cameraparameters.h
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00001 /*****************************
00002 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without modification, are
00005 permitted provided that the following conditions are met:
00006 
00007    1. Redistributions of source code must retain the above copyright notice, this list of
00008       conditions and the following disclaimer.
00009 
00010    2. Redistributions in binary form must reproduce the above copyright notice, this list
00011       of conditions and the following disclaimer in the documentation and/or other materials
00012       provided with the distribution.
00013 
00014 THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
00015 WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
00016 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
00017 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00018 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00019 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
00020 ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
00021 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
00022 ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00023 
00024 The views and conclusions contained in the software and documentation are those of the
00025 authors and should not be interpreted as representing official policies, either expressed
00026 or implied, of Rafael Muñoz Salinas.
00027 ********************************/
00028 #ifndef _Aruco_CameraParameters_H
00029 #define  _Aruco_CameraParameters_H
00030 #include "exports.h"
00031 #include <opencv2/core/core.hpp>
00032 #include <string>
00033 using namespace std;
00034 namespace aruco
00035 {
00039 class ARUCO_EXPORTS  CameraParameters
00040 {
00041 public:
00042 
00043     // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
00044     cv::Mat  CameraMatrix;
00045     //4x1 matrix (k1,k2,p1,p2)
00046     cv::Mat  Distorsion;
00047     //size of the image
00048     cv::Size CamSize;
00049 
00052     CameraParameters() ;
00058     CameraParameters(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
00064     void setParams(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
00067     CameraParameters(const CameraParameters &CI) ;
00068 
00071     bool isValid()const {
00072         return CameraMatrix.rows!=0 && CameraMatrix.cols!=0  && Distorsion.rows!=0 && Distorsion.cols!=0 && CamSize.width!=-1 && CamSize.height!=-1;
00073     }
00076     CameraParameters & operator=(const CameraParameters &CI);
00079     void readFromFile(string path)throw(cv::Exception);
00082     void saveToFile(string path,bool inXML=true)throw(cv::Exception);
00083 
00086     void readFromXMLFile(string filePath)throw(cv::Exception);
00087 
00090     void resize(cv::Size size)throw(cv::Exception);
00091 
00095     static cv::Point3f getCameraLocation(cv::Mat Rvec,cv::Mat Tvec);
00096 
00107     void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false   )throw(cv::Exception);
00108     
00119     void OgreGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false   )throw(cv::Exception);
00120     
00121     
00124     static cv::Mat getRTMatrix(const cv::Mat &R_,const cv::Mat &T_ ,int forceType);
00125 
00126 private:
00127     //GL routines
00128 
00129     static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )throw(cv::Exception);
00130     static int  arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )throw(cv::Exception);
00131     static double norm( double a, double b, double c );
00132     static double dot(  double a1, double a2, double a3,
00133                         double b1, double b2, double b3 );
00134 
00135 
00136 };
00137 
00138 }
00139 #endif
00140 
00141 


ar_sys
Author(s): Hamdi Sahloul , Rafael Muñoz Salinas , Bence Magyar
autogenerated on Sun Oct 5 2014 22:12:49