polygon_primitives_extraction: /home/laradmin/lar/perception/3D/polygon_primitives_extraction/src/camera

00001 /**************************************************************************************************
00002  Software License Agreement (BSD License)
00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
00005  All rights reserved.
00006 
00007  Redistribution and use in source and binary forms, with or without modification, are permitted
00008  provided that the following conditions are met:
00009 
00010   *Redistributions of source code must retain the above copyright notice, this list of
00011    conditions and the following disclaimer.
00012   *Redistributions in binary form must reproduce the above copyright notice, this list of
00013    conditions and the following disclaimer in the documentation and/or other materials provided
00014    with the distribution.
00015   *Neither the name of the University of Aveiro nor the names of its contributors may be used to
00016    endorse or promote products derived from this software without specific prior written permission.
00017  
00018  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
00019  IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
00020  FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
00021  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00022  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
00023  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
00024  IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
00025  OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 ***************************************************************************************************/
00034 #ifndef _CAMERA_PARAMETERS_CPP_
00035 #define _CAMERA_PARAMETERS_CPP_
00036 
00037 #include "camera_parameters.h"
00038 
00047 int class_camera_parameters::set_intrinsic(double fx, double fy, double cx, double cy)
00048 {
00049         cv::Mat *M = &intrinsic;
00050         M->at<double>(0,0) = fx; M->at<double>(0,1) = 0; M->at<double>(0,2) = cx; M->at<double>(0,3) = 0;
00051         M->at<double>(1,0) = 0; M->at<double>(1,1) = fy; M->at<double>(1,2) = cy; M->at<double>(1,3) = 0;
00052         M->at<double>(2,0) = 0; M->at<double>(2,1) = 0;  M->at<double>(2,2) = 1;  M->at<double>(2,3) = 0;
00053 
00054         return 1;};
00055 
00059 int class_camera_parameters::set_extrinsic(tf::StampedTransform* t)
00060 {
00061         camera_6dof_position.setRotation(t->getRotation());
00062         camera_6dof_position.setOrigin(t->getOrigin());
00063         tf::Matrix3x3 rot(t->getRotation());
00064         set_extrinsic(rot[0][0], rot[0][1], rot[0][2], t->getOrigin().x(),
00065                         rot[1][0], rot[1][1], rot[1][2], t->getOrigin().y(),
00066                         rot[2][0], rot[2][1], rot[2][2], t->getOrigin().z());
00067         return 1;}
00068 
00069 int class_camera_parameters::set_extrinsic(tf::Transform* t)
00070 {
00071         camera_6dof_position.setRotation(t->getRotation());
00072         camera_6dof_position.setOrigin(t->getOrigin());
00073         tf::Matrix3x3 rot(t->getRotation());
00074         set_extrinsic(rot[0][0], rot[0][1], rot[0][2], t->getOrigin().x(),
00075                         rot[1][0], rot[1][1], rot[1][2], t->getOrigin().y(),
00076                         rot[2][0], rot[2][1], rot[2][2], t->getOrigin().z());
00077         return 1;}
00078 
00079 
00085 int class_camera_parameters::set_extrinsic(double p11, double p12, double p13, double p14,
00086                 double p21, double p22, double p23, double p24,
00087                 double p31, double p32, double p33, double p34)
00088 {
00089         cv::Mat *M = &extrinsic;
00090         M->at<double>(0,0) = p11; M->at<double>(0,1) = p12; M->at<double>(0,2) = p13; M->at<double>(0,3) = p14;
00091         M->at<double>(1,0) = p21; M->at<double>(1,1) = p22; M->at<double>(1,2) = p23; M->at<double>(1,3) = p24;
00092         M->at<double>(2,0) = p31; M->at<double>(2,1) = p32; M->at<double>(2,2) = p33; M->at<double>(2,3) = p34;
00093         M->at<double>(3,0) = 0;   M->at<double>(3,1) = 0;   M->at<double>(3,2) = 0;   M->at<double>(3,3) = 1;
00094 
00095         extrinsic_inverse = extrinsic.inv();
00096         return 1;};
00097 
00098 
00099 
00100 #endif
00101
/home/laradmin/lar/perception/3D/polygon_primitives_extraction/src/camera_parameters.cpp
