camera_parameters.cpp

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#ifndef _CAMERA_PARAMETERS_CPP_
#define _CAMERA_PARAMETERS_CPP_

#include "camera_parameters.h"

int class_camera_parameters::set_intrinsic(double fx, double fy, double cx, double cy)
{
        cv::Mat *M = &intrinsic;
        M->at<double>(0,0) = fx; M->at<double>(0,1) = 0; M->at<double>(0,2) = cx; M->at<double>(0,3) = 0;
        M->at<double>(1,0) = 0; M->at<double>(1,1) = fy; M->at<double>(1,2) = cy; M->at<double>(1,3) = 0;
        M->at<double>(2,0) = 0; M->at<double>(2,1) = 0;  M->at<double>(2,2) = 1;  M->at<double>(2,3) = 0;

        return 1;};

int class_camera_parameters::set_extrinsic(tf::StampedTransform* t)
{
        camera_6dof_position.setRotation(t->getRotation());
        camera_6dof_position.setOrigin(t->getOrigin());
        tf::Matrix3x3 rot(t->getRotation());
        set_extrinsic(rot[0][0], rot[0][1], rot[0][2], t->getOrigin().x(),
                        rot[1][0], rot[1][1], rot[1][2], t->getOrigin().y(),
                        rot[2][0], rot[2][1], rot[2][2], t->getOrigin().z());
        return 1;}

int class_camera_parameters::set_extrinsic(tf::Transform* t)
{
        camera_6dof_position.setRotation(t->getRotation());
        camera_6dof_position.setOrigin(t->getOrigin());
        tf::Matrix3x3 rot(t->getRotation());
        set_extrinsic(rot[0][0], rot[0][1], rot[0][2], t->getOrigin().x(),
                        rot[1][0], rot[1][1], rot[1][2], t->getOrigin().y(),
                        rot[2][0], rot[2][1], rot[2][2], t->getOrigin().z());
        return 1;}


int class_camera_parameters::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)
{
        cv::Mat *M = &extrinsic;
        M->at<double>(0,0) = p11; M->at<double>(0,1) = p12; M->at<double>(0,2) = p13; M->at<double>(0,3) = p14;
        M->at<double>(1,0) = p21; M->at<double>(1,1) = p22; M->at<double>(1,2) = p23; M->at<double>(1,3) = p24;
        M->at<double>(2,0) = p31; M->at<double>(2,1) = p32; M->at<double>(2,2) = p33; M->at<double>(2,3) = p34;
        M->at<double>(3,0) = 0;   M->at<double>(3,1) = 0;   M->at<double>(3,2) = 0;   M->at<double>(3,3) = 1;

        extrinsic_inverse = extrinsic.inv();
        return 1;};



#endif