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Diffstat (limited to 'tracker-aruco/include/cameraparameters.h')
| -rw-r--r-- | tracker-aruco/include/cameraparameters.h | 138 |
1 files changed, 138 insertions, 0 deletions
diff --git a/tracker-aruco/include/cameraparameters.h b/tracker-aruco/include/cameraparameters.h new file mode 100644 index 00000000..083d5f96 --- /dev/null +++ b/tracker-aruco/include/cameraparameters.h @@ -0,0 +1,138 @@ +/***************************** +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/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) 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 + + |