Camera.cpp

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/*
 * This file is part of ALVAR, A Library for Virtual and Augmented Reality.
 *
 * Copyright 2007-2012 VTT Technical Research Centre of Finland
 *
 * Contact: VTT Augmented Reality Team <alvar.info@vtt.fi>
 *          <http://www.vtt.fi/multimedia/alvar.html>
 *
 * ALVAR is free software; you can redistribute it and/or modify it under the
 * terms of the GNU Lesser General Public License as published by the Free
 * Software Foundation; either version 2.1 of the License, or (at your option)
 * any later version.
 *
 * This library is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
 * for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with ALVAR; if not, see
 * <http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>.
 */

#include "Alvar.h"
#include "Camera.h"
#include "FileFormatUtils.h"
#include <memory>

using namespace std;

namespace alvar {
using namespace std;


void ProjPoints::Reset() {
        object_points.clear();
        image_points.clear();
        point_counts.clear();
}

// TODO: Does it matter what the etalon_square_size is???
bool ProjPoints::AddPointsUsingChessboard(IplImage *image, double etalon_square_size, int etalon_rows, int etalon_columns, bool visualize) {
        if (image->width == 0) return false;
        IplImage *gray = cvCreateImage(cvSize(image->width, image->height), IPL_DEPTH_8U, 1);
        CvPoint2D32f *corners = new CvPoint2D32f[etalon_rows*etalon_columns];
        if (image->nChannels == 1) 
                cvCopy(image, gray);
        else
                cvCvtColor(image, gray, CV_RGB2GRAY);
        width = image->width;
        height = image->height;

        int point_count = 0;
        int pattern_was_found = cvFindChessboardCorners(gray, cvSize(etalon_rows, etalon_columns), corners, &point_count);
        if (!pattern_was_found) point_count=0;
        if (point_count > 0) {
                cvFindCornerSubPix(gray, corners, point_count, cvSize(5,5), cvSize(-1,-1),
                        cvTermCriteria(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 10, 0.01f));
                for (int i=0; i<point_count; i++) {
                        CvPoint3D64f po;
                        CvPoint2D64f pi;
                        po.x = etalon_square_size*(i%etalon_rows);
                        po.y = etalon_square_size*(i/etalon_rows);
                        po.z = 0;
                        pi.x = corners[i].x;
                        pi.y = corners[i].y;
                        object_points.push_back(po);
                        image_points.push_back(pi);
                }
                point_counts.push_back(point_count);
        }
        if (visualize) {
                cvDrawChessboardCorners(image, cvSize(etalon_rows, etalon_columns),
                      corners, point_count, false /*pattern_was_found*/);
        }
        delete [] corners;
        cvReleaseImage(&gray);
        if (point_count > 0) return true;
        return false;
}

bool ProjPoints::AddPointsUsingMarkers(vector<PointDouble> &marker_corners, vector<PointDouble> &marker_corners_img, IplImage* image)
{
        width = image->width;
        height = image->height;
        if ((marker_corners.size() == marker_corners_img.size()) &&
                (marker_corners.size() == 4))
        {
                for (size_t p=0; p<marker_corners.size(); p++) {
                        CvPoint3D64f po;
                        CvPoint2D64f pi;
                        po.x = marker_corners[p].x;
                        po.y = marker_corners[p].y;
                        po.z = 0;
                        pi.x = marker_corners_img[p].x;
                        pi.y = marker_corners_img[p].y;
                        object_points.push_back(po);
                        image_points.push_back(pi);
                }
                point_counts.push_back(marker_corners.size());
        }

        return true;
}

Camera::Camera() {
        calib_K = cvMat(3, 3, CV_64F, calib_K_data);
        calib_D = cvMat(4, 1, CV_64F, calib_D_data);
        memset(calib_K_data,0,sizeof(double)*3*3);
        memset(calib_D_data,0,sizeof(double)*4);
        calib_K_data[0][0] = 550; // Just some focal length by default
        calib_K_data[1][1] = 550; // Just some focal length by default
        calib_K_data[0][2] = 320;
        calib_K_data[1][2] = 240;
        calib_K_data[2][2] = 1;
        calib_x_res = 640;
        calib_y_res = 480;
        x_res = 640;
        y_res = 480;
}


Camera::Camera(ros::NodeHandle & n, std::string cam_info_topic):n_(n) 
{
        calib_K = cvMat(3, 3, CV_64F, calib_K_data);
        calib_D = cvMat(4, 1, CV_64F, calib_D_data);
        memset(calib_K_data,0,sizeof(double)*3*3);
        memset(calib_D_data,0,sizeof(double)*4);
        calib_K_data[0][0] = 550; // Just some focal length by default
        calib_K_data[1][1] = 550; // Just some focal length by default
        calib_K_data[0][2] = 320;
        calib_K_data[1][2] = 240;
        calib_K_data[2][2] = 1;
        calib_x_res = 640;
        calib_y_res = 480;
        x_res = 640;
        y_res = 480;
        cameraInfoTopic_ = cam_info_topic;
        ROS_INFO ("Subscribing to info topic");
    sub_ = n_.subscribe (cameraInfoTopic_, 1, &Camera::camInfoCallback, this);
    getCamInfo_ = false;
}



