spherical_projection.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2007 Alex Bernardino, ISR-IST
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * 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
*/
 
#include <math.h>
 
 
void compute_sp_params(int input_lines, int input_cols,
                       int output_lines, int output_cols,
                       double fx, double fy,
                       double cx, double cy,
                       double k1, double k2,
                       double p1, double p2, 
                       double *fa, double *fe,
                       double *ca, double *ce);
 
bool check_sp_params(int input_lines, int input_cols,
                     int output_lines, int output_cols,
                     double fx, double fy,
                     double cx, double cy,
                     double k1, double k2,
                     double p1, double p2,
                     float *mapx, float *mapy);
 
bool compute_sp_map(int input_lines, int input_cols,
                    int output_lines, int output_cols,
                    double fx, double fy,
                    double cx, double cy,
                    double k1, double k2,
                    double p1, double p2,
                    float *mapx, float *mapy);
 
bool compute_egosp_map( int input_lines, int input_cols,
                        int output_lines, int output_cols,
                        double fa, double fe,
                        double ca, double ce,
                        double *R, //world to camera rotation
                        float *mapx, float *mapy);
 
bool compute_icub_egosp_map( int input_lines, int input_cols,
                        int output_lines, int output_cols,
                        double fx, double fy,
                        double cx, double cy,
                        double *R, //world to camera rotation
                        float *mapx, float *mapy);