define_calibrage.hpp

/***********************************************************

 Define sur des matrices de calibrage d'une camera

   - definition des parametres extrinseques 
        a partir de E

   - definition des parametres intrinseques 
        a partir de I

   - definition des parametres de distorsion 
        a partir de coefDist

---------------------------------------------------------*/

#ifndef DEFINE_CALIBRAGE_HPP
#define DEFINE_CALIBRAGE_HPP

namespace jafar {
  namespace stereo {
    
    /* parametres intrinseques */
    
#define alphaU(I) ((I)[0])
#define alphaV(I) ((I)[5])
#define U0(I)     ((I)[2])
#define V0(I)     ((I)[6])
    
    /* parametres extrinseques */
    
#define r11(E) ((E)[0])
#define r12(E) ((E)[4])
#define r13(E) ((E)[8])
#define r21(E) ((E)[1])
#define r22(E) ((E)[5])
#define r23(E) ((E)[9])
#define r31(E) ((E)[2])
#define r32(E) ((E)[6])
#define r33(E) ((E)[10])
#define tx(E)  ((E)[3])
#define ty(E)  ((E)[7])
#define tz(E)  ((E)[11])
    
/* Autre interpretation possible d'une transformation homogene */
    
#define Xx(E) ((E)[0])
#define Xy(E) ((E)[4])
#define Xz(E) ((E)[8])
#define Yx(E) ((E)[1])
#define Yy(E) ((E)[5])
#define Yz(E) ((E)[9])
#define Zx(E) ((E)[2])
#define Zy(E) ((E)[6])
#define Zz(E) ((E)[10])
#define Ox(E) ((E)[3])
#define Oy(E) ((E)[7])
#define Oz(E) ((E)[11])
    
    
    /* Modelisation de la distorsion avec un seul parametre */
    
#define Kd coefDist[0]

    /* Modelisation de la distorsion avec N parametres */

#define K1 coefDist[0]
#define K2 coefDist[1]
#define K3 coefDist[2]
#define K4 coefDist[3]
#define K5 coefDist[4]
    
#define G1 coefDist[2]
#define G2 coefDist[3]

  }// namespace stereo
}// namespace jafar

#endif // DEFINE_CALIBRAGE_HPP