camtrans.h

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#ifndef __dgc_camtrans_h__
#define __dgc_camtrans_h__

//#ifdef __cplusplus
//extern "C" {
//#endif

//
// Camera representation
//

typedef struct _CamTrans CamTrans;

CamTrans * camtrans_new_spherical (double width, double height, 
        double fx, double fy, 
        double cx, double cy, double skew,
        const double position[3], const double orientation_quat[4],
        const double distortion_cx, const double distortion_cy,
        double distortion_param);


// Destructor
void camtrans_destroy (CamTrans* t);

// Computes internal matrix representations from parameters
void camtrans_compute_matrices (CamTrans *t);


// Gets camera position in world frame (calibration frame)
void camtrans_get_position (const CamTrans* t,
                                    double pos[3]);
void camtrans_get_orientation (const CamTrans *t,
                                       double orientation[4]);

void camtrans_get_world_to_cam_matrix (const CamTrans *t, double matrix[12]);
void camtrans_get_cam_to_world_matrix (const CamTrans *t, double matrix[9]);


double camtrans_get_focal_length_x (const CamTrans *t);
double camtrans_get_focal_length_y (const CamTrans *t);
double camtrans_get_image_width (const CamTrans *t);
double camtrans_get_image_height (const CamTrans *t);
double camtrans_get_principal_x (const CamTrans *t);
double camtrans_get_principal_y (const CamTrans *t);
double camtrans_get_width (const CamTrans *t);
double camtrans_get_height (const CamTrans *t);
void camtrans_get_distortion_center (const CamTrans *t, double *x, double *y);

void camtrans_scale_image (CamTrans *t, const double scale_factor);


void camtrans_rotate_camera (CamTrans *t, const double q[4]);

void camtrans_set_distortion_center (CamTrans *t, const double cx,
                                     const double cy);


//
// Camera functions
//

int camtrans_undistort_pixel (const CamTrans* cam,
                                      const double x, const double y,
                                      double* ox, double* oy);

int camtrans_distort_pixel (const CamTrans* cam,
                                    const double x, const double y,
                                    double* ox, double* oy);

// Produce 3D ray from pixel measurement, to body frame coordinates
int camtrans_pixel_to_ray (const CamTrans* cam,
                                   const double x, const double y,
                                   double ray[3]);

int camtrans_project_point (const CamTrans* cam,
                                    const double * p_world,
                                    const int distort,
                                    double* ox, double* oy, double *oz);

int camtrans_project_line (const CamTrans *cam,
                           const double *l_world,
                           double *ox, double *oy, double *oz);


//#ifdef __cplusplus
//}
//#endif

#endif