1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
|
/*
* surview_fisheye_dewarp.h - dewarp fisheye image for surround view
*
* Copyright (c) 2016-2017 Intel Corporation
*
* 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.
*
* Author: Junkai Wu <junkai.wu@intel.com>
*/
#ifndef XCAM_SURVIEW_FISHEYE_DEWARP_H
#define XCAM_SURVIEW_FISHEYE_DEWARP_H
#include <xcam_std.h>
#include <vec_mat.h>
#include <interface/data_types.h>
namespace XCam {
class SurViewFisheyeDewarp
{
public:
typedef std::vector<PointFloat2> MapTable;
explicit SurViewFisheyeDewarp ();
virtual ~SurViewFisheyeDewarp ();
void fisheye_dewarp(MapTable &map_table, uint32_t table_w, uint32_t table_h, uint32_t image_w, uint32_t image_h, const BowlDataConfig &bowl_config);
void set_intrinsic_param(const IntrinsicParameter &intrinsic_param);
void set_extrinsic_param(const ExtrinsicParameter &extrinsic_param);
IntrinsicParameter get_intrinsic_param();
ExtrinsicParameter get_extrinsic_param();
private:
XCAM_DEAD_COPY (SurViewFisheyeDewarp);
virtual void cal_image_coord (const PointFloat3 &cam_coord, PointFloat2 &image_coord);
void cal_cam_world_coord (const PointFloat3 &world_coord, PointFloat3 &cam_world_coord);
void world_coord2cam (const PointFloat3 &cam_world_coord, PointFloat3 &cam_coord);
Mat4f generate_rotation_matrix(float roll, float pitch, float yaw);
private:
IntrinsicParameter _intrinsic_param;
ExtrinsicParameter _extrinsic_param;
};
class PolyFisheyeDewarp : public SurViewFisheyeDewarp
{
public:
explicit PolyFisheyeDewarp ();
private:
void cal_image_coord (const PointFloat3 &cam_coord, PointFloat2 &image_coord);
};
} // Adopt Scaramuzza's approach to calculate image coordinates from camera coordinates
#endif // XCAM_SURVIEW_FISHEYE_DEWARP_H
|
