83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
////////////////////////////////////////////////////////////////////////////////
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//
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// Paella
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// Copyright (C) 2015 - Thomas FORGIONE, Emilie JALRAS, Marion LENFANT, Thierry MALON, Amandine PAILLOUX
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// Authors :
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// Thomas FORGIONE
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// Emilie JALRAS
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// Marion LENFANT
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// Thierry MALON
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// Amandine PAILLOUX
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// Simone GASPARINI
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//
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// This file is part of the project Paella
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// This software is provided 'as-is', without any express or implied warranty.
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// In no event will the authors be held liable for any damages arising from the use of this software.
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//
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it freely,
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// subject to the following restrictions:
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//
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// 1. The origin of this software must not be misrepresented;
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// you must not claim that you wrote the original software.
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// If you use this software in a product, an acknowledgment
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// in the product documentation would be appreciated but is not required.
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//
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// 2. Altered source versions must be plainly marked as such,
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// and must not be misrepresented as being the original software.
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//
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// 3. This notice may not be removed or altered from any source distribution.
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////////////////////////////////////////////////////////////////////////////////
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#ifndef _CAMERA_HPP_
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#define _CAMERA_HPP_
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#include <opencv2/core/core.hpp>
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/**
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* \ingroup calibration
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* \brief Class that wraps the intrinsic parameters of a camera
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*/
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class Camera
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{
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public:
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/**
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* Default constructor
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*/
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Camera() {}
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/**
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* Initialize the camera loading the internal parameters from the given file
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*
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* @param[in] calibFilename the calibration file
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* @return true if success
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*/
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bool init( std::string calibFilename );
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/**
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* Default destructor
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*/
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virtual ~Camera( ) {}
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/**
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* Return the OpenGL projection matrix for the camera
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* @param[out] proj the OGL projection matrix (ready to be passed, ie in col major format)
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* @param znear near clipping plane
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* @param zfar far clipping plane
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* \note using http://strawlab.org/2011/11/05/augmented-reality-with-OpenGL/
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*/
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void getOGLProjectionMatrix( float *proj, const float znear, const float zfar ) const;
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public:
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cv::Mat matK; ///< Calibration matrix, with intrinsic parameters
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cv::Mat distCoeff; ///< Distortion coefficients
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cv::Size imageSize; ///< Size of the image
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};
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#endif /* _CAMERA_HPP_ */
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