Program Listing for File pinhole_camera_model.hpp

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#ifndef IMAGE_GEOMETRY__PINHOLE_CAMERA_MODEL_HPP_
#define IMAGE_GEOMETRY__PINHOLE_CAMERA_MODEL_HPP_

#include "image_geometry/visibility_control.hpp"

#include <sensor_msgs/msg/camera_info.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <stdexcept>
#include <string>
#include <math.h>

namespace image_geometry {

class Exception : public std::runtime_error
{
public:
  Exception(const std::string& description) : std::runtime_error(description) {}
};

class PinholeCameraModel
{
public:
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  PinholeCameraModel();

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  PinholeCameraModel(const PinholeCameraModel& other);

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  PinholeCameraModel& operator=(const PinholeCameraModel& other);

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  bool fromCameraInfo(const sensor_msgs::msg::CameraInfo& msg);

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  bool fromCameraInfo(const sensor_msgs::msg::CameraInfo::ConstSharedPtr& msg);

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  std::string tfFrame() const;

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  builtin_interfaces::msg::Time stamp() const;

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  cv::Size fullResolution() const;

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  cv::Size reducedResolution() const;

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  cv::Point2d toFullResolution(const cv::Point2d& uv_reduced) const;

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  cv::Rect toFullResolution(const cv::Rect& roi_reduced) const;

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  cv::Point2d toReducedResolution(const cv::Point2d& uv_full) const;

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  cv::Rect toReducedResolution(const cv::Rect& roi_full) const;

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  cv::Rect rawRoi() const;

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  cv::Rect rectifiedRoi() const;

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  cv::Point2d project3dToPixel(const cv::Point3d& xyz) const;

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  cv::Point3d projectPixelTo3dRay(const cv::Point2d& uv_rect) const;
  cv::Point3d projectPixelTo3dRay(const cv::Point2d& uv_rect, const cv::Matx34d& P) const;

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  void rectifyImage(const cv::Mat& raw, cv::Mat& rectified,
                    int interpolation = cv::INTER_LINEAR) const;

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  void unrectifyImage(const cv::Mat& rectified, cv::Mat& raw,
                      int interpolation = cv::INTER_LINEAR) const;

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  cv::Point2d rectifyPoint(const cv::Point2d& uv_raw) const;
  cv::Point2d rectifyPoint(const cv::Point2d& uv_raw, const cv::Matx33d& K, const cv::Matx34d& P) const;

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  cv::Point2d unrectifyPoint(const cv::Point2d& uv_rect) const;
  cv::Point2d unrectifyPoint(const cv::Point2d& uv_rect, const cv::Matx33d& K, const cv::Matx34d& P) const;

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  cv::Rect rectifyRoi(const cv::Rect& roi_raw) const;

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  cv::Rect unrectifyRoi(const cv::Rect& roi_rect) const;

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  const sensor_msgs::msg::CameraInfo& cameraInfo() const;

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  const cv::Matx33d& intrinsicMatrix() const;

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  const cv::Mat_<double>& distortionCoeffs() const;

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  const cv::Matx33d& rotationMatrix() const;

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  const cv::Matx34d& projectionMatrix() const;

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  const cv::Matx33d& fullIntrinsicMatrix() const;

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  const cv::Matx34d& fullProjectionMatrix() const;

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  double fx() const;

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  double fy() const;

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  double cx() const;

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  double cy() const;

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  double Tx() const;

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  double Ty() const;

  double fovX() const;

  double fovY() const;

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  uint32_t binningX() const;

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  uint32_t binningY() const;

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  double getDeltaU(double deltaX, double Z) const;

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  double getDeltaV(double deltaY, double Z) const;

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  double getDeltaX(double deltaU, double Z) const;

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  double getDeltaY(double deltaV, double Z) const;

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  bool initialized() const { return (bool)cache_; }

protected:
  sensor_msgs::msg::CameraInfo cam_info_;
  cv::Mat_<double> D_;           // Unaffected by binning, ROI
  cv::Matx33d R_;           // Unaffected by binning, ROI
  cv::Matx33d K_;           // Describe current image (includes binning, ROI)
  cv::Matx34d P_;           // Describe current image (includes binning, ROI)
  cv::Matx33d K_full_; // Describe full-res image, needed for full maps
  cv::Matx34d P_full_; // Describe full-res image, needed for full maps

  // Use PIMPL here so we can change internals in patch updates if needed
  struct Cache;
  std::shared_ptr<Cache> cache_; // Holds cached data for internal use

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  void initRectificationMaps() const;
  void initUnrectificationMaps() const;

  friend class StereoCameraModel;
};


/* Trivial inline functions */
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inline std::string PinholeCameraModel::tfFrame() const
{
  assert( initialized() );
  return cam_info_.header.frame_id;
}

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inline builtin_interfaces::msg::Time PinholeCameraModel::stamp() const
{
  assert( initialized() );
  return cam_info_.header.stamp;
}

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inline const sensor_msgs::msg::CameraInfo& PinholeCameraModel::cameraInfo() const  { return cam_info_; }
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inline const cv::Matx33d& PinholeCameraModel::intrinsicMatrix() const  { return K_; }
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inline const cv::Mat_<double>& PinholeCameraModel::distortionCoeffs() const { return D_; }
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inline const cv::Matx33d& PinholeCameraModel::rotationMatrix() const   { return R_; }
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inline const cv::Matx34d& PinholeCameraModel::projectionMatrix() const { return P_; }
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inline const cv::Matx33d& PinholeCameraModel::fullIntrinsicMatrix() const  { return K_full_; }
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inline const cv::Matx34d& PinholeCameraModel::fullProjectionMatrix() const { return P_full_; }

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inline double PinholeCameraModel::fx() const { return P_(0,0); }
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inline double PinholeCameraModel::fy() const { return P_(1,1); }
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inline double PinholeCameraModel::cx() const { return P_(0,2); }
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inline double PinholeCameraModel::cy() const { return P_(1,2); }
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inline double PinholeCameraModel::Tx() const { return P_(0,3); }
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inline double PinholeCameraModel::Ty() const { return P_(1,3); }

inline double PinholeCameraModel::fovX() const {
        return 2 * atan(rawRoi().width / (2 * fx()));
}
inline double PinholeCameraModel::fovY() const {
        return 2 * atan(rawRoi().height / (2 * fy()));
}

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inline uint32_t PinholeCameraModel::binningX() const { return cam_info_.binning_x; }
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inline uint32_t PinholeCameraModel::binningY() const { return cam_info_.binning_y; }

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inline double PinholeCameraModel::getDeltaU(double deltaX, double Z) const
{
  assert( initialized() );
  return fx() * deltaX / Z;
}

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inline double PinholeCameraModel::getDeltaV(double deltaY, double Z) const
{
  assert( initialized() );
  return fy() * deltaY / Z;
}

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inline double PinholeCameraModel::getDeltaX(double deltaU, double Z) const
{
  assert( initialized() );
  return Z * deltaU / fx();
}

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inline double PinholeCameraModel::getDeltaY(double deltaV, double Z) const
{
  assert( initialized() );
  return Z * deltaV / fy();
}

}  // namespace image_geometry

#endif  // IMAGE_GEOMETRY__PINHOLE_CAMERA_MODEL_HPP_