CameraModel.h

/*
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:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
#ifndef CAMERAMODEL_H_
#define CAMERAMODEL_H_
 
#include <opencv2/opencv.hpp>
 
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
#include "rtabmap/core/Transform.h"
 
namespace rtabmap {
 
class RTABMAP_CORE_EXPORT CameraModel
{
public:
  static Transform opticalRotation() {return Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);}
 
public:
 
  CameraModel();
  
  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());
 
  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));
  
  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_;}
  cv::Mat D_raw() const {return D_;} 
  cv::Mat K() const {return !P_.empty()?P_.colRange(0,3):K_;}
  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_;}
  cv::Mat P() const {return P_;}
 
  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;
 
  double fovY() const;
 
  double horizontalFOV() const;
  
  double verticalFOV() const;
 
  bool isFisheye() const {return D_.cols == 6;}
 
  bool load(const std::string & filePath, bool initRectificationMaps = true);
 
  bool load(const std::string & directory, const std::string & cameraName, bool initRectificationMaps = true);
 
  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;
 
  cv::Mat rectifyImage(const cv::Mat & raw, int interpolation = cv::INTER_LINEAR) const;
 
  cv::Mat rectifyDepth(const cv::Mat & raw) const;
 
  void project(float u, float v, float depth, float & x, float & y, float & z) const;
  
  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_CORE_EXPORT std::ostream& operator<<(std::ostream& os, const CameraModel& model);
 
} /* namespace rtabmap */
#endif /* CAMERAMODEL_H_ */