//
//Camera::Camera(int w, int h) {
//      calib_K = cvMat(3, 3, CV_64F, calib_K_data);
//      calib_D = cvMat(4, 1, CV_64F, calib_D_data);
//      memset(calib_K_data,0,sizeof(double)*3*3);
//      memset(calib_D_data,0,sizeof(double)*4);
//      calib_K_data[0][0] = w/2;
//      calib_K_data[1][1] = w/2;
//      calib_K_data[0][2] = w/2;
//      calib_K_data[1][2] = h/2;
//      calib_K_data[2][2] = 1;
//      calib_x_res = w;
//      calib_y_res = h;
//      x_res = w;
//      y_res = h;
//}

void Camera::SetSimpleCalib(int _x_res, int _y_res, double f_fac)
{
        memset(calib_K_data,0,sizeof(double)*3*3);
        memset(calib_D_data,0,sizeof(double)*4);
        calib_K_data[0][0] = _x_res*f_fac; // Just some focal length by default
        calib_K_data[1][1] = _x_res*f_fac; // Just some focal length by default
        calib_K_data[0][2] = _x_res/2;
        calib_K_data[1][2] = _y_res/2;
        calib_K_data[2][2] = 1;
        calib_x_res = _x_res;
        calib_y_res = _y_res;
}

bool Camera::LoadCalibXML(const char *calibfile) {
        TiXmlDocument document;
        if (!document.LoadFile(calibfile)) return false;
        TiXmlElement *xml_root = document.RootElement();

        return 
                xml_root->QueryIntAttribute("width", &calib_x_res) == TIXML_SUCCESS &&
                xml_root->QueryIntAttribute("height", &calib_y_res) == TIXML_SUCCESS &&
                FileFormatUtils::parseXMLMatrix(xml_root->FirstChildElement("intrinsic_matrix"), &calib_K) && 
                FileFormatUtils::parseXMLMatrix(xml_root->FirstChildElement("distortion"), &calib_D);
}

bool Camera::LoadCalibOpenCV(const char *calibfile) {
        cvSetErrMode(CV_ErrModeSilent);
        CvFileStorage* fs = cvOpenFileStorage(calibfile, 0, CV_STORAGE_READ); 
        cvSetErrMode(CV_ErrModeLeaf);
        if(fs){
                CvFileNode* root_node = cvGetRootFileNode(fs);
                // K Intrinsic
                CvFileNode* intrinsic_mat_node = cvGetFileNodeByName(fs, root_node, "intrinsic_matrix");
                CvMat* intrinsic_mat = reinterpret_cast<CvMat*>(cvRead(fs, intrinsic_mat_node));
                cvmSet(&calib_K, 0, 0, cvmGet(intrinsic_mat, 0, 0));
                cvmSet(&calib_K, 0, 1, cvmGet(intrinsic_mat, 0, 1));
                cvmSet(&calib_K, 0, 2, cvmGet(intrinsic_mat, 0, 2));
                cvmSet(&calib_K, 1, 0, cvmGet(intrinsic_mat, 1, 0));
                cvmSet(&calib_K, 1, 1, cvmGet(intrinsic_mat, 1, 1));
                cvmSet(&calib_K, 1, 2, cvmGet(intrinsic_mat, 1, 2));
                cvmSet(&calib_K, 2, 0, cvmGet(intrinsic_mat, 2, 0));
                cvmSet(&calib_K, 2, 1, cvmGet(intrinsic_mat, 2, 1));
                cvmSet(&calib_K, 2, 2, cvmGet(intrinsic_mat, 2, 2));

                // D Distortion
                CvFileNode* dist_mat_node = cvGetFileNodeByName(fs, root_node, "distortion");
                CvMat* dist_mat = reinterpret_cast<CvMat*>(cvRead(fs, dist_mat_node));
                cvmSet(&calib_D, 0, 0, cvmGet(dist_mat, 0, 0));
                cvmSet(&calib_D, 1, 0, cvmGet(dist_mat, 1, 0));
                cvmSet(&calib_D, 2, 0, cvmGet(dist_mat, 2, 0));
                cvmSet(&calib_D, 3, 0, cvmGet(dist_mat, 3, 0));

