aruco/include/aruco/cameraparameters.h

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/*****************************
Copyright 2011 Rafael Muñoz Salinas. All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are
permitted provided that the following conditions are met:

   1. Redistributions of source code must retain the above copyright notice, this list of
      conditions and the following disclaimer.

   2. Redistributions in binary form must reproduce the above copyright notice, this list
      of conditions and the following disclaimer in the documentation and/or other materials
      provided with the distribution.

THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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The views and conclusions contained in the software and documentation are those of the
authors and should not be interpreted as representing official policies, either expressed
or implied, of Rafael Muñoz Salinas.
********************************/
#ifndef _Aruco_CameraParameters_H
#define  _Aruco_CameraParameters_H
#include <aruco/exports.h>
#include <opencv2/opencv.hpp>
#include <string>
using namespace std;
namespace aruco
{
class ARUCO_EXPORTS  CameraParameters
{
public:

    // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
    cv::Mat  CameraMatrix;
    //4x1 matrix (k1,k2,p1,p2)
    cv::Mat  Distorsion;
    //size of the image
    cv::Size CamSize;

    CameraParameters() ;
    CameraParameters(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
    void setParams(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
    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 readFromFile(string path)throw(cv::Exception);
    void saveToFile(string path,bool inXML=true)throw(cv::Exception);

    void readFromXMLFile(string filePath)throw(cv::Exception);

    void resize(cv::Size size)throw(cv::Exception);

    static cv::Point3f getCameraLocation(cv::Mat Rvec,cv::Mat Tvec);

    void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false   )throw(cv::Exception);
    
    void OgreGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false   )throw(cv::Exception);
    

private:
    //GL routines

    static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )throw(cv::Exception);
    static int  arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )throw(cv::Exception);
    static double norm( double a, double b, double c );
    static double dot(  double a1, double a2, double a3,
                        double b1, double b2, double b3 );


};

}
#endif