Camera.C

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00001 /*!@file SceneUnderstanding/Camera.C  */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005   //
00005 // by the University of Southern California (USC) and the iLab at USC.  //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/plugins/SceneUnderstanding/Camera.C $
00035 // $Id: Camera.C 13413 2010-05-15 21:00:11Z itti $
00036 //
00037 
00038 #ifndef Camera_C_DEFINED
00039 #define Camera_C_DEFINED
00040 
00041 #include "Image/DrawOps.H"
00042 #include "Image/MathOps.H"
00043 #include "plugins/SceneUnderstanding/Camera.H"
00044 
00045 // ######################################################################
00046 Camera::Camera(Point3D<float> location,
00047     Point3D<float> orientation, float focalRatio,
00048     float width, float height) :
00049   itsLocation(location),
00050   itsOrientation(orientation),
00051   itsFocalRatio(focalRatio),
00052   itsWidth(width),
00053   itsHeight(height)
00054 {
00055 }
00056 
00057 // ######################################################################
00058 Camera::~Camera()
00059 {
00060 
00061 }
00062 
00063 // ######################################################################
00064 Point2D<float> Camera::project(Point3D<float> point)
00065 {
00066   float dx = cos(itsOrientation.y) * (sin(itsOrientation.z)*(point.y-itsLocation.y) +
00067                                       cos(itsOrientation.z)*(point.x-itsLocation.x)) -
00068              sin(itsOrientation.y)*(point.z-itsLocation.z);
00069   float dy = sin(itsOrientation.x) * (cos(itsOrientation.y)*(point.z-itsLocation.z) +
00070                                       sin(itsOrientation.y)*(sin(itsOrientation.z)*(point.y-itsLocation.y) +
00071                                                              cos(itsOrientation.z)*(point.x-itsLocation.x))) +
00072              cos(itsOrientation.x)*(cos(itsOrientation.z)*(point.y-itsLocation.y) -
00073                                     sin(itsOrientation.z)*(point.x-itsLocation.x));
00074   float dz = cos(itsOrientation.x) * (cos(itsOrientation.y)*(point.z-itsLocation.z) +
00075                                       sin(itsOrientation.y)*(sin(itsOrientation.z)*(point.y-itsLocation.y) +
00076                                                              cos(itsOrientation.z)*(point.x-itsLocation.x))) -
00077              sin(itsOrientation.x)*(cos(itsOrientation.z)*(point.y-itsLocation.y) -
00078                                     sin(itsOrientation.z)*(point.x-itsLocation.x));
00079 
00080   //Project the point onto the 2d camera plane
00081   Point2D<float> projPoint;
00082 
00083   projPoint.i = (itsWidth/2.0F) + dx * itsFocalRatio/dz;
00084   projPoint.j = (itsHeight/2.0F) + dy * itsFocalRatio/dz;
00085 
00086   return projPoint;
00087 }
00088 
00089 Point3D<float> Camera::inverseProjection(const Point2D<float> point,
00090     const float dist)
00091 {
00092 
00093   Point3D<float> ip(0,0,0);
00094 
00095   float dz = dist;
00096   float dx = ((float)point.i - (itsWidth/2.0F))/(itsFocalRatio/dz);
00097   float dy = ((float)point.j - (itsHeight/2.0F))/(itsFocalRatio/dz);
00098 
00099   ip.x = dx+itsLocation.x;
00100   ip.y = dy+itsLocation.y;
00101   ip.z = dz+itsLocation.z;
00102 
00103   return ip;
00104 }
00105 
00106 
00107 // ######################################################################
00108 /* So things look consistent in everyone's emacs... */
00109 /* Local Variables: */
00110 /* indent-tabs-mode: nil */
00111 /* End: */
00112 
00113 #endif
00114 
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