mitkToFProcessingCommon.h

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/*===================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.

This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.

See LICENSE.txt or http://www.mitk.org for details.

===================================================================*/

#ifndef MITKTOFPROCESSINGCOMMON_H
#define MITKTOFPROCESSINGCOMMON_H

#include <MitkToFProcessingExports.h>
#include <mitkCameraIntrinsics.h>
#include "mitkNumericTypes.h"
#include <vnl/vnl_math.h>

namespace mitk
{
  class MITKTOFPROCESSING_EXPORT ToFProcessingCommon
  {
  public:
    typedef double ToFScalarType;
    typedef itk::Point<ToFScalarType, 2> ToFPoint2D;
    typedef itk::Point<ToFScalarType, 3> ToFPoint3D;
    typedef itk::Vector<ToFScalarType, 2> ToFVector2D;
    typedef itk::Vector<ToFScalarType, 3> ToFVector3D;

    static ToFPoint3D IndexToCartesianCoordinates(unsigned int i, unsigned int j, ToFScalarType distance,
      ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY);

    inline static ToFPoint3D IndexToCartesianCoordinates(unsigned int i, unsigned int j, ToFScalarType distance,
      ToFPoint2D focalLength, ToFPoint2D principalPoint)
    {
      return IndexToCartesianCoordinates(i,j,distance,focalLength[0],focalLength[1],principalPoint[0],principalPoint[1]);
    }

    inline static ToFPoint3D IndexToCartesianCoordinates(itk::Index<3> index, ToFScalarType distance,
      ToFPoint2D focalLength, ToFPoint2D principalPoint)
    {
      return IndexToCartesianCoordinates(index[0],index[1],distance,focalLength[0],focalLength[1],principalPoint[0], principalPoint[1]);
    }
    inline static ToFPoint3D IndexToCartesianCoordinates(unsigned int i, unsigned int j, ToFScalarType distance,
      ToFScalarType focalLength[2], ToFScalarType principalPoint[2])
    {
      return IndexToCartesianCoordinates(i,j,distance,focalLength[0],focalLength[1],principalPoint[0],principalPoint[1]);
    }


    static ToFPoint3D IndexToCartesianCoordinatesWithInterpixdist(unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength,
      ToFScalarType interPixelDistanceX, ToFScalarType interPixelDistanceY, ToFScalarType principalPointX, ToFScalarType principalPointY);

    inline static ToFPoint3D IndexToCartesianCoordinatesWithInterpixdist(unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength,
      ToFPoint2D interPixelDistance, ToFPoint2D principalPoint)
    {
      return IndexToCartesianCoordinatesWithInterpixdist(i,j,distance,focalLength,interPixelDistance[0],interPixelDistance[1],principalPoint[0],principalPoint[1]);
    }
    inline static ToFPoint3D IndexToCartesianCoordinatesWithInterpixdist(itk::Index<3> index, ToFScalarType distance, ToFScalarType focalLength,
      ToFPoint2D interPixelDistance, ToFPoint2D principalPoint)
    {
      return IndexToCartesianCoordinatesWithInterpixdist(index[0],index[1],distance,focalLength,interPixelDistance[0], interPixelDistance[1],principalPoint[0], principalPoint[1]);
    }
    inline static ToFPoint3D IndexToCartesianCoordinatesWithInterpixdist(unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLength,
      ToFScalarType interPixelDistance[2], ToFScalarType principalPoint[2])
    {
      return IndexToCartesianCoordinatesWithInterpixdist(i,j,distance,focalLength,interPixelDistance[0],interPixelDistance[1],principalPoint[0],principalPoint[1]);
    }


    static ToFPoint3D CartesianToIndexCoordinates(ToFScalarType cartesianPointX, ToFScalarType cartesianPointY,ToFScalarType cartesianPointZ,
                                                  ToFScalarType focalLengthX, ToFScalarType focalLengthY,
                                                  ToFScalarType principalPointX, ToFScalarType principalPointY, bool calculateDistance=true);

    inline static ToFPoint3D CartesianToIndexCoordinates(ToFScalarType cartesianPoint[3], ToFScalarType focalLength[2],
                                                         ToFScalarType principalPoint[2], bool calculateDistance=true)
    {
      return CartesianToIndexCoordinates(cartesianPoint[0],cartesianPoint[1],cartesianPoint[2],focalLength[0], focalLength[1],
                                         principalPoint[0],principalPoint[1],calculateDistance);
    }
    inline static ToFPoint3D CartesianToIndexCoordinates(ToFPoint3D cartesianPoint, ToFPoint2D focalLength,
      ToFPoint2D principalPoint, bool calculateDistance=true)
    {
      return CartesianToIndexCoordinates(cartesianPoint[0],cartesianPoint[1],cartesianPoint[2],focalLength[0], focalLength[1],
        principalPoint[0],principalPoint[1],calculateDistance);
    }