                // Resolution
                CvFileNode* width_node = cvGetFileNodeByName(fs, root_node, "width");
                CvFileNode* height_node = cvGetFileNodeByName(fs, root_node, "height");
                calib_x_res = width_node->data.i;
                calib_y_res = height_node->data.i;
                cvReleaseFileStorage(&fs); 
                return true;
        }
        // reset error status
        cvSetErrStatus(CV_StsOk);
        return false;
}

void Camera::camInfoCallback (const sensor_msgs::CameraInfoConstPtr & cam_info)
  {
    if (!getCamInfo_)
    {
                cam_info_ = (*cam_info);

                calib_x_res = cam_info_.width;
                calib_y_res = cam_info_.height;
                x_res = calib_x_res;
                y_res = calib_y_res;

                cvmSet(&calib_K, 0, 0, cam_info_.K[0]);
                cvmSet(&calib_K, 0, 1, cam_info_.K[1]);
                cvmSet(&calib_K, 0, 2, cam_info_.K[2]);
                cvmSet(&calib_K, 1, 0, cam_info_.K[3]);
                cvmSet(&calib_K, 1, 1, cam_info_.K[4]);
                cvmSet(&calib_K, 1, 2, cam_info_.K[5]);
                cvmSet(&calib_K, 2, 0, cam_info_.K[6]);
                cvmSet(&calib_K, 2, 1, cam_info_.K[7]);
                cvmSet(&calib_K, 2, 2, cam_info_.K[8]);

                cvmSet(&calib_D, 0, 0, cam_info_.D[0]);
                cvmSet(&calib_D, 1, 0, cam_info_.D[1]);
                cvmSet(&calib_D, 2, 0, cam_info_.D[2]);
                cvmSet(&calib_D, 3, 0, cam_info_.D[3]);         
                  
                getCamInfo_ = true;
    }
  }

bool Camera::SetCalib(const char *calibfile, int _x_res, int _y_res, FILE_FORMAT format) {
        x_res = _x_res;
        y_res = _y_res;
        if(!calibfile) return false;

        bool success = false;
        switch (format) {
                case FILE_FORMAT_XML:
                        success = LoadCalibXML(calibfile);
                        break;
                case FILE_FORMAT_OPENCV:
                case FILE_FORMAT_DEFAULT:
                        success = LoadCalibOpenCV(calibfile);
                        break;
                default:
                        // TODO: throw exception?
                        break;
        };

        if (success) {
                // Scale matrix in case of different resolution calibration.
                // The OpenCV documentation says:
                // - If an image from camera is up-sampled/down-sampled by some factor, all intrinsic camera parameters 
                //   (fx, fy, cx and cy) should be scaled (multiplied/divided, respectively) by the same factor.
                // - The distortion coefficients remain the same regardless of the captured image resolution.
                if ((calib_x_res != x_res) || (calib_y_res != y_res)) {
                        calib_K_data[0][0] *= (double(x_res)/double(calib_x_res));
                        calib_K_data[0][2] *= (double(x_res)/double(calib_x_res));
                        calib_K_data[1][1] *= (double(y_res)/double(calib_y_res));
                        calib_K_data[1][2] *= (double(y_res)/double(calib_y_res));
                }
        }
        return success;
}

bool Camera::SaveCalibXML(const char *calibfile) {
        TiXmlDocument document;
        document.LinkEndChild(new TiXmlDeclaration("1.0", "UTF-8", "no"));
        document.LinkEndChild(new TiXmlElement("camera"));
        TiXmlElement *xml_root = document.RootElement();
        xml_root->SetAttribute("width", calib_x_res);
        xml_root->SetAttribute("height", calib_y_res);
        xml_root->LinkEndChild(FileFormatUtils::createXMLMatrix("intrinsic_matrix", &calib_K));
        xml_root->LinkEndChild(FileFormatUtils::createXMLMatrix("distortion", &calib_D));
        return document.SaveFile(calibfile);
}

bool Camera::SaveCalibOpenCV(const char *calibfile) {
        cvSetErrMode(CV_ErrModeSilent);
        CvFileStorage* fs = cvOpenFileStorage(calibfile, 0, CV_STORAGE_WRITE); 
        cvSetErrMode(CV_ErrModeLeaf);
        if(fs){
                cvWrite(fs, "intrinsic_matrix", &calib_K, cvAttrList(0,0)); 
                cvWrite(fs, "distortion", &calib_D, cvAttrList(0,0)); 
                //cvWriteReal(fs, "fov_x", data.fov_x); 
                //cvWriteReal(fs, "fov_y", data.fov_y); 
                cvWriteInt(fs, "width", calib_x_res);
                cvWriteInt(fs, "height", calib_y_res);
                cvReleaseFileStorage(&fs); 
                return true;
        }
        // reset error status
        cvSetErrStatus(CV_StsOk);
        return false;
}

bool Camera::SaveCalib(const char *calibfile, FILE_FORMAT format) {
        if(!calibfile)
                return false;

