mit_darpa_logs_player: /home/laradmin/lar/utils/mit_darpa_logs

00001 /**************************************************************************************************
00002  Software License Agreement (BSD License)
00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
00005  All rights reserved.
00006 
00007  Redistribution and use in source and binary forms, with or without modification, are permitted
00008  provided that the following conditions are met:
00009 
00010   *Redistributions of source code must retain the above copyright notice, this list of
00011    conditions and the following disclaimer.
00012   *Redistributions in binary form must reproduce the above copyright notice, this list of
00013    conditions and the following disclaimer in the documentation and/or other materials provided
00014    with the distribution.
00015   *Neither the name of the University of Aveiro nor the names of its contributors may be used to
00016    endorse or promote products derived from this software without specific prior written permission.
00017  
00018  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
00019  IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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00022  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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00033 #ifndef __dgc_camtrans_h__
00034 #define __dgc_camtrans_h__
00035 
00036 //#ifdef __cplusplus
00037 //extern "C" {
00038 //#endif
00039 
00040 //
00041 // Camera representation
00042 //
00043 
00044 typedef struct _CamTrans CamTrans;
00045 
00046 CamTrans * camtrans_new_spherical (double width, double height, 
00047         double fx, double fy, 
00048         double cx, double cy, double skew,
00049         const double position[3], const double orientation_quat[4],
00050         const double distortion_cx, const double distortion_cy,
00051         double distortion_param);
00052 
00053 
00054 // Destructor
00055 void camtrans_destroy (CamTrans* t);
00056 
00057 // Computes internal matrix representations from parameters
00058 void camtrans_compute_matrices (CamTrans *t);
00059 
00060 
00061 // Gets camera position in world frame (calibration frame)
00062 void camtrans_get_position (const CamTrans* t,
00063                                     double pos[3]);
00064 void camtrans_get_orientation (const CamTrans *t,
00065                                        double orientation[4]);
00066 
00067 void camtrans_get_world_to_cam_matrix (const CamTrans *t, double matrix[12]);
00068 void camtrans_get_cam_to_world_matrix (const CamTrans *t, double matrix[9]);
00069 
00070 
00071 double camtrans_get_focal_length_x (const CamTrans *t);
00072 double camtrans_get_focal_length_y (const CamTrans *t);
00073 double camtrans_get_image_width (const CamTrans *t);
00074 double camtrans_get_image_height (const CamTrans *t);
00075 double camtrans_get_principal_x (const CamTrans *t);
00076 double camtrans_get_principal_y (const CamTrans *t);
00077 double camtrans_get_width (const CamTrans *t);
00078 double camtrans_get_height (const CamTrans *t);
00079 void camtrans_get_distortion_center (const CamTrans *t, double *x, double *y);
00080 
00085 void camtrans_scale_image (CamTrans *t, const double scale_factor);
00086 
00087 
00092 void camtrans_rotate_camera (CamTrans *t, const double q[4]);
00093 
00098 void camtrans_set_distortion_center (CamTrans *t, const double cx,
00099                                      const double cy);
00100 
00101 
00102 //
00103 // Camera functions
00104 //
00105 
00111 int camtrans_undistort_pixel (const CamTrans* cam,
00112                                       const double x, const double y,
00113                                       double* ox, double* oy);
00114 
00120 int camtrans_distort_pixel (const CamTrans* cam,
00121                                     const double x, const double y,
00122                                     double* ox, double* oy);
00123 
00124 // Produce 3D ray from pixel measurement, to body frame coordinates
00125 int camtrans_pixel_to_ray (const CamTrans* cam,
00126                                    const double x, const double y,
00127                                    double ray[3]);
00128 
00135 int camtrans_project_point (const CamTrans* cam,
00136                                     const double * p_world,
00137                                     const int distort,
00138                                     double* ox, double* oy, double *oz);
00139 
00145 int camtrans_project_line (const CamTrans *cam,
00146                            const double *l_world,
00147                            double *ox, double *oy, double *oz);
00148 
00149 
00150 //#ifdef __cplusplus
00151 //}
00152 //#endif
00153 
00154 #endif
00155
/home/laradmin/lar/utils/mit_darpa_logs_player/src/camtrans.h
