public API to read extrinsic camera matrix (#1164)

strukturag · Jun 17, 2024 · 675dee7 · 675dee7
1 parent 3f5fc01
commit 675dee7
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Showing 3 changed files with 116 additions and 2 deletions.
diff --git a/libheif/box.h b/libheif/box.h
@@ -1106,7 +1106,7 @@ class Box_cmex : public FullBox
   bool m_has_pos_y = false;
   bool m_has_pos_z = false;
   bool m_has_orientation = false;
-  bool m_has_world_coordinate_system_id;
+  bool m_has_world_coordinate_system_id = false;
 
   enum Flags
   {

diff --git a/libheif/heif_properties.cc b/libheif/heif_properties.cc
@@ -567,3 +567,92 @@ struct heif_error heif_item_add_property_camera_intrinsic_matrix(const struct he
 
   return heif_error_success;
 }
+
+
+struct heif_camera_extrinsic_matrix
+{
+  Box_cmex::ExtrinsicMatrix matrix;
+};
+
+
+struct heif_error heif_item_get_property_camera_extrinsic_matrix(const struct heif_context* context,
+                                                                 heif_item_id itemId,
+                                                                 heif_property_id propertyId,
+                                                                 struct heif_camera_extrinsic_matrix** out_matrix)
+{
+  if (!out_matrix || !context) {
+    return {heif_error_Usage_error, heif_suberror_Invalid_parameter_value, "NULL passed"};
+  }
+
+  auto file = context->context->get_heif_file();
+
+  std::vector<std::shared_ptr<Box>> properties;
+  Error err = file->get_properties(itemId, properties);
+  if (err) {
+    return err.error_struct(context->context.get());
+  }
+
+  if (propertyId - 1 < 0 || propertyId - 1 >= properties.size()) {
+    return {heif_error_Usage_error, heif_suberror_Invalid_property, "property index out of range"};
+  }
+
+  auto cmex = std::dynamic_pointer_cast<Box_cmex>(properties[propertyId - 1]);
+  if (!cmex) {
+    return {heif_error_Usage_error, heif_suberror_Invalid_property, "wrong property type"};
+  }
+
+  *out_matrix = new heif_camera_extrinsic_matrix;
+  (*out_matrix)->matrix = cmex->get_extrinsic_matrix();
+
+  return heif_error_success;
+}
+
+
+void heif_camera_extrinsic_matrix_release(struct heif_camera_extrinsic_matrix* matrix)
+{
+  delete matrix;
+}
+
+
+struct heif_error heif_camera_extrinsic_matrix_get_rotation_matrix(const struct heif_camera_extrinsic_matrix* matrix,
+                                                                   double* out_matrix)
+{
+  if (!matrix || !out_matrix) {
+    return {heif_error_Usage_error, heif_suberror_Invalid_parameter_value, "NULL passed"};
+  }
+
+  auto rot_matrix = matrix->matrix.calculate_rotation_matrix();
+  for (int i = 0; i < 9; i++) {
+    out_matrix[i] = rot_matrix[i];
+  }
+
+  return heif_error_success;
+}
+
+
+struct heif_error heif_camera_extrinsic_matrix_get_position_vector(const struct heif_camera_extrinsic_matrix* matrix,
+                                                                   int32_t* out_vector)
+{
+  if (!matrix || !out_vector) {
+    return {heif_error_Usage_error, heif_suberror_Invalid_parameter_value, "NULL passed"};
+  }
+
+  out_vector[0] = matrix->matrix.pos_x;
+  out_vector[1] = matrix->matrix.pos_y;
+  out_vector[2] = matrix->matrix.pos_z;
+
+  return heif_error_success;
+}
+
+
+struct heif_error heif_camera_extrinsic_matrix_get_world_coordinate_system_id(const struct heif_camera_extrinsic_matrix* matrix,
+                                                                              uint32_t* out_wcs_id)
+{
+  if (!matrix || !out_wcs_id) {
+    return {heif_error_Usage_error, heif_suberror_Invalid_parameter_value, "NULL passed"};
+  }
+
+  *out_wcs_id = matrix->matrix.world_coordinate_system_id;
+
+  return heif_error_success;
+}
diff --git a/libheif/heif_properties.h b/libheif/heif_properties.h
@@ -39,7 +39,8 @@ enum heif_item_property_type
   heif_item_property_type_transform_crop = heif_fourcc('c', 'l', 'a', 'p'),
   heif_item_property_type_image_size = heif_fourcc('i', 's', 'p', 'e'),
   heif_item_property_type_uuid = heif_fourcc('u', 'u', 'i', 'd'),
-  heif_item_property_type_camera_intrinsic_matrix = heif_fourcc('c', 'm', 'i', 'n')
+  heif_item_property_type_camera_intrinsic_matrix = heif_fourcc('c', 'm', 'i', 'n'),
+  heif_item_property_type_camera_extrinsic_matrix = heif_fourcc('c', 'm', 'e', 'x')
 };
 
 // Get the heif_property_id for a heif_item_id.
@@ -216,6 +217,30 @@ struct heif_error heif_item_add_property_camera_intrinsic_matrix(const struct he
                                                           const struct heif_camera_intrinsic_matrix* matrix,
                                                           heif_property_id* out_propertyId);
 
+
+LIBHEIF_API
+struct heif_error heif_item_get_property_camera_extrinsic_matrix(const struct heif_context* context,
+                                                                 heif_item_id itemId,
+                                                                 heif_property_id propertyId,
+                                                                 struct heif_camera_extrinsic_matrix** out_matrix);
+
+LIBHEIF_API
+void heif_camera_extrinsic_matrix_release(struct heif_camera_extrinsic_matrix* matrix);
+
+// `out_matrix` must point to a 9-element matrix, which will be filled in row-major order.
+LIBHEIF_API
+struct heif_error heif_camera_extrinsic_matrix_get_rotation_matrix(const struct heif_camera_extrinsic_matrix* matrix,
+                                                                   double* out_matrix);
+
+// `out_vector` must point to a 3-element vector, which will be filled with the (X,Y,Z) coordinates (in micrometers).
+LIBHEIF_API
+struct heif_error heif_camera_extrinsic_matrix_get_position_vector(const struct heif_camera_extrinsic_matrix* matrix,
+                                                                   int32_t* out_vector);
+
+LIBHEIF_API
+struct heif_error heif_camera_extrinsic_matrix_get_world_coordinate_system_id(const struct heif_camera_extrinsic_matrix* matrix,
+                                                                              uint32_t* out_wcs_id);
+
 #ifdef __cplusplus
 }
 #endif