        switch (format) {
                case FILE_FORMAT_XML:
                        return SaveCalibXML(calibfile);
                case FILE_FORMAT_OPENCV:
                case FILE_FORMAT_DEFAULT:
                        return SaveCalibOpenCV(calibfile);
                default:
                        return false;
        };
}

void Camera::Calibrate(ProjPoints &pp)
{
        CvMat *object_points = cvCreateMat((int)pp.object_points.size(), 1, CV_32FC3);
        CvMat *image_points = cvCreateMat((int)pp.image_points.size(), 1, CV_32FC2);
        const CvMat point_counts = cvMat((int)pp.point_counts.size(), 1, CV_32SC1, &pp.point_counts[0]);
        for (size_t i=0; i<pp.object_points.size(); i++) {
                object_points->data.fl[i*3+0] = (float)pp.object_points[i].x;
                object_points->data.fl[i*3+1] = (float)pp.object_points[i].y;
                object_points->data.fl[i*3+2] = (float)pp.object_points[i].z;
                image_points->data.fl[i*2+0]  = (float)pp.image_points[i].x;
                image_points->data.fl[i*2+1]  = (float)pp.image_points[i].y;
        }
        cvCalibrateCamera2(object_points, image_points, &point_counts, 
                cvSize(pp.width, pp.height), 
                &calib_K, &calib_D, 0, 0, CV_CALIB_USE_INTRINSIC_GUESS);

        calib_x_res = pp.width;
        calib_y_res = pp.height;
        
        cvReleaseMat(&object_points);
        cvReleaseMat(&image_points);
}

void Camera::SetRes(int _x_res, int _y_res) {
        x_res = _x_res;
        y_res = _y_res;
        // Scale matrix in case of different resolution calibration.
        // The OpenCV documentation says:
        // - If an image from camera is up-sampled/down-sampled by some factor, all intrinsic camera parameters 
        //   (fx, fy, cx and cy) should be scaled (multiplied/divided, respectively) by the same factor.
        // - The distortion coefficients remain the same regardless of the captured image resolution.
        if ((calib_x_res != x_res) || (calib_y_res != y_res)) {
                calib_K_data[0][0] *= (double(x_res)/double(calib_x_res));
                calib_K_data[0][2] *= (double(x_res)/double(calib_x_res));
                calib_K_data[1][1] *= (double(y_res)/double(calib_y_res));
                calib_K_data[1][2] *= (double(y_res)/double(calib_y_res));
        }
}

// TODO: Better approach for this...
// Note, the proj_matrix[8] is now negated. This is due to the fact
// that with OpenCV and OpenGL projection matrices both y and z
// should be mirrored. All other components are 
void Camera::GetOpenglProjectionMatrix(double proj_matrix[16], const int width, const int height, const float far_clip /*= 1000.0f*/, const float near_clip /*= 0.1f*/) {
        proj_matrix[0]  = 2.0f * calib_K_data[0][0] / float(width);
        proj_matrix[1]  = 0;
        proj_matrix[2]  = 0;
        proj_matrix[3]  = 0;
        proj_matrix[4]  = 2.0f * calib_K_data[0][1] / float(width); // skew
        proj_matrix[5]  = 2.0f * calib_K_data[1][1] / float(height);
        proj_matrix[6]  = 0;
        proj_matrix[7]  = 0;
        //proj_matrix[8]        = (2.0f * calib_K_data[0][2] / float(width)) - 1.0f;
        proj_matrix[8]  = -(2.0f * calib_K_data[0][2] / float(width)) + 1.0f;
        proj_matrix[9]  = (2.0f * calib_K_data[1][2] / float(height)) - 1.0f;
        proj_matrix[10] = -(far_clip + near_clip)/(far_clip - near_clip);
        proj_matrix[11] = -1.0f;
        proj_matrix[12] = 0;
        proj_matrix[13] = 0;
        proj_matrix[14] = -2.0f * far_clip * near_clip / (far_clip - near_clip);
        proj_matrix[15] = 0;
}

void Camera::SetOpenglProjectionMatrix(double proj_matrix[16], const int width, const int height) {
        x_res = width;
        y_res = height;
        calib_x_res = width;
        calib_y_res = height;
        calib_K_data[0][0] = proj_matrix[0] * float(width) / 2.0f;
        calib_K_data[0][1] = proj_matrix[4] * float(width) / 2.0f;
        calib_K_data[1][1] = proj_matrix[5] * float(height) / 2.0f;
        //calib_K_data[0][2] = (proj_matrix[8] + 1.0f) * float(width) / 2.0f;
        calib_K_data[0][2] = (-proj_matrix[8] + 1.0f) * float(width) / 2.0f; // Is this ok?
        calib_K_data[1][2] = (proj_matrix[9] + 1.0f) * float(height) / 2.0f;
        calib_K_data[2][2] = 1;
}

void Camera::Undistort(PointDouble &point)
{
/*
        // focal length
        double ifx = 1./cvmGet(&calib_K, 0, 0);
        double ify = 1./cvmGet(&calib_K, 1, 1);

