boofcv.alg.geo.selfcalib.MetricCameraTriple Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of boofcv-geo Show documentation

BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.7

/*
 * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.geo.selfcalib;

import boofcv.struct.calib.CameraPinhole;
import georegression.struct.se.Se3_F64;

/**
 * Results of upgrading a three view scenario from a projective into a metric scene. The first camera view
 * is the origin of this coordinate system and a {@link CameraPinhole} model is used.
 *
 * @author Peter Abeles
 */
public class MetricCameraTriple {
	// rigid body transforms from each view. View 1 is assumed to be the origin and is identity
	public final Se3_F64 view_1_to_2 = new Se3_F64();
	public final Se3_F64 view_1_to_3 = new Se3_F64();

	// Intrinsic camera model for each view
	public final CameraPinhole view1 = new CameraPinhole();
	public final CameraPinhole view2 = new CameraPinhole();
	public final CameraPinhole view3 = new CameraPinhole();

	public void setTo( MetricCameraTriple src ) {
		view_1_to_2.setTo(src.view_1_to_2);
		view_1_to_3.setTo(src.view_1_to_3);
		view1.setTo(src.view1);
		view2.setTo(src.view2);
		view3.setTo(src.view3);
	}

	public CameraPinhole getIntrinsics( int viewIdx ) {
		return switch (viewIdx) {
			case 0 -> view1;
			case 1 -> view2;
			case 2 -> view3;
			default -> throw new IllegalArgumentException("Invalid index " + viewIdx);
		};
	}

	public Se3_F64 getView1ToIdx( int viewIdx ) {
		return switch (viewIdx) {
			case 0 -> new Se3_F64();
			case 1 -> view_1_to_2;
			case 2 -> view_1_to_3;
			default -> throw new IllegalArgumentException("Invalid index " + viewIdx);
		};
	}

	public void getView1ToIdx( int viewIdx, Se3_F64 output ) {
		switch (viewIdx) {
			case 0 -> output.reset();
			case 1 -> output.setTo(view_1_to_2);
			case 2 -> output.setTo(view_1_to_3);
			default -> throw new IllegalArgumentException("Invalid index " + viewIdx);
		};
	}
}