34 #ifndef _CAMERA_PARAMETERS_CPP_
35 #define _CAMERA_PARAMETERS_CPP_
50 M->at<
double>(0,0) = fx; M->at<
double>(0,1) = 0; M->at<
double>(0,2) = cx; M->at<
double>(0,3) = 0;
51 M->at<
double>(1,0) = 0; M->at<
double>(1,1) = fy; M->at<
double>(1,2) = cy; M->at<
double>(1,3) = 0;
52 M->at<
double>(2,0) = 0; M->at<
double>(2,1) = 0; M->at<
double>(2,2) = 1; M->at<
double>(2,3) = 0;
63 tf::Matrix3x3 rot(t->getRotation());
64 set_extrinsic(rot[0][0], rot[0][1], rot[0][2], t->getOrigin().x(),
65 rot[1][0], rot[1][1], rot[1][2], t->getOrigin().y(),
66 rot[2][0], rot[2][1], rot[2][2], t->getOrigin().z());
73 tf::Matrix3x3 rot(t->getRotation());
74 set_extrinsic(rot[0][0], rot[0][1], rot[0][2], t->getOrigin().x(),
75 rot[1][0], rot[1][1], rot[1][2], t->getOrigin().y(),
76 rot[2][0], rot[2][1], rot[2][2], t->getOrigin().z());
86 double p21,
double p22,
double p23,
double p24,
87 double p31,
double p32,
double p33,
double p34)
90 M->at<
double>(0,0) = p11; M->at<
double>(0,1) = p12; M->at<
double>(0,2) = p13; M->at<
double>(0,3) = p14;
91 M->at<
double>(1,0) = p21; M->at<
double>(1,1) = p22; M->at<
double>(1,2) = p23; M->at<
double>(1,3) = p24;
92 M->at<
double>(2,0) = p31; M->at<
double>(2,1) = p32; M->at<
double>(2,2) = p33; M->at<
double>(2,3) = p34;
93 M->at<
double>(3,0) = 0; M->at<
double>(3,1) = 0; M->at<
double>(3,2) = 0; M->at<
double>(3,3) = 1;
tf::StampedTransform camera_6dof_position
Defines a class where the parameters of a camera are stored.
int set_extrinsic(double p11, double p12, double p13, double p14, double p21, double p22, double p23, double p24, double p31, double p32, double p33, double p34)
sets extrinsic parameters
cv::Mat extrinsic_inverse
int set_intrinsic(double fx, double fy, double cx, double cy)
sets intrinsic parameters from a 3x3 CvMat