add vcglib

vcglib/wrap/tsai/tsaimethods.h

@@ -0,0 +1,85 @@
+/***************************************************************************
+ *   Copyright (C) 2008 by Luca Baronti  				   *
+ *   lbaronti@gmail.com   						   *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU General Public License for more details.                          *
+ *                                                                         *
+ *   You should have received a copy of the GNU General Public License     *
+ *   along with this program; if not, write to the                         *
+ *   Free Software Foundation, Inc.,                                       *
+ *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ ***************************************************************************/
+
+/***************************************************************************
+  History
+Modified by sottile on July 2009
+****************************************************************************/
+
+
+/** <b>Tsai Methods -- Interface with the tsai lib </b>
+
+The class is static, so a simple call to <code>calibrate()</code> is
+sufficient to get a calibrated shot.<br>
+
+<i>Comment:</i><br>
+Sometimes the Tsai Lib returns a irregular shifted translation values.<br>
+Since now no solution found.
+
+*/
+
+
+/****************************************************************************\
+*										*
+* Camera parameters are usually the fixed parameters of the given camera 	*
+* system, typically obtained from manufacturers specifications.			*
+*										*
+* Cy and Cy (the center of radial lens distortion), may be calibrated		*
+* separately or as part of the coplanar/noncoplanar calibration.		*
+* The same with sx (x scale uncertainty factor).				*
+*										*
+\*******************************************************************************/
+
+#ifndef _TSAI_METHODS_
+#define _TSAI_METHODS_
+
+#include <vcg/math/matrix44.h>
+#include <vcg/space/point3.h>
+#include <vcg/space/point2.h>
+#include <vcg/math/shot.h>
+
+#include <list>
+
+// minimum points that need tsai for a proper calibration
+static const int MIN_POINTS_FOR_CALIBRATE = 13;
+
+struct TsaiCorrelation {
+	vcg::Point3d point3d;
+	vcg::Point2d point2d;
+};
+
+class TsaiMethods
+{
+public:
+	//Calibration of the shot according to the 2D and 3D points
+    static bool calibrate( vcg::Shot<double>* shot,std::list<TsaiCorrelation>* corr, bool p_foc); /// send all the valid binded points of the image at the calibration lib, then set the intinsic param of the image
+
+	///Transformation of the camera data between tsai structure and vcg structure
+	static void Shot2Tsai(vcg::Shot<double>*);
+	///Transformation of the camera data between tsai structure and vcg structure
+	static void Tsai2Shot(vcg::Shot<double>*, bool p_foc=true);
+	
+private:
+	static void Cam2Tsai(vcg::Shot<double>*);
+        static bool createDataSet(std::list<TsaiCorrelation>* corr,vcg::Shot<double>* s);
+
+};
+
+#endif //_TSAI_METHODS_