        // principal point
        double cx = cvmGet(&calib_K, 0, 2);
        double cy = cvmGet(&calib_K, 1, 2);

        // distortion coeffs
        double* k = calib_D.data.db;

        // compensate distortion iteratively
        double x = (point.x - cx)*ifx, y = (point.y - cy)*ify, x0 = x, y0 = y;
        for(int j = 0; j < 5; j++){
                double r2 = x*x + y*y;
                double icdist = 1./(1 + k[0]*r2 + k[1]*r2*r2);
                double delta_x = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
                double delta_y = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
                x = (x0 - delta_x)*icdist;
                y = (y0 - delta_y)*icdist;
        }
        // apply compensation
        point.x = x/ifx + cx;
        point.y = y/ify + cy;
*/
}

void Camera::Undistort(vector<PointDouble >& points)
{
/*
        // focal length
        double ifx = 1./cvmGet(&calib_K, 0, 0);
        double ify = 1./cvmGet(&calib_K, 1, 1);

        // principal point
        double cx = cvmGet(&calib_K, 0, 2);
        double cy = cvmGet(&calib_K, 1, 2);

        // distortion coeffs
        double* k = calib_D.data.db;

        for(unsigned int i = 0; i < points.size(); i++)
        {
                // compensate distortion iteratively
                double x = (points[i].x - cx)*ifx, y = (points[i].y - cy)*ify, x0 = x, y0 = y;
                for(int j = 0; j < 5; j++){
                        double r2 = x*x + y*y;
                        double icdist = 1./(1 + k[0]*r2 + k[1]*r2*r2);
                        double delta_x = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
                        double delta_y = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
                        x = (x0 - delta_x)*icdist;
                        y = (y0 - delta_y)*icdist;
                }
                // apply compensation
                points[i].x = x/ifx + cx;
                points[i].y = y/ify + cy;
        }
*/
}

void Camera::Undistort(CvPoint2D32f& point)
{
/*
        // focal length
        double ifx = 1./cvmGet(&calib_K, 0, 0);
        double ify = 1./cvmGet(&calib_K, 1, 1);

        // principal point
        double cx = cvmGet(&calib_K, 0, 2);
        double cy = cvmGet(&calib_K, 1, 2);

        // distortion coeffs
        double* k = calib_D.data.db;


        // compensate distortion iteratively
        double x = (point.x - cx)*ifx, y = (point.y - cy)*ify, x0 = x, y0 = y;
        for(int j = 0; j < 5; j++){
                double r2 = x*x + y*y;
                double icdist = 1./(1 + k[0]*r2 + k[1]*r2*r2);
                double delta_x = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
                double delta_y = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
                x = (x0 - delta_x)*icdist;
                y = (y0 - delta_y)*icdist;
        }
        // apply compensation
        point.x = float(x/ifx + cx);
        point.y = float(y/ify + cy);
*/
}

/*
        template<class PointType>
        void Undistort(PointType& point) {
                // focal length
                double ifx = 1./cvmGet(&calib_K, 0, 0);
                double ify = 1./cvmGet(&calib_K, 1, 1);

                // principal point
                double cx = cvmGet(&calib_K, 0, 2);
                double cy = cvmGet(&calib_K, 1, 2);

                // distortion coeffs
                double* k = calib_D.data.db;

                // compensate distortion iteratively
                double x = (point.x - cx)*ifx, y = (point.y - cy)*ify, x0 = x, y0 = y;
                for(int j = 0; j < 5; j++){
                        double r2 = x*x + y*y;
                        double icdist = 1./(1 + k[0]*r2 + k[1]*r2*r2);
                        double delta_x = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
                        double delta_y = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
                        x = (x0 - delta_x)*icdist;
                        y = (y0 - delta_y)*icdist;
                }
                // apply compensation
                point.x = x/ifx + cx;
                point.y = y/ify + cy;
        }
*/

void Camera::Distort(vector<PointDouble>& points) 
{
/*
        double u0 = cvmGet(&calib_K, 0, 2), v0 = cvmGet(&calib_K, 1, 2); // cx, cy
        double fx = cvmGet(&calib_K, 0, 0), fy = cvmGet(&calib_K, 1, 1);
        double _fx = 1./fx, _fy = 1./fy;
        double* k = calib_D.data.db;

        double k1 = k[0], k2 = k[1];
        double p1 = k[2], p2 = k[3];

        for(unsigned int i = 0; i < points.size(); i++)
        {
                // Distort
                double y = (points[i].y - v0)*_fy;
                double y2 = y*y;
                double _2p1y = 2*p1*y;
                double _3p1y2 = 3*p1*y2;
                double p2y2 = p2*y2;

                double x = (points[i].x - u0)*_fx;
                double x2 = x*x;
                double r2 = x2 + y2;
                double d = 1 + (k1 + k2*r2)*r2;

                points[i].x = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
                points[i].y = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
        }
*/
}

void Camera::Distort(PointDouble & point) 
{
/*
        double u0 = cvmGet(&calib_K, 0, 2), v0 = cvmGet(&calib_K, 1, 2); // cx, cy
        double fx = cvmGet(&calib_K, 0, 0), fy = cvmGet(&calib_K, 1, 1);
        double _fx = 1./fx, _fy = 1./fy;
        double* k = calib_D.data.db;

        double k1 = k[0], k2 = k[1];
        double p1 = k[2], p2 = k[3];

