CameraModel.h and CameraModel.cpp

corelib/include/rtabmap/core/CameraModel.h

@@ -0,0 +1,98 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERAMODEL_H_
+#define CAMERAMODEL_H_
+
+#include <opencv2/opencv.hpp>
+
+namespace rtabmap {
+
+class CameraModel
+{
+public:
+	CameraModel();
+	virtual ~CameraModel() {}
+
+	double fx() const {return P_.at<double>(0,0);}
+	double fy() const {return P_.at<double>(1,1);}
+	double cx() const {return P_.at<double>(0,2);}
+	double cy() const {return P_.at<double>(1,2);}
+	double Tx() const {return P_.at<double>(0,3);}
+
+	const cv::Mat & K() const {return K_;}
+	const cv::Mat & D() const {return D_;}
+	const cv::Mat & R() const {return R_;}
+	const cv::Mat & P() const {return P_;}
+
+	int width() const {return width_;}
+	int height() const {return height_;}
+
+	bool load(const std::string & directory, const std::string & cameraName);
+	void save(const std::string & directory, const std::string & cameraName);
+
+	cv::Mat rectifyImage(const cv::Mat & raw) const;
+
+private:
+	int width_;
+	int height_;
+	cv::Mat K_;
+	cv::Mat D_;
+	cv::Mat R_;
+	cv::Mat P_;
+	cv::Mat rectificationMap1_;
+	cv::Mat rectificationMap2_;
+};
+
+class StereoCameraModel
+{
+public:
+	StereoCameraModel() {}
+	virtual ~StereoCameraModel() {}
+
+	bool load(const std::string & directory, const std::string & cameraName)
+	{
+		return left_.load(directory, cameraName+"_left") &&
+				right_.load(directory, cameraName+"_right");
+	}
+	void save(const std::string & directory, const std::string & cameraName)
+	{
+		left_.save(directory, cameraName+"_left");
+		right_.save(directory, cameraName+"_right");
+	}
+	double baseline() const {return -right_.Tx()/right_.fx();}
+
+	const CameraModel & left() const {return left_;}
+	const CameraModel & right() const {return right_;}
+
+private:
+	CameraModel left_;
+	CameraModel right_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERAMODEL_H_ */