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authorStanislaw Halik <sthalik@misaki.pl>2013-07-27 09:07:42 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-07-27 09:07:42 +0200
commite4f1be83f42742a2fc9a1606695d89a442999d1c (patch)
tree61ea5d18c3a0612017beefa02b44dd6541b00833 /ftnoir_tracker_aruco/include/cameraparameters.h
parent7c6208d53fa7f96fb1e844b23b9ad341c22f0fc8 (diff)
Import aruco tracker
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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
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+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 "exports.h"
+#include <opencv2/opencv.hpp>
+#include <string>
+using namespace std;
+namespace aruco
+{
+/**\brief Parameters of the camera
+ */
+
+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;
+
+ /**Empty constructor
+ */
+ CameraParameters() ;
+ /**Creates the object from the info passed
+ * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
+ * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2)
+ * @param size image size
+ */
+ CameraParameters(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
+ /**Sets the parameters
+ * @param cameraMatrix 3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
+ * @param distorsionCoeff 4x1 matrix (k1,k2,p1,p2)
+ * @param size image size
+ */
+ void setParams(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
+ /**Copy constructor
+ */
+ CameraParameters(const CameraParameters &CI) ;
+
+ /**Indicates whether this object is valid
+ */
+ bool isValid()const {
+ return CameraMatrix.rows!=0 && CameraMatrix.cols!=0 && Distorsion.rows!=0 && Distorsion.cols!=0 && CamSize.width!=-1 && CamSize.height!=-1;
+ }
+ /**Assign operator
+ */
+ CameraParameters & operator=(const CameraParameters &CI);
+ /**Reads the camera parameters from a file generated using saveToFile.
+ */
+ void readFromFile(string path)throw(cv::Exception);
+ /**Saves this to a file
+ */
+ void saveToFile(string path,bool inXML=true)throw(cv::Exception);
+
+ /**Reads from a YAML file generated with the opencv2.2 calibration utility
+ */
+ void readFromXMLFile(string filePath)throw(cv::Exception);
+
+ /**Adjust the parameters to the size of the image indicated
+ */
+ void resize(cv::Size size)throw(cv::Exception);
+
+ /**Returns the location of the camera in the reference system given by the rotation and translation vectors passed
+ * NOT TESTED
+ */
+ static cv::Point3f getCameraLocation(cv::Mat Rvec,cv::Mat Tvec);
+
+ /**Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl.
+ * PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is not true, you should have
+ * undistor image
+ *
+ * @param orgImgSize size of the original image
+ * @param size of the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix
+ * @param proj_matrix output projection matrix to give to opengl
+ * @param gnear,gfar: visible rendering range
+ * @param invert: indicates if the output projection matrix has to yield a horizontally inverted image because image data has not been stored in the order of glDrawPixels: bottom-to-top.
+ */
+ void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false )throw(cv::Exception);
+
+ /**
+ * setup camera for an Ogre project.
+ * Use:
+ * ...
+ * Ogre::Matrix4 PM(proj_matrix[0], proj_matrix[1], ... , proj_matrix[15]);
+ * yourCamera->setCustomProjectionMatrix(true, PM);
+ * yourCamera->setCustomViewMatrix(true, Ogre::Matrix4::IDENTITY);
+ * ...
+ * As in OpenGL, it assumes no camera distorsion
+ */
+ 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
+
+