Transforms.h

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// -*- c-basic-offset: 4 -*-
#ifndef _HUGIN_MATH_TRANSFORMS_H
#define _HUGIN_MATH_TRANSFORMS_H

#include <cmath>
#include <hugin_math/hugin_math.h>


namespace hugin_utils {
namespace TRANSFORM {

struct DegToRad
{
    double operator()(double x)
        { return (x/180.0*M_PI); };
};

struct RadToDeg
{
    double operator()(double x)
        { return (x/M_PI*180.0); };
};


inline double calcRectFocalLength(double hfov, double width)
{
    return width / ( 2*tan(hfov/2));
}

inline void rotatePoint(FDiff2D & dest, FDiff2D src, double angle)
{
    double cos_r = cos(angle);
    double sin_r = sin(angle);
    dest.x = src.x*cos_r - src.y*sin_r;
    dest.y = src.x*sin_r + src.y*cos_r;
}


struct ERectToRect
{
public:
    ERectToRect(double focalLength)
        : f(focalLength) { };

    void operator()(FDiff2D & dest, const FDiff2D & src)
        {
            dest.x = f * tan(src.x);
            dest.y = f * tan(src.y);
        }
    double f;
};


struct RectToERect
{
public:
    RectToERect(double focalLength)
        : f(focalLength) { };

    void operator()(FDiff2D & dest, const FDiff2D & src)
        {
            dest.x = atan2(src.x,f);
            dest.y = atan2(src.y,f);
        }
    double f;
};

struct CartToImg
{
    CartToImg(double width, double height)
        {
            tx = width/2.0;
            ty = height/2.0;
        };

    void operator()(FDiff2D & dest, const FDiff2D & src)
        {
            dest.x = src.x + tx;
            dest.y = src.y + ty;
        }
    double tx, ty;
};


struct ImgToCart
{
    ImgToCart(double width, double height)
        {
            tx = width/2.0;
            ty = height/2.0;
        };

    void operator()(FDiff2D & dest, const FDiff2D & src)
        {
            dest.x = src.x - tx;
            dest.y = src.y - ty;
        }
    double tx, ty;
};

struct RotERect
{
public:
    RotERect(double yaw,  double pitch, double roll)
        : p(pitch), y(yaw), sin_r(sin(roll)), cos_r(cos(roll))
        { };

    void operator()(FDiff2D & dest, const FDiff2D & rsrc)
        {
            FDiff2D src(rsrc);
            // order of rotations: r, p, y
            dest.x = src.x*cos_r - src.y*sin_r;
            dest.y = src.x*sin_r + src.y*cos_r;
            dest.x += y;
            dest.y += p;
        }
    double p,y;
    double sin_r, cos_r;
};


struct Translate
{
public:
    Translate(double x, double y)
        : x(x), y(y) { }

    void operator()(FDiff2D & dest, const FDiff2D & src)
        {
            dest.x = src.x - x;
            dest.y = src.y - y;
        }
    double x,y;
};

struct InvRotERect
{
public:
    InvRotERect(double yaw,  double pitch, double roll)
        : p(pitch), y(yaw), msin_r(sin(-roll)), mcos_r(cos(-roll))
        { };

    void operator()(FDiff2D & dest, const FDiff2D & src)
        {
            // order of rotations: r, p, y
            dest.x -= y;
            dest.y -= p;
            dest.x = src.x*mcos_r - src.y*msin_r;
            dest.y = src.x*msin_r + src.y*mcos_r;
        }
    double p,y;
    double msin_r, mcos_r;
};


} // namespace
} // namespace
#endif // _TRANSFORMS_H

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