tracker/aruco: don't include headers in the module

1 files changed, 0 insertions, 138 deletions

diff --git a/tracker-aruco/include/cameraparameters.h b/tracker-aruco/include/cameraparameters.h
deleted file mode 100644
index 0f0fd329..00000000
--- a/tracker-aruco/include/cameraparameters.h
+++ /dev/null
@@ -1,138 +0,0 @@
-/*****************************
-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/core.hpp>
-#include <string>
-
-namespace aruco
-{
-using namespace std;
-/**\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) noexcept;
-    /**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) noexcept;
-    /**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)noexcept;
-    /**Saves this to a file
-     */
-    void saveToFile(string path,bool inXML=true)noexcept;
-
-    /**Reads from a YAML file generated with the opencv2.2 calibration utility
-     */
-    void readFromXMLFile(string filePath)noexcept;
-
-    /**Adjust the parameters to the size of the image indicated
-     */
-    void resize(cv::Size size)noexcept;
-
-    /**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   )noexcept;
-
-    /**
-     * 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   )noexcept;
-
-
-private:
-    //GL routines
-
-    static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )noexcept;
-    static int  arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )noexcept;
-    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
-
-