g_camera.h

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/* $Id: g_camera.h 12639 2012-07-06 17:19:26Z ernesto $ */
/* {{{=========================================================================== *
   |
   |  Copyright (c) 1994-2011 by Kobus Barnard (author)
   |
   |  Personal and educational use of this code is granted, provided that this
   |  header is kept intact, and that the authorship is not misrepresented, that
   |  its use is acknowledged in publications, and relevant papers are cited.
   |
   |  For other use contact the author (kobus AT cs DOT arizona DOT edu).
   |
   |  Please note that the code in this file has not necessarily been adequately
   |  tested. Naturally, there is no guarantee of performance, support, or fitness
   |  for any particular task. Nonetheless, I am interested in hearing about
   |  problems that you encounter.
   |
   |  Author:  Kyle Simek, Ernesto Brau, Jinyan Guan
 * =========================================================================== }}}*/

// vim: tabstop=4 shiftwidth=4 foldmethod=marker
#ifndef KJB_CPP_G_CAMERA_H
#define KJB_CPP_G_CAMERA_H

#include <l_cpp/l_algorithm.h>
#include <m_cpp/m_matrix.h>
#include <m_cpp/m_matrix_d.h>
#include <m_cpp/m_vector.h>
#include <m_cpp/m_vector_d.h>
#include <vector>
#include <limits>

namespace kjb {

Vector backproject
(
    const Vector& homo_camerascreen_coord,
    const Matrix& camera_matrix
);

Vector3 backproject
(
    const Vector3& homo_camera_coord,
    const Matrix_d<3,4>& camera_matrix
);

Vector backproject_with_m_inv
(
    const Vector& homo_screen_coord,
    const Matrix& M_inv
);

Vector3 backproject_with_m_inv
(
    const Vector3& homo_screen_coord,
    const Matrix_d<3,3>& M_inv
);

Matrix lerp_extrinsic_camera_matrix(
        const Matrix& m1,
        const Matrix& m2,
        double t,
        bool use_slerp = false);

Matrix lerp_extrinsic_camera_matrix(
        const std::vector<Matrix>& extrinsic,
        const std::vector<double>& timestamps,
        double t,
        bool use_slerp = false);

} // namespace kjb

#endif