Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
calibration.cpp
1
/***************************************************************************
2
* calibration.cpp - Abstract class defining a camera calibration matrix K
3
* for a finite camera
4
*
5
* Created: Thu May 08 13:24:00 2008
6
* Copyright 2008 Christof Rath <c.rath@student.tugraz.at>
7
*
8
****************************************************************************/
9
10
/* This program is free software; you can redistribute it and/or modify
11
* it under the terms of the GNU General Public License as published by
12
* the Free Software Foundation; either version 2 of the License, or
13
* (at your option) any later version. A runtime exception applies to
14
* this software (see LICENSE.GPL_WRE file mentioned below for details).
15
*
16
* This program is distributed in the hope that it will be useful,
17
* but WITHOUT ANY WARRANTY; without even the implied warranty of
18
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19
* GNU Library General Public License for more details.
20
*
21
* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22
*/
23
24
#include <fvmodels/camera/calibration.h>
25
#include <iostream>
26
#include <core/exceptions/software.h>
27
28
using namespace
fawkes;
29
30
namespace
firevision {
31
#if 0
/* just to make Emacs auto-indent happy */
32
}
33
#endif
34
35
/** @class Calibration <fvmodels/camera/calibration.h>
36
* A Calibration matrix for a finite camera.
37
*
38
* @author Christof Rath
39
*/
40
41
/** Hidden default constructor.
42
*/
43
Calibration::Calibration():
Matrix
(3, 3)
44
{
45
id
();
46
}
47
48
/** Constructor.
49
* @param k 3x3 Calibration matrix of the camera
50
*/
51
Calibration::Calibration
(
const
fawkes::Matrix
& k):
Matrix
(3, 3)
52
{
53
K
(k);
54
}
55
56
/** Copy Constructor.
57
* @param cal the Calibration to copy
58
*/
59
Calibration::Calibration
(
const
Calibration
& cal):
Matrix
(3, 3)
60
{
61
K
(cal.
K
());
62
}
63
64
/** Destructor.
65
*/
66
Calibration::~Calibration
()
67
{
68
}
69
70
/** Calibration getter.
71
* @return The calibration matrix
72
*/
73
Matrix
74
Calibration::K
()
const
75
{
76
return
get_submatrix
(0, 0, 3, 3);
77
}
78
79
/** Sets the calibration matrix.
80
* The matrix k has a size 3x3. The elements (row by row):
81
* scale factor in x-direction, skew, x-coordinate of the principal point
82
* 0, scale factor in y-direction, y-coordinate of the principal point
83
* 0, 0, 1
84
* @param k the calibration matrix
85
* @return reference to this instance
86
*/
87
Calibration
&
88
Calibration::K
(
const
fawkes::Matrix
& k)
89
{
90
unsigned
int
i,j;
91
k.
size
(i, j);
92
93
if
(i != j || i != 3)
94
throw
IllegalArgumentException
(
"The calibration matrix has to be 3 by 3"
);
95
96
id
();
97
overlay
(0, 0, k);
98
return
*
this
;
99
}
100
101
}
// end namespace firevision
src
libs
fvmodels
camera
calibration.cpp
Generated by
1.8.3.1