camera.cpp

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#include "camera.hpp"

bool cameraParameters::getCameraParameters(std::string intrinsics) {
        
        //printf("%s << Entered (%s).\n", __FUNCTION__, intrinsics.c_str());
        
        double alpha = 0.00;
        bool centerPrincipalPoint = true;
        cv::Rect* validPixROI = 0;
        
        cv::FileStorage fs(intrinsics, cv::FileStorage::READ);
        fs["imageSize"] >> imageSize;
        fs["cameraMatrix"] >> cameraMatrix;
        fs["distCoeffs"] >> distCoeffs;
        blankCoeffs = cv::Mat::zeros(distCoeffs.rows, distCoeffs.cols, CV_64FC1);
        fs.release();
        
        cameraSize = cv::Size(imageSize.at<unsigned short>(0, 0), imageSize.at<unsigned short>(0, 1));
        
        newCamMat = getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, cameraSize, alpha, cameraSize, validPixROI, centerPrincipalPoint);
        
        newCamMat.copyTo(K);
        //newCamMat.copyTo(K);  // or some other kind of matrix...?
        K_inv = K.inv();
        
        //printf("%s << Image size = (%d, %d)\n", __FUNCTION__, cameraSize.width, cameraSize.height);
        
        //cout << __FUNCTION__ << " << K = " << endl;
        //cout << K << endl;
        
        if (K.rows == 0) {
                return false;
        }
        
        return true;
        
}