aruco/include/aruco/cameraparameters.h
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1 /*****************************
2 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
3 
4 Redistribution and use in source and binary forms, with or without modification, are
5 permitted provided that the following conditions are met:
6 
7  1. Redistributions of source code must retain the above copyright notice, this list of
8  conditions and the following disclaimer.
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10  2. Redistributions in binary form must reproduce the above copyright notice, this list
11  of conditions and the following disclaimer in the documentation and/or other materials
12  provided with the distribution.
13 
14 THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED
15 WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
16 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
17 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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19 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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21 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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24 The views and conclusions contained in the software and documentation are those of the
25 authors and should not be interpreted as representing official policies, either expressed
26 or implied, of Rafael Muñoz Salinas.
27 ********************************/
28 #ifndef _Aruco_CameraParameters_H
29 #define _Aruco_CameraParameters_H
30 #include <aruco/exports.h>
31 #include <opencv2/opencv.hpp>
32 #include <string>
33 using namespace std;
34 namespace aruco
35 {
40 {
41 public:
42 
43  // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
44  cv::Mat CameraMatrix;
45  //4x1 matrix (k1,k2,p1,p2)
46  cv::Mat Distorsion;
47  //size of the image
48  cv::Size CamSize;
49 
58  CameraParameters(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
64  void setParams(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
68 
71  bool isValid()const {
72  return CameraMatrix.rows!=0 && CameraMatrix.cols!=0 && Distorsion.rows!=0 && Distorsion.cols!=0 && CamSize.width!=-1 && CamSize.height!=-1;
73  }
76  CameraParameters & operator=(const CameraParameters &CI);
79  void readFromFile(string path)throw(cv::Exception);
82  void saveToFile(string path,bool inXML=true)throw(cv::Exception);
83 
86  void readFromXMLFile(string filePath)throw(cv::Exception);
87 
90  void resize(cv::Size size)throw(cv::Exception);
91 
95  static cv::Point3f getCameraLocation(cv::Mat Rvec,cv::Mat Tvec);
96 
107  void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )throw(cv::Exception);
108 
119  void OgreGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )throw(cv::Exception);
120 
121 
122 private:
123  //GL routines
124 
125  static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )throw(cv::Exception);
126  static int arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )throw(cv::Exception);
127  static double norm( double a, double b, double c );
128  static double dot( double a1, double a2, double a3,
129  double b1, double b2, double b3 );
130 
131 
132 };
133 
134 }
135 #endif
136 
137 
TFSIMD_FORCE_INLINE tfScalar dot(const Quaternion &q1, const Quaternion &q2)
#define ARUCO_EXPORTS


lidar_camera_calibration
Author(s):
autogenerated on Sat Feb 6 2021 03:39:37