1 // Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
2 // All rights reserved.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
6 //
7 // * Redistributions of source code must retain the above copyright
8 // notice, this list of conditions and the following disclaimer.
9 //
10 // * Redistributions in binary form must reproduce the above copyright
11 // notice, this list of conditions and the following disclaimer in the
12 // documentation and/or other materials provided with the distribution.
13 //
14 // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
15 // its contributors may be used to endorse or promote products derived
16 // from this software without specific prior written permission.
17 //
18 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
21 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
22 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
23 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
24 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
25 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
26 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
27 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
28 // POSSIBILITY OF SUCH DAMAGE.
29 //
30 // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
31
32 #ifndef COLMAP_SRC_MVS_IMAGE_H_
33 #define COLMAP_SRC_MVS_IMAGE_H_
34
35 #include <cstdint>
36 #include <fstream>
37 #include <set>
38 #include <string>
39 #include <unordered_map>
40 #include <vector>
41
42 #include "util/bitmap.h"
43
44 namespace colmap {
45 namespace mvs {
46
47 class Image {
48 public:
49 Image();
50 Image(const std::string& path, const size_t width, const size_t height,
51 const float* K, const float* R, const float* T);
52
53 inline size_t GetWidth() const;
54 inline size_t GetHeight() const;
55
56 void SetBitmap(const Bitmap& bitmap);
57 inline const Bitmap& GetBitmap() const;
58
59 inline const std::string& GetPath() const;
60 inline const float* GetR() const;
61 inline const float* GetT() const;
62 inline const float* GetK() const;
63 inline const float* GetP() const;
64 inline const float* GetInvP() const;
65 inline const float* GetViewingDirection() const;
66
67 void Rescale(const float factor);
68 void Rescale(const float factor_x, const float factor_y);
69 void Downsize(const size_t max_width, const size_t max_height);
70
71 private:
72 std::string path_;
73 size_t width_;
74 size_t height_;
75 float K_[9];
76 float R_[9];
77 float T_[3];
78 float P_[12];
79 float inv_P_[12];
80 Bitmap bitmap_;
81 };
82
83 void ComputeRelativePose(const float R1[9], const float T1[3],
84 const float R2[9], const float T2[3], float R[9],
85 float T[3]);
86
87 void ComposeProjectionMatrix(const float K[9], const float R[9],
88 const float T[3], float P[12]);
89
90 void ComposeInverseProjectionMatrix(const float K[9], const float R[9],
91 const float T[3], float inv_P[12]);
92
93 void ComputeProjectionCenter(const float R[9], const float T[3], float C[3]);
94
95 void RotatePose(const float RR[9], float R[9], float T[3]);
96
97 ////////////////////////////////////////////////////////////////////////////////
98 // Implementation
99 ////////////////////////////////////////////////////////////////////////////////
100
GetWidth()101 size_t Image::GetWidth() const { return width_; }
102
GetHeight()103 size_t Image::GetHeight() const { return height_; }
104
GetBitmap()105 const Bitmap& Image::GetBitmap() const { return bitmap_; }
106
GetPath()107 const std::string& Image::GetPath() const { return path_; }
108
GetR()109 const float* Image::GetR() const { return R_; }
110
GetT()111 const float* Image::GetT() const { return T_; }
112
GetK()113 const float* Image::GetK() const { return K_; }
114
GetP()115 const float* Image::GetP() const { return P_; }
116
GetInvP()117 const float* Image::GetInvP() const { return inv_P_; }
118
GetViewingDirection()119 const float* Image::GetViewingDirection() const { return &R_[6]; }
120
121 } // namespace mvs
122 } // namespace colmap
123
124 #endif // COLMAP_SRC_MVS_IMAGE_H_
125