1 /* 2 * surview_fisheye_dewarp.h - dewarp fisheye image for surround view 3 * 4 * Copyright (c) 2016-2017 Intel Corporation 5 * 6 * Licensed under the Apache License, Version 2.0 (the "License"); 7 * you may not use this file except in compliance with the License. 8 * You may obtain a copy of the License at 9 * 10 * http://www.apache.org/licenses/LICENSE-2.0 11 * 12 * Unless required by applicable law or agreed to in writing, software 13 * distributed under the License is distributed on an "AS IS" BASIS, 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 15 * See the License for the specific language governing permissions and 16 * limitations under the License. 17 * 18 * Author: Junkai Wu <junkai.wu (at) intel.com> 19 */ 20 21 #ifndef XCAM_SURVIEW_FISHEYE_DEWARP_H 22 #define XCAM_SURVIEW_FISHEYE_DEWARP_H 23 24 #include <xcam_std.h> 25 #include <vec_mat.h> 26 #include <interface/data_types.h> 27 28 namespace XCam { 29 30 class SurViewFisheyeDewarp 31 { 32 33 public: 34 typedef std::vector<PointFloat2> MapTable; 35 36 explicit SurViewFisheyeDewarp (); 37 virtual ~SurViewFisheyeDewarp (); 38 39 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); 40 41 void set_intrinsic_param(const IntrinsicParameter &intrinsic_param); 42 void set_extrinsic_param(const ExtrinsicParameter &extrinsic_param); 43 44 IntrinsicParameter get_intrinsic_param(); 45 ExtrinsicParameter get_extrinsic_param(); 46 47 private: 48 XCAM_DEAD_COPY (SurViewFisheyeDewarp); 49 50 virtual void cal_image_coord (const PointFloat3 &cam_coord, PointFloat2 &image_coord); 51 52 void cal_cam_world_coord (const PointFloat3 &world_coord, PointFloat3 &cam_world_coord); 53 void world_coord2cam (const PointFloat3 &cam_world_coord, PointFloat3 &cam_coord); 54 55 Mat4f generate_rotation_matrix(float roll, float pitch, float yaw); 56 57 private: 58 IntrinsicParameter _intrinsic_param; 59 ExtrinsicParameter _extrinsic_param; 60 }; 61 62 class PolyFisheyeDewarp : public SurViewFisheyeDewarp 63 { 64 65 public: 66 explicit PolyFisheyeDewarp (); 67 68 private: 69 void cal_image_coord (const PointFloat3 &cam_coord, PointFloat2 &image_coord); 70 71 }; 72 73 } // Adopt Scaramuzza's approach to calculate image coordinates from camera coordinates 74 75 #endif // XCAM_SURVIEW_FISHEYE_DEWARP_H 76
