Equirectangular.hpp

// This file is part of the AliceVision project.
// Copyright (c) 2025 AliceVision 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/numeric/numeric.hpp>
#include <aliceVision/numeric/projection.hpp>
#include <aliceVision/camera/cameraCommon.hpp>
#include <aliceVision/camera/IntrinsicScaleOffsetDisto.hpp>
#include <aliceVision/geometry/Pose3.hpp>
 
#include "DistortionFisheye1.hpp"
 
#include <memory>
#include <algorithm>
 
namespace aliceVision {
namespace camera {
 
class Equirectangular : public IntrinsicScaleOffsetDisto
{
  public:
    Equirectangular()
      : Equirectangular(1, 1, 1.0, 1.0, 0.0, 0.0)
    {}
 
    Equirectangular(unsigned int w, unsigned int h, double focalLengthPixX, double focalLengthPixY, double offsetX, double offsetY)
      : IntrinsicScaleOffsetDisto(w, h, focalLengthPixX, focalLengthPixY, offsetX, offsetY)
    {}
 
    ~Equirectangular() override = default;
 
    Equirectangular* clone() const override { return new Equirectangular(*this); }
 
    static std::shared_ptr<Equirectangular> cast(std::shared_ptr<IntrinsicBase> sptr);
 
    void assign(const IntrinsicBase& other) override { *this = dynamic_cast<const Equirectangular&>(other); }
 
    bool isValid() const override { return _scale(0) > 0 && IntrinsicBase::isValid(); }
 
    EINTRINSIC getType() const override;
 
    Vec2 transformProject(const Eigen::Matrix4d& pose, const Vec4& pt, bool applyDistortion = true) const override;
 
    Vec2 transformProject(const geometry::Pose3& pose, const Vec4& pt3D, bool applyDistortion = true) const
    {
        return transformProject(pose.getHomogeneous(), pt3D, applyDistortion);
    }
 
    Vec2 project(const Vec4& pt, bool applyDistortion = true) const override;
 
    Eigen::Matrix<double, 2, 3> getDerivativeTransformProjectWrtPoint3(const Eigen::Matrix4d& pose, const Vec4& pt) const override;
 
    Eigen::Matrix<double, 2, 3> getDerivativeTransformProjectWrtDisto(const Eigen::Matrix4d& pose, const Vec4& pt) const;
 
    Eigen::Matrix<double, 2, 2> getDerivativeTransformProjectWrtScale(const Eigen::Matrix4d& pose, const Vec4& pt) const;
 
    Eigen::Matrix<double, 2, 2> getDerivativeTransformProjectWrtPrincipalPoint(const Eigen::Matrix4d& pose, const Vec4& pt) const;
 
    Eigen::Matrix<double, 2, Eigen::Dynamic> getDerivativeTransformProjectWrtParams(const Eigen::Matrix4d& pose, const Vec4& pt3D) const override;
 
    Eigen::Matrix<double, 2, Eigen::Dynamic> getDerivativeTransformProjectWrtDistortion(const Eigen::Matrix4d& pose, const Vec4& pt) const override;
 
    Eigen::Matrix<double, 3, Eigen::Dynamic> getDerivativeBackProjectUnitWrtDistortion(const Vec2& pt2D) const override;
 
    Vec3 toUnitSphere(const Vec2& pt) const override;
 
    Eigen::Matrix<double, 3, 2> getDerivativetoUnitSphereWrtPoint(const Vec2& pt) const;
 
    Eigen::Matrix<double, 3, Eigen::Dynamic> getDerivativeBackProjectUnitWrtParams(const Vec2& pt2D) const override;
 
    double imagePlaneToCameraPlaneError(double value) const override;
 
    bool isVisibleRay(const Vec3& ray) const override;
 
    double getHorizontalFov() const override;
 
    double getVerticalFov() const override;
 
    double pixelProbability() const override;
};
 
}  // namespace camera
}  // namespace aliceVision