        // Distort
        double y = (point.y - v0)*_fy;
        double y2 = y*y;
        double _2p1y = 2*p1*y;
        double _3p1y2 = 3*p1*y2;
        double p2y2 = p2*y2;

        double x = (point.x - u0)*_fx;
        double x2 = x*x;
        double r2 = x2 + y2;
        double d = 1 + (k1 + k2*r2)*r2;

        point.x = fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0;
        point.y = fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0;
*/
}

void Camera::Distort(CvPoint2D32f & point) 
{
/*
        double u0 = cvmGet(&calib_K, 0, 2), v0 = cvmGet(&calib_K, 1, 2); // cx, cy
        double fx = cvmGet(&calib_K, 0, 0), fy = cvmGet(&calib_K, 1, 1);
        double _fx = 1./fx, _fy = 1./fy;
        double* k = calib_D.data.db;

        double k1 = k[0], k2 = k[1];
        double p1 = k[2], p2 = k[3];

        // Distort
        double y = (point.y - v0)*_fy;
        double y2 = y*y;
        double _2p1y = 2*p1*y;
        double _3p1y2 = 3*p1*y2;
        double p2y2 = p2*y2;

        double x = (point.x - u0)*_fx;
        double x2 = x*x;
        double r2 = x2 + y2;
        double d = 1 + (k1 + k2*r2)*r2;

        point.x = float(fx*(x*(d + _2p1y) + p2y2 + (3*p2)*x2) + u0);
        point.y = float(fy*(y*(d + (2*p2)*x) + _3p1y2 + p1*x2) + v0);
*/
}

void Camera::CalcExteriorOrientation(vector<CvPoint3D64f>& pw, vector<CvPoint2D64f>& pi,
                                        Pose *pose)
{
        double ext_rodriques[3];
        double ext_translate[3];
        CvMat ext_rodriques_mat = cvMat(3, 1, CV_64F, ext_rodriques);
        CvMat ext_translate_mat = cvMat(3, 1, CV_64F, ext_translate);
        CvMat *object_points = cvCreateMat((int)pw.size(), 1, CV_32FC3);
        CvMat *image_points = cvCreateMat((int)pi.size(), 1, CV_32FC2);
        for (size_t i=0; i<pw.size(); i++) {
                object_points->data.fl[i*3+0] = (float)pw[i].x;
                object_points->data.fl[i*3+1] = (float)pw[i].y;
                object_points->data.fl[i*3+2] = (float)pw[i].z;
                image_points->data.fl[i*2+0]  = (float)pi[i].x;
                image_points->data.fl[i*2+1]  = (float)pi[i].y;
        }
        //cvFindExtrinsicCameraParams2(object_points, image_points, &calib_K, &calib_D, &ext_rodriques_mat, &ext_translate_mat);
        cvFindExtrinsicCameraParams2(object_points, image_points, &calib_K, NULL, &ext_rodriques_mat, &ext_translate_mat);
    pose->SetRodriques(&ext_rodriques_mat);
        pose->SetTranslation(&ext_translate_mat);
        cvReleaseMat(&object_points);
        cvReleaseMat(&image_points);
}

void Camera::CalcExteriorOrientation(vector<CvPoint3D64f>& pw, vector<PointDouble >& pi,
                                        CvMat *rodriques, CvMat *tra)
{
        //assert(pw.size() == pi.size());

        int size = (int)pi.size();

        CvPoint3D64f *world_pts = new CvPoint3D64f[size];
        CvPoint2D64f *image_pts = new CvPoint2D64f[size];

        for(int i = 0; i < size; i++){
                world_pts[i].x = pw[i].x;
                world_pts[i].y = pw[i].y;
                world_pts[i].z = pw[i].z;
                // flip image points! Why???
                //image_pts[i].x = x_res - pi[i].x;
                //image_pts[i].y = y_res - pi[i].y;
                image_pts[i].x = pi[i].x;
                image_pts[i].y = pi[i].y;
        }

        double rot[3]; // rotation vector
        CvMat world_mat, image_mat, rot_vec;
        cvInitMatHeader(&world_mat, size, 1, CV_64FC3, world_pts);
        cvInitMatHeader(&image_mat, size, 1, CV_64FC2, image_pts);
        cvInitMatHeader(&rot_vec, 3, 1, CV_64FC1, rot);

