Pinhole.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/numeric/numeric.hpp>
#include <aliceVision/numeric/projection.hpp>
#include <aliceVision/geometry/Pose3.hpp>
#include <aliceVision/camera/cameraCommon.hpp>
#include <aliceVision/camera/IntrinsicScaleOffsetDisto.hpp>
 
#include <memory>
#include <limits>
#include <algorithm>
 
namespace aliceVision {
namespace camera {
 
class Pinhole : public IntrinsicScaleOffsetDisto
{
  public:
    Pinhole()
      : Pinhole(1, 1, 1.0, 1.0, 0.0, 0.0)
    {}
 
    Pinhole(unsigned int w, unsigned int h, const Mat3& K)
      : IntrinsicScaleOffsetDisto(w, h, K(0, 0), K(1, 1), K(0, 2), K(1, 2))
    {}
 
    Pinhole(unsigned int w,
            unsigned int h,
            double focalLengthPixX,
            double focalLengthPixY,
            double offsetX,
            double offsetY,
            std::shared_ptr<Distortion> distortion = nullptr,
            std::shared_ptr<Undistortion> undistortion = nullptr)
      : IntrinsicScaleOffsetDisto(w, h, focalLengthPixX, focalLengthPixY, offsetX, offsetY, distortion, undistortion)
    {}
 
    ~Pinhole() override = default;
 
    Pinhole* clone() const override { return new Pinhole(*this); }
 
    void assign(const IntrinsicBase& other) override { *this = dynamic_cast<const Pinhole&>(other); }
 
    static std::shared_ptr<Pinhole> cast(std::shared_ptr<IntrinsicBase> sptr);
 
    double getFocalLengthPixX() const { return _scale(0); }
 
    double getFocalLengthPixY() const { return _scale(1); }
 
    bool isValid() const override { return getFocalLengthPixX() > 0 && getFocalLengthPixY() > 0 && IntrinsicBase::isValid(); }
 
    EINTRINSIC getType() const override;
 
    Mat3 K() const;
 
    void setK(double focalLengthPixX, double focalLengthPixY, double ppx, double ppy);
 
    void setK(const Mat3& K);
 
    Vec2 transformProject(const geometry::Pose3& pose, const Vec4& pt3D, bool applyDistortion = true) const
    {
        return transformProject(pose.getHomogeneous(), pt3D, applyDistortion);
    }
 
    Vec2 transformProject(const Eigen::Matrix4d& pose, const Vec4& pt, bool applyDistortion = true) const override;
 
    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, 2> getDerivativeTransformProjectWrtPrincipalPoint(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, 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;
 
    Mat34 getProjectiveEquivalent(const geometry::Pose3& pose) const;
 
    bool isVisibleRay(const Vec3& ray) const override;
 
    double getHorizontalFov() const override;
 
    double getVerticalFov() const override;
 
    double pixelProbability() const override;
};
 
}  // namespace camera
}  // namespace aliceVision