common.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
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The views and conclusions contained in the software and documentation are those of the
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********************************/
#ifndef _COMMON_ARUCO_
#define _COMMON_ARUCO_
#include <opencv/cv.h>
using namespace cv;
bool readIntrinsicFile(string TheIntrinsicFile,Mat & TheIntriscCameraMatrix,Mat &TheDistorsionCameraParams,Size size)
{
        //open file
        ifstream InFile(TheIntrinsicFile.c_str());
        if (!InFile) return false;
        char line[1024];
        InFile.getline(line,1024);       //skype first line that should contain only comments
        InFile.getline(line,1024);//read the line with real info

        //transfer to a proper container
        stringstream InLine;
        InLine<<line;
        //Create the matrices
        TheDistorsionCameraParams.create(4,1,CV_32FC1);
        TheIntriscCameraMatrix=Mat::eye(3,3,CV_32FC1);
        

        //read intrinsic matrix                          
        InLine>>TheIntriscCameraMatrix.at<float>(0,0);//fx                                                              
        InLine>>TheIntriscCameraMatrix.at<float>(1,1); //fy                                                             
        InLine>>TheIntriscCameraMatrix.at<float>(0,2); //cx                                                              
        InLine>>TheIntriscCameraMatrix.at<float>(1,2);//cy
        //read distorion parameters
        for(int i=0;i<4;i++) InLine>>TheDistorsionCameraParams.at<float>(i,0);
        
        //now, read the camera size
        float width,height;
        InLine>>width>>height;
        //resize the camera parameters to fit this image size
        float AxFactor= float(size.width)/ width;
        float AyFactor= float(size.height)/ height;
        TheIntriscCameraMatrix.at<float>(0,0)*=AxFactor;
        TheIntriscCameraMatrix.at<float>(0,2)*=AxFactor;
        TheIntriscCameraMatrix.at<float>(1,1)*=AyFactor;
        TheIntriscCameraMatrix.at<float>(1,2)*=AyFactor;

        //debug
        cout<<"fx="<<TheIntriscCameraMatrix.at<float>(0,0)<<endl;
        cout<<"fy="<<TheIntriscCameraMatrix.at<float>(1,1)<<endl;
        cout<<"cx="<<TheIntriscCameraMatrix.at<float>(0,2)<<endl;
        cout<<"cy="<<TheIntriscCameraMatrix.at<float>(1,2)<<endl;
        cout<<"k1="<<TheDistorsionCameraParams.at<float>(0,0)<<endl;
        cout<<"k2="<<TheDistorsionCameraParams.at<float>(1,0)<<endl;
        cout<<"p1="<<TheDistorsionCameraParams.at<float>(2,0)<<endl;
        cout<<"p2="<<TheDistorsionCameraParams.at<float>(3,0)<<endl;
        
        return true;
} 
#endif