion* clone() const = 0;
 
    // not virtual as child classes do not hold any data
    bool operator==(const Distortion& other) const { return _distortionParams == other._distortionParams; }
 
    void setParameters(const std::vector<double>& params)
    {
        if (_distortionParams.size() != params.size())
        {
            return;
        }
 
        for (std::size_t i = 0; i < _distortionParams.size(); i++)
        {
            _distortionParams[i] = params[i];
        }
    }
 
    inline std::vector<double>& getParameters() { return _distortionParams; }
 
    inline const std::vector<double>& getParameters() const { return _distortionParams; }
 
    inline std::size_t getDistortionParametersCount() const { return _distortionParams.size(); }
 
    virtual Vec2 addDistortion(const Vec2& p) const { return p; }
 
    virtual Vec2 removeDistortion(const Vec2& p) const { return p; }
 
    virtual double getUndistortedRadius(double r) const { return r; }
 
    virtual Eigen::Matrix2d getDerivativeAddDistoWrtPt([[maybe_unused]] const Vec2& p) const { return Eigen::Matrix2d::Identity(); }
 
    virtual Eigen::MatrixXd getDerivativeAddDistoWrtDisto([[maybe_unused]] const Vec2& p) const { return Eigen::MatrixXd(0, 0); }
 
    virtual Eigen::Matrix2d getDerivativeRemoveDistoWrtPt([[maybe_unused]] const Vec2& p) const { return Eigen::Matrix2d::Identity(); }
 
    virtual Eigen::MatrixXd getDerivativeRemoveDistoWrtDisto([[maybe_unused]] const Vec2& p) const { return Eigen::MatrixXd(0, 0); }
 
    inline void setLocked(bool lock) { _isLocked = lock; }
 
    inline bool isLocked() const { return _isLocked; }
 
    virtual ~Distortion() = default;
 
  protected:
    std::vector<double> _distortionParams{};
    bool _isLocked{false};
};
 
}  // namespace camera
}  // namespace aliceVision