cameraIntrinsics.h

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#ifndef DLR_COMPUTERVISION_CAMERAINTRINSICS_H
#define DLR_COMPUTERVISION_CAMERAINTRINSICS_H

#include <dlrGeometry/ray3D.h>
#include <dlrNumeric/index2D.h>
#include <dlrNumeric/vector2D.h>
#include <dlrNumeric/vector3D.h>

namespace dlr {

  namespace computerVision {

    class CameraIntrinsics {
    public:

      CameraIntrinsics() {};


      virtual
      ~CameraIntrinsics() {}


      virtual dlr::numeric::Vector2D
      project(const dlr::numeric::Vector3D& point) const = 0;


      virtual inline geometry::Ray3D
      reverseProject(const dlr::numeric::Index2D& pixelPosition,
                     bool normalize = true) const;


      virtual geometry::Ray3D
      reverseProject(const dlr::numeric::Vector2D& pixelPosition,
                     bool normalize = true) const = 0;


    protected:

    };

  } // namespace computerVision
  
} // namespace dlr


/* ============ Definitions of inline & template functions ============ */


#include <cmath>

namespace dlr {

  namespace computerVision {

    // This function returns a ray in 3D camera coordinates starting
    // at the camera focus, and passing through the center of the
    // specified pixel.
    inline dlr::geometry::Ray3D
    CameraIntrinsics::
    reverseProject(const dlr::numeric::Index2D& pixelPosition,
                   bool normalize) const
    {
      return this->reverseProject(
        dlr::numeric::Vector2D(pixelPosition.getColumn() + 0.5,
                               pixelPosition.getRow() + 0.5),
        normalize);
    }

  } // namespace computerVision
  
} // namespace dlr

#endif /* #ifndef DLR_COMPUTERVISION_CAMERAINTRINSICS_H */