.. _program_listing_file__tmp_ws_src_aruco_ros_aruco_include_aruco_cameraparameters.h:

Program Listing for File cameraparameters.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_aruco_ros_aruco_include_aruco_cameraparameters.h>` (``/tmp/ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef _Aruco_CameraParameters_H
   #define _Aruco_CameraParameters_H
   
   #include "aruco_export.h"
   #include <opencv2/core/core.hpp>
   #include <string>
   #include <stdexcept>
   
   namespace aruco
   {
   class ARUCO_EXPORT CameraParameters
   {
   public:
     // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
     cv::Mat CameraMatrix;
     //  distortion matrix
     cv::Mat Distorsion;
     // size of the image
     cv::Size CamSize;
   
     // 3x1 matrix (Tx, Ty, Tz), usually 0 for non-stereo cameras or stereo left cameras
     cv::Mat ExtrinsicMatrix;
   
     CameraParameters();
     CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size);
     void setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size);
     CameraParameters(const CameraParameters &CI);
   
     bool isValid() const
     {
       return CameraMatrix.rows != 0 && CameraMatrix.cols != 0 && Distorsion.rows != 0 &&
              Distorsion.cols != 0 && CamSize.width != -1 && CamSize.height != -1;
     }
     CameraParameters &operator=(const CameraParameters &CI);
   
     void saveToFile(std::string path, bool inXML = true);
   
     void readFromXMLFile(std::string filePath);
   
     void resize(cv::Size size);
   
     static cv::Point3f getCameraLocation(const cv::Mat &Rvec, const cv::Mat &Tvec);
   
     void glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16],
                                double gnear, double gfar, bool invert = false);
   
     void OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16],
                                  double gnear, double gfar, bool invert = false);
   
     static cv::Mat getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType);
   
   
     void clear();
   
     ARUCO_EXPORT friend std::ostream &operator<<(std::ostream &str, const CameraParameters &cp);
     ARUCO_EXPORT friend std::istream &operator>>(std::istream &str, CameraParameters &cp);
   
   private:
     // GL routines
   
     static void argConvGLcpara2(double cparam[3][4], int width, int height, double gnear,
                                 double gfar, double m[16], bool invert);
     static int arParamDecompMat(double source[3][4], double cpara[3][4], double trans[3][4]);
     static double norm(double a, double b, double c);
     static double dot(double a1, double a2, double a3, double b1, double b2, double b3);
   };
   }  // namespace aruco
   #endif