        cvZero(tra);
        //cvmodFindExtrinsicCameraParams2(&world_mat, &image_mat, &calib_K, &calib_D, rodriques, tra, error);
        cvFindExtrinsicCameraParams2(&world_mat, &image_mat, &calib_K, &calib_D, rodriques, tra);
        
        delete[] world_pts;
        delete[] image_pts;
}

void Camera::CalcExteriorOrientation(vector<PointDouble >& pw, vector<PointDouble >& pi,
                                        CvMat *rodriques, CvMat *tra)
{
        //assert(pw.size() == pi.size());
        int size = (int)pi.size();

        vector<CvPoint3D64f> pw3;
        pw3.resize(size);
        for (int i=0; i<size; i++) {
                pw3[i].x = pw[i].x;
                pw3[i].y = pw[i].y;
                pw3[i].z = 0;
        }

        CalcExteriorOrientation(pw3, pi, rodriques, tra);
}

void Camera::CalcExteriorOrientation(vector<PointDouble>& pw, vector<PointDouble >& pi, Pose *pose)
{
        double ext_rodriques[3];
        double ext_translate[3];
        CvMat ext_rodriques_mat = cvMat(3, 1, CV_64F, ext_rodriques);
        CvMat ext_translate_mat = cvMat(3, 1, CV_64F, ext_translate);
        CalcExteriorOrientation(pw, pi, &ext_rodriques_mat, &ext_translate_mat);
        pose->SetRodriques(&ext_rodriques_mat);
        pose->SetTranslation(&ext_translate_mat);
}

bool Camera::CalcExteriorOrientation(const CvMat* object_points, CvMat* image_points, CvMat *rodriques, CvMat *tra) {
        cvFindExtrinsicCameraParams2(object_points, image_points, &calib_K, &calib_D, rodriques, tra);
        return true;
}

bool Camera::CalcExteriorOrientation(const CvMat* object_points, CvMat* image_points, Pose *pose) {
        double ext_rodriques[3];
        double ext_translate[3];
        CvMat ext_rodriques_mat = cvMat(3, 1, CV_64F, ext_rodriques);
        CvMat ext_translate_mat = cvMat(3, 1, CV_64F, ext_translate);
        bool ret = CalcExteriorOrientation(object_points, image_points, &ext_rodriques_mat, &ext_translate_mat);
        pose->SetRodriques(&ext_rodriques_mat);
        pose->SetTranslation(&ext_translate_mat);
        return ret;
}

void Camera::ProjectPoints(vector<CvPoint3D64f>& pw, Pose *pose, vector<CvPoint2D64f>& pi) const {
        double ext_rodriques[3];
        double ext_translate[3];
        CvMat ext_rodriques_mat = cvMat(3, 1, CV_64F, ext_rodriques);
        CvMat ext_translate_mat = cvMat(3, 1, CV_64F, ext_translate);
        pose->GetRodriques(&ext_rodriques_mat);
        pose->GetTranslation(&ext_translate_mat);
        CvMat *object_points = cvCreateMat((int)pw.size(), 1, CV_32FC3);
        CvMat *image_points = cvCreateMat((int)pi.size(), 1, CV_32FC2);
        for (size_t i=0; i<pw.size(); i++) {
                object_points->data.fl[i*3+0] = (float)pw[i].x;
                object_points->data.fl[i*3+1] = (float)pw[i].y;
                object_points->data.fl[i*3+2] = (float)pw[i].z;
        }
        cvProjectPoints2(object_points, &ext_rodriques_mat, &ext_translate_mat, &calib_K, &calib_D, image_points);  
        for (size_t i=0; i<pw.size(); i++) {
                pi[i].x = image_points->data.fl[i*2+0];
                pi[i].y = image_points->data.fl[i*2+1];
        }
        cvReleaseMat(&object_points);
        cvReleaseMat(&image_points);
}

void Camera::ProjectPoints(const CvMat* object_points, const CvMat* rotation_vector,
                                   const CvMat* translation_vector, CvMat* image_points) const
{
        // Project points
        cvProjectPoints2(object_points, rotation_vector, translation_vector, &calib_K, &calib_D, image_points);  
}

void Camera::ProjectPoints(const CvMat* object_points, const Pose* pose, CvMat* image_points) const
{
        double ext_rodriques[3];
        double ext_translate[3];
        CvMat ext_rodriques_mat = cvMat(3, 1, CV_64F, ext_rodriques);
        CvMat ext_translate_mat = cvMat(3, 1, CV_64F, ext_translate);
        pose->GetRodriques(&ext_rodriques_mat);
        pose->GetTranslation(&ext_translate_mat);
        cvProjectPoints2(object_points, &ext_rodriques_mat, &ext_translate_mat, &calib_K, &calib_D, image_points);  
}

void Camera::ProjectPoints(const CvMat* object_points, double gl[16], CvMat* image_points) const
{
        double glm[4][4] = {
                gl[0], gl[4], gl[8],  gl[12],
                gl[1], gl[5], gl[9],  gl[13],
                gl[2], gl[6], gl[10], gl[14],
                gl[3], gl[7], gl[11], gl[15],
        };
        CvMat glm_mat = cvMat(4, 4, CV_64F, glm);
        
