camera.h

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#ifndef _CAMERA_H
#define _CAMERA_H

#include "matvec.h"

class PerspectiveProjection {
public:
        PerspectiveProjection();
        PerspectiveProjection(int w, int h, double f, double g, double cx, double, double s=0);
        void set(int w, int h, double f, double g, double cx , double cy, double s=0);

        void eyeToImage(const double eye[3], double uv[2]) const;
        void imageToEye(const double uv[2], double eye[3], double w=0) const;
        void imageToEye(double u, double v, double eye[3], double w=0) const;

        void setGlProjection() const;

        bool setPlanes(double near, double far);

        bool getUndistortMap(CvMat *xmap, CvMat *ymap);

//protected:
        // intrinsic parameters
        double f, g, cx, cy, s;
        double distortion;
        Mat3x3 eyeToImageMat;
        int width, height;
        double farPlane, nearPlane;

        void cmpEyeToImageMat();

        void flip();
};

class PerspectiveCamera : public PerspectiveProjection {
public:
        PerspectiveCamera();

        void worldToImage(const double p[3], double uvw[3]) const;
        void worldToImage(const Vec3 &p, Vec3 &uvw) const;
        void worldToEye(const Vec3 &src, Vec3 &dst) const;
        void worldToEye(const double src[3], double dst[3]) const;
        void eyeToWorld(const Vec3 &uvw, Vec3 &w) const;
        void imageToWorld(double u, double v, Vec3 &w, double z=0) const;
        void setGlModelView() const;
        void setByTarget(const Vec3 pos, const Vec3 target, double roll);
        void loadTdir(const double tdir[3][4], int w, int h);
        bool loadTdir(const char *tdir, int w, int h);
        bool loadTdir(const char *tdir); // width and height are estimated. Do not trust it!
        void clearExternalParams();

        void translate(double dx, double dy, double dz);

        void setWorldToEyeMat(const Mat3x4 &m);
        const Mat3x4 &getWorldToEyeMat() const { return worldToEyeMat; }
        const Mat3x4 &getEyeToWorldMat() const { return eyeToWorldMat; }
        const Mat3x4 &getWorldToImageMat() const { return worldToImageMat; }

        void cmpWorldToImageMat();

        bool saveTdir(const char *file);

protected:
        // extrinsic parameters
        Mat3x4 worldToEyeMat;
        Mat3x4 eyeToWorldMat;
        Mat3x4 worldToImageMat;
};

std::ostream& operator << (std::ostream& os, const PerspectiveProjection &cam);
std::ostream& operator << (std::ostream& os, const PerspectiveCamera &cam);
        
#endif