    static ToFPoint3D CartesianToIndexCoordinatesWithInterpixdist(ToFScalarType cartesianPointX, ToFScalarType cartesianPointY,ToFScalarType cartesianPointZ,
                                                  ToFScalarType focalLength, ToFScalarType interPixelDistanceX, ToFScalarType interPixelDistanceY,
                                                  ToFScalarType principalPointX, ToFScalarType principalPointY, bool calculateDistance=true);

    inline static ToFPoint3D CartesianToIndexCoordinatesWithInterpixdist(ToFScalarType cartesianPoint[3], ToFScalarType focalLength,
                                                         ToFScalarType interPixelDistance[2], ToFScalarType principalPoint[2],
                                                         bool calculateDistance=true)
    {
      return CartesianToIndexCoordinatesWithInterpixdist(cartesianPoint[0],cartesianPoint[1],cartesianPoint[2],focalLength,
                                         interPixelDistance[0],interPixelDistance[1],principalPoint[0],principalPoint[1],calculateDistance);
    }
    inline static ToFPoint3D CartesianToIndexCoordinatesWithInterpixdist(ToFPoint3D cartesianPoint, ToFScalarType focalLength,
      ToFPoint2D interPixelDistance, ToFPoint2D principalPoint, bool calculateDistance=true)
    {
      return CartesianToIndexCoordinatesWithInterpixdist(cartesianPoint[0],cartesianPoint[1],cartesianPoint[2],focalLength,
        interPixelDistance[0],interPixelDistance[1],principalPoint[0],principalPoint[1],calculateDistance);
    }

    static ToFProcessingCommon::ToFPoint3D KinectIndexToCartesianCoordinates(unsigned int i, unsigned int j, ToFScalarType distance, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY);

    inline static ToFPoint3D KinectIndexToCartesianCoordinates(unsigned int i, unsigned int j, ToFScalarType distance,
      ToFScalarType focalLength[2], ToFScalarType principalPoint[2])
    {
      return KinectIndexToCartesianCoordinates(i,j,distance,focalLength[0],focalLength[1],principalPoint[0],principalPoint[1]);
    }

    inline static ToFPoint3D KinectIndexToCartesianCoordinates(unsigned int i, unsigned int j, ToFScalarType distance,
      ToFPoint2D focalLength, ToFPoint2D principalPoint)
    {
      return KinectIndexToCartesianCoordinates(i,j,distance,focalLength[0],focalLength[1],principalPoint[0],principalPoint[1]);
    }

    inline static ToFPoint3D KinectIndexToCartesianCoordinates(itk::Index<3> index, ToFScalarType distance, ToFPoint2D focalLength, ToFPoint2D principalPoint)
    {
        return KinectIndexToCartesianCoordinates(index[0],index[1],distance,focalLength[0],focalLength[1],principalPoint[0], principalPoint[1]);
    }
    static ToFPoint3D CartesianToKinectIndexCoordinates(ToFScalarType cartesianPointX, ToFScalarType cartesianPointY,
                                                                   ToFScalarType cartesianPointZ, ToFScalarType focalLengthX,
                                                                   ToFScalarType focalLengthY, ToFScalarType principalPointX,
                                                                   ToFScalarType principalPointY, bool calculateDistance=true);

    inline static ToFProcessingCommon::ToFPoint3D CartesianToKinectIndexCoordinates(ToFPoint3D cartesianPoint, ToFPoint2D focalLength, ToFPoint2D  principalPoint, bool calculateDistance=true)
    {
      return CartesianToKinectIndexCoordinates( cartesianPoint[0], cartesianPoint[1], cartesianPoint[2], focalLength[0], focalLength[1], principalPoint[0], principalPoint[1], calculateDistance);
    }
    static ToFProcessingCommon::ToFPoint3D ContinuousKinectIndexToCartesianCoordinates(mitk::Point2D continuousIndex, ToFScalarType distance, ToFScalarType focalLengthX, ToFScalarType focalLengthY, ToFScalarType principalPointX, ToFScalarType principalPointY);

    static ToFScalarType CalculateViewAngle(mitk::CameraIntrinsics::Pointer intrinsics, unsigned int dimX);
  };
}
#endif