cameraparameters.h
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2 Copyright 2011 Rafael Muñoz Salinas. All rights reserved.
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28 #ifndef _Aruco_CameraParameters_H
29 #define _Aruco_CameraParameters_H
30 #include "exports.h"
31 #include <opencv2/core/core.hpp>
32 #include <string>
33 using namespace std;
34 namespace aruco {
39  public:
40  // 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
41  cv::Mat CameraMatrix;
42  // 4x1 matrix (k1,k2,p1,p2)
43  cv::Mat Distorsion;
44  // size of the image
45  cv::Size CamSize;
46 
55  CameraParameters(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) throw(cv::Exception);
61  void setParams(cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) throw(cv::Exception);
65 
68  bool isValid() const {
69  return CameraMatrix.rows != 0 && CameraMatrix.cols != 0 && Distorsion.rows != 0 && Distorsion.cols != 0 && CamSize.width != -1 && CamSize.height != -1;
70  }
73  CameraParameters &operator=(const CameraParameters &CI);
76  void readFromFile(string path) throw(cv::Exception);
79  void saveToFile(string path, bool inXML = true) throw(cv::Exception);
80 
83  void readFromXMLFile(string filePath) throw(cv::Exception);
84 
87  void resize(cv::Size size) throw(cv::Exception);
88 
92  static cv::Point3f getCameraLocation(cv::Mat Rvec, cv::Mat Tvec);
93 
105  void glGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar, bool invert = false) throw(cv::Exception);
106 
117  void OgreGetProjectionMatrix(cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar,
118  bool invert = false) throw(cv::Exception);
119 
120 
123  static cv::Mat getRTMatrix(const cv::Mat &R_, const cv::Mat &T_, int forceType);
124 
125  private:
126  // GL routines
127 
128  static void argConvGLcpara2(double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert) throw(cv::Exception);
129  static int arParamDecompMat(double source[3][4], double cpara[3][4], double trans[3][4]) throw(cv::Exception);
130  static double norm(double a, double b, double c);
131  static double dot(double a1, double a2, double a3, double b1, double b2, double b3);
132 };
133 }
134 #endif
#define ARUCO_EXPORTS
Definition: exports.h:42
Parameters of the camera.


asr_aruco_marker_recognition
Author(s): Allgeyer Tobias, Meißner Pascal, Qattan Mohamad
autogenerated on Mon Feb 28 2022 21:41:30