CameraModel.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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#ifndef CAMERAMODEL_H_
#define CAMERAMODEL_H_

#include <opencv2/opencv.hpp>

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
#include "rtabmap/core/Transform.h"

namespace rtabmap {

class RTABMAP_EXP CameraModel
{
public:
        static Transform opticalRotation() {return Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);}

public:
        CameraModel();
        // K is the camera intrinsic 3x3 CV_64FC1
        // D is the distortion coefficients 1x5 CV_64FC1
        // R is the rectification matrix 3x3 CV_64FC1 (computed from stereo or Identity)
        // P is the projection matrix 3x4 CV_64FC1 (computed from stereo or equal to [K [0 0 1]'])
        CameraModel(
                        const std::string & name,
                        const cv::Size & imageSize,
                        const cv::Mat & K,
                        const cv::Mat & D,
                        const cv::Mat & R,
                        const cv::Mat & P,
                        const Transform & localTransform = opticalRotation());

        // minimal
        CameraModel(
                        double fx,
                        double fy,
                        double cx,
                        double cy,
                        const Transform & localTransform = opticalRotation(),
                        double Tx = 0.0f,
                        const cv::Size & imageSize = cv::Size(0,0));
        // minimal to be saved
        CameraModel(
                        const std::string & name,
                        double fx,
                        double fy,
                        double cx,
                        double cy,
                        const Transform & localTransform = opticalRotation(),
                        double Tx = 0.0f,
                        const cv::Size & imageSize = cv::Size(0,0));

        virtual ~CameraModel() {}

        bool initRectificationMap();
        bool isRectificationMapInitialized() const {return !mapX_.empty() && !mapY_.empty();}

        bool isValidForProjection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}
        bool isValidForReprojection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0 && imageWidth()>0 && imageHeight()>0;}
        bool isValidForRectification() const
        {
                return imageSize_.width>0 &&
                           imageSize_.height>0 &&
                           !K_.empty() &&
                           !D_.empty() &&
                           !R_.empty() &&
                           !P_.empty();
        }

        void setName(const std::string & name) {name_=name;}
        const std::string & name() const {return name_;}

        double fx() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(0,0):P_.at<double>(0,0);}
        double fy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,1):P_.at<double>(1,1);}
        double cx() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(0,2):P_.at<double>(0,2);}
        double cy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,2):P_.at<double>(1,2);}
        double Tx() const {return P_.empty()?0.0:P_.at<double>(0,3);}

        cv::Mat K_raw() const {return K_;} //intrinsic camera matrix (before rectification)
        cv::Mat D_raw() const {return D_;} //intrinsic distorsion matrix (before rectification)
        cv::Mat K() const {return !P_.empty()?P_.colRange(0,3):K_;} // if P exists, return rectified version
        cv::Mat D() const {return P_.empty()&&!D_.empty()?D_:cv::Mat::zeros(1,5,CV_64FC1);} // if P exists, return rectified version
        cv::Mat R() const {return R_;} //rectification matrix
        cv::Mat P() const {return P_;} //projection matrix

        void setLocalTransform(const Transform & transform) {localTransform_ = transform;}
        const Transform & localTransform() const {return localTransform_;}

        void setImageSize(const cv::Size & size);
        const cv::Size & imageSize() const {return imageSize_;}
        int imageWidth() const {return imageSize_.width;}
        int imageHeight() const {return imageSize_.height;}

        double fovX() const; // in radians
        double fovY() const; // in radians
        double horizontalFOV() const; // in degrees
        double verticalFOV() const;   // in degrees
        bool isFisheye() const {return D_.cols == 6;}

        bool load(const std::string & filePath);
        bool load(const std::string & directory, const std::string & cameraName);
        bool save(const std::string & directory) const;
        std::vector<unsigned char> serialize() const;
        unsigned int deserialize(const std::vector<unsigned char>& data);
        unsigned int deserialize(const unsigned char * data, unsigned int dataSize);

        CameraModel scaled(double scale) const;
        CameraModel roi(const cv::Rect & roi) const;

        // For depth images, your should use cv::INTER_NEAREST
        cv::Mat rectifyImage(const cv::Mat & raw, int interpolation = cv::INTER_LINEAR) const;
        cv::Mat rectifyDepth(const cv::Mat & raw) const;

        // Project 2D pixel to 3D (in /camera_link frame)
        void project(float u, float v, float depth, float & x, float & y, float & z) const;
        // Reproject 3D point (in /camera_link frame) to pixel
        void reproject(float x, float y, float z, float & u, float & v) const;
        void reproject(float x, float y, float z, int & u, int & v) const;
        bool inFrame(int u, int v) const;

private:
        std::string name_;
        cv::Size imageSize_;
        cv::Mat K_;
        cv::Mat D_;
        cv::Mat R_;
        cv::Mat P_;
        cv::Mat mapX_;
        cv::Mat mapY_;
        Transform localTransform_;
};

RTABMAP_EXP std::ostream& operator<<(std::ostream& os, const CameraModel& model);

} /* namespace rtabmap */
#endif /* CAMERAMODEL_H_ */