calibration.cpp

00001 /***************************************************************************
00002  *  calibration.cpp - Abstract class defining a camera calibration matrix K
00003  *                    for a finite camera
00004  *
00005  *  Created: Thu May 08 13:24:00 2008
00006  *  Copyright  2008  Christof Rath <c.rath@student.tugraz.at>
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #include <models/camera/calibration.h>
00025 #include <iostream>
00026 #include <core/exceptions/software.h>
00027 
00028 using namespace fawkes;
00029 
00030 namespace firevision {
00031 #if 0 /* just to make Emacs auto-indent happy */
00032 }
00033 #endif
00034 
00035 /** @class Calibration <models/camera/calibration.h>
00036  * A Calibration matrix for a finite camera.
00037  *
00038  * @author Christof Rath
00039  */
00040 
00041 /** Hidden default constructor.
00042  */
00043 Calibration::Calibration(): Matrix(3, 3)
00044 {
00045   id();
00046 }
00047 
00048 /** Constructor.
00049  * @param k 3x3 Calibration matrix of the camera
00050  */
00051 Calibration::Calibration(const fawkes::Matrix& k): Matrix(3, 3)
00052 {
00053   K(k);
00054 }
00055 
00056 /** Copy Constructor.
00057  * @param cal the Calibration to copy
00058  */
00059 Calibration::Calibration(const Calibration& cal): Matrix(3, 3)
00060 {
00061   K(cal.K());
00062 }
00063 
00064 /** Destructor.
00065  */
00066 Calibration::~Calibration()
00067 {
00068 }
00069 
00070 /** Calibration getter.
00071  * @return The calibration matrix
00072  */
00073 Matrix
00074 Calibration::K() const
00075 {
00076   return get_submatrix(0, 0, 3, 3);
00077 }
00078 
00079 /** Sets the calibration matrix.
00080  * The matrix k has a size 3x3. The elements (row by row):
00081  * scale factor in x-direction, skew, x-coordinate of the principal point
00082  * 0, scale factor in y-direction, y-coordinate of the principal point
00083  * 0, 0, 1
00084  * @param k the calibration matrix
00085  * @return reference to this instance
00086  */
00087 Calibration&
00088 Calibration::K(const fawkes::Matrix& k)
00089 {
00090   unsigned int i,j;
00091   k.size(i, j);
00092 
00093   if (i != j || i != 3)
00094     throw IllegalArgumentException("The calibration matrix has to be 3 by 3");
00095 
00096   id();
00097   overlay (0, 0, k);
00098   return *this;
00099 }
00100 
00101 } // end namespace firevision