        // For some reason we need to mirror both y and z ???
        double cv_mul_data[4][4];
        CvMat cv_mul = cvMat(4, 4, CV_64F, cv_mul_data);
        cvSetIdentity(&cv_mul);
        cvmSet(&cv_mul, 1, 1, -1);
        cvmSet(&cv_mul, 2, 2, -1);
        cvMatMul(&cv_mul, &glm_mat, &glm_mat);
        
        // Rotation
        Rotation r;
        r.SetMatrix(&glm_mat);
        double rod[3]; 
        CvMat rod_mat=cvMat(3, 1, CV_64F, rod);
        r.GetRodriques(&rod_mat);
        // Translation
        double tra[3] = { glm[0][3], glm[1][3], glm[2][3] };
        CvMat tra_mat = cvMat(3, 1, CV_64F, tra);
        // Project points
        ProjectPoints(object_points, &rod_mat, &tra_mat, image_points);
}

void Camera::ProjectPoint(const CvPoint3D64f pw, const Pose *pose, CvPoint2D64f &pi) const {
        float object_points_data[3] = {(float)pw.x, (float)pw.y, (float)pw.z};
        float image_points_data[2] = {0};
        CvMat object_points = cvMat(1, 1, CV_32FC3, object_points_data);
        CvMat image_points = cvMat(1, 1, CV_32FC2, image_points_data);
        ProjectPoints(&object_points, pose, &image_points);
        pi.x = image_points.data.fl[0];
        pi.y = image_points.data.fl[1];
}

void Camera::ProjectPoint(const CvPoint3D32f pw, const Pose *pose, CvPoint2D32f &pi) const {
        float object_points_data[3] = {(float)pw.x, (float)pw.y, (float)pw.z};
        float image_points_data[2] = {0};
        CvMat object_points = cvMat(1, 1, CV_32FC3, object_points_data);
        CvMat image_points = cvMat(1, 1, CV_32FC2, image_points_data);
        ProjectPoints(&object_points, pose, &image_points);
        pi.x = image_points.data.fl[0];
        pi.y = image_points.data.fl[1];
}

Homography::Homography() {
        cvInitMatHeader(&H, 3, 3, CV_64F, H_data);
}

void Homography::Find(const vector<PointDouble  >& pw, const vector<PointDouble  >& pi)
{
        assert(pw.size() == pi.size());
        int size = (int)pi.size();

        CvPoint2D64f *srcp = new CvPoint2D64f[size];
        CvPoint2D64f *dstp = new CvPoint2D64f[size];

        for(int i = 0; i < size; ++i){
                srcp[i].x = pw[i].x;
                srcp[i].y = pw[i].y;

                dstp[i].x = pi[i].x;
                dstp[i].y = pi[i].y;
        }
        
        CvMat src_pts, dst_pts;
        cvInitMatHeader(&dst_pts, 1, size, CV_64FC2, dstp);
        cvInitMatHeader(&src_pts, 1, size, CV_64FC2, srcp);

#ifdef OPENCV11
        cvFindHomography(&src_pts, &dst_pts, &H, 0, 0, 0);
#else
        cvFindHomography(&src_pts, &dst_pts, &H);
#endif

        delete[] srcp;
        delete[] dstp;
}

void Homography::ProjectPoints(const vector<PointDouble>& from, vector<PointDouble>& to) 
{
        int size = (int)from.size();

        CvPoint3D64f *srcp = new CvPoint3D64f[size];

        for(int i = 0; i < size; ++i){
                srcp[i].x = from[i].x;
                srcp[i].y = from[i].y;
                srcp[i].z = 1;
        }

        CvPoint3D64f *dstp = new CvPoint3D64f[size];

        CvMat src_pts, dst_pts;
        cvInitMatHeader(&src_pts, 1, size, CV_64FC3, srcp);
        cvInitMatHeader(&dst_pts, 1, size, CV_64FC3, dstp);
        
        cvTransform(&src_pts, &dst_pts, &H);

        to.clear();
        for(int i = 0; i < size; ++i)
        {       
                PointDouble pt;
                pt.x = dstp[i].x / dstp[i].z;
                pt.y = dstp[i].y / dstp[i].z;
                
                to.push_back(pt);
        }
        
        delete[] srcp;
        delete[] dstp;
}

} // namespace alvar