| //------------------------------------------------------------- |
| // ____ _ _ |
| // / ___|____ _ _ ____ ____| |__ | | |
| // | | / ___| | | | _ \/ ___| _ \| | |
| // | |___| | | |_| | | | | |___| | | ||_| |
| // \____|_| \_____|_| |_|\____|_| |_|(_) Media benchmarks |
| // |
| // © 2006, Intel Corporation, licensed under Apache 2.0 |
| // |
| // file : CameraModel.cpp |
| // author : Jean-Yves Bouguet - jean-yves.bouguet@intel.com |
| // Scott Ettinger - scott.m.ettinger@intel.com |
| // description : Camera Model description (single and multiple). |
| // modified : |
| //-------------------------------------------------------------- |
| |
| |
| #if defined(HAVE_CONFIG_H) |
| # include "config.h" |
| #endif |
| |
| #include "CameraModel.h" |
| #include <iostream> |
| #include <fstream> |
| |
| using namespace std; |
| |
| #define DMatrixf DMatrix<float> |
| |
| bool Camera::LoadParams(const char *fname) |
| { //load parameters from file |
| ifstream f(fname); |
| if(!f.is_open()) |
| { cout << "Unable to open camera calibration file : " << fname << endl; |
| return false; |
| } |
| f >> fc.x >> fc.y >> cc.x >> cc.y >> alpha_c; |
| f >> kc[0] >> kc[1] >> kc[2] >> kc[3] >> kc[4]; |
| f >> Rc_ext[0][0] >> Rc_ext[0][1] >> Rc_ext[0][2] >> Rc_ext[1][0] >> Rc_ext[1][1] >> Rc_ext[1][2] >> Rc_ext[2][0] >> Rc_ext[2][1] >> Rc_ext[2][2]; |
| f >> Tc_ext.x >> Tc_ext.y >> Tc_ext.z; |
| f >> omc_ext.x >> omc_ext.y >> omc_ext.z; |
| |
| //Compute the full extrinsics matrix and the world coordinate position of the camera |
| mc_ext(0,0) = Rc_ext[0][0]; mc_ext(0,1) = Rc_ext[0][1]; mc_ext(0,2) = Rc_ext[0][2]; mc_ext(0,3) = Tc_ext.x; |
| mc_ext(1,0) = Rc_ext[1][0]; mc_ext(1,1) = Rc_ext[1][1]; mc_ext(1,2) = Rc_ext[1][2]; mc_ext(1,3) = Tc_ext.y; |
| mc_ext(2,0) = Rc_ext[2][0]; mc_ext(2,1) = Rc_ext[2][1]; mc_ext(2,2) = Rc_ext[2][2]; mc_ext(2,3) = Tc_ext.z; |
| DMatrixf m2 = Inverse(mc_ext); |
| |
| eye.x = m2(0,3); eye.y = m2(1,3); eye.z = m2(2,3); //camera location in world space |
| return true; |
| } |
| |
