projectionmatrix.h

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#ifndef CTL_PROJECTIONMATRIX_H
#define CTL_PROJECTIONMATRIX_H

#include "matrix.h"

namespace CTL {
namespace mat {
class ProjectionMatrix : public Matrix<3, 4>
{
public:
    // normalization modes for directionSourceToPixel()
    enum NormalizationMode {
        NoNormalization = 0,
        NormalizeAsUnitVector = 1,
        NormalizeByX = 2,
        NormalizeByY = 3,
        NormalizeByChannel = 2,
        NormalizeByRow = 3
    };

    ProjectionMatrix() = default;
    ProjectionMatrix(const Matrix<3, 4>& other);
    using Matrix<3, 4>::Matrix;
    using Matrix<3, 4>::operator=;

    // # factories
    static ProjectionMatrix compose(const Matrix<3, 3>& M, const Matrix<3, 1>& p4);
    static ProjectionMatrix
    compose(const Matrix<3, 3>& K, const Matrix<3, 3>& R, const Matrix<3, 1>& source);

    // # modifications
    void shiftDetectorOrigin(const Matrix<2, 1>& translation);
    void shiftDetectorOrigin(double translationX, double translationY);
    void changeDetectorResolution(double resamplingFactor);
    void changeDetectorResolution(double resamplingFactorX, double resamplingFactorY);
    void normalize();

    // # getter
    // normalized by normal vector of principal plane [P(2,0) P(2,1) P(2,2)]
    ProjectionMatrix normalized() const;
    bool isNormalized() const;
    // common submatrices: P = [M|p4]
    Matrix<3, 3> M() const;
    Matrix<3, 1> p4() const;
    // direction vectors
    Matrix<3, 1> directionSourceToPixel(const Matrix<2, 1>& pixelCoordinates,
                                        NormalizationMode normalizationMode = NoNormalization) const;
    Matrix<3, 1> directionSourceToPixel(double x, double y,
                                        NormalizationMode normalizationMode = NoNormalization) const;
    Matrix<3, 1> principalRayDirection() const;
    // extrinsic parameters
    Matrix<3, 1> translationCTS() const;
    Matrix<3, 1> sourcePosition() const;
    Matrix<3, 3> rotationMatR() const;
    // intrinsic parameters
    Matrix<3, 3> intrinsicMatK() const;
    // intrinsic convenience functions
    Matrix<2, 1> principalPoint() const;
    Matrix<2, 1> focalLength() const;
    double skewCoefficient() const;
    double skewAngle() const;
    double magnificationX(double X, double Y, double Z) const;
    double magnificationX(const Matrix<3, 1>& worldCoordinate = { 0.0, 0.0, 0.0 }) const;
    double magnificationY(double X, double Y, double Z) const;
    double magnificationY(const Matrix<3, 1>& worldCoordinate = { 0.0, 0.0, 0.0 }) const;

    // # other/convenience
    Matrix<2, 1> projectOntoDetector(double X, double Y, double Z) const;
    Matrix<2, 1> projectOntoDetector(const Matrix<3, 1>& worldCoordinate) const;
};


inline ProjectionMatrix::ProjectionMatrix(const Matrix<3, 4>& other)
    : Matrix<3, 4>(other)
{
}

} // namespace mat
} // namespace CTL

#endif // CTL_PROJECTIONMATRIX_H