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Diffstat (limited to 'tracker-aruco/include/cameraparameters.h')
| -rw-r--r-- | tracker-aruco/include/cameraparameters.h | 138 |
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 - - |