00001 /***************************************************************************
00002  *  ccd_calibration.cpp - Class defining a ccd camera calibration matrix K
00003  *
00004  *  Generated: Thu May 8 13:53 2008
00005  *  Copyright  2008  Christof Rath <c.rath@student.tugraz.at>
00006  *
00007  ****************************************************************************/
00008
00009 /*  This program is free software; you can redistribute it and/or modify
00010  *  it under the terms of the GNU General Public License as published by
00011  *  the Free Software Foundation; either version 2 of the License, or
00012  *  (at your option) any later version. A runtime exception applies to
00013  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00021  */
00022
00023
00024 #include "ccd_calibration.h"
00025 #include <cmath>
00026 
00027 /** @class CCDCalibration <models/camera/ccd_calibration.h>
00028  * A Calibration matrix for a ccd camera
00029  * @author Christof Rath
00030  */
00031 
00032 /**Constructor.
00033  * @param ax is the scale factor in the x-coordinate direction
00034  * @param ay is the scale factor in the y-coordinate direction
00035  * @param x0 is the x-coordinate of the principal point
00036  * @param y0 is the y-coordinate of the principal point
00037  */
00038 CCDCalibration::CCDCalibration(float ax, float ay, float x0, float y0):
00039   Calibration()
00040 {
00041   Matrix k(3, 3);
00042   k(0, 0) = ax;
00043   k(1, 1) = ay;
00044   k(2, 2) = 1.f;
00045   k(0, 2) = x0;
00046   k(1, 2) = y0;
00047
00048   K(k);
00049 }
00050 
00051 /**
00052  * Constructor.
00053  * @param hor_fov horizontal field of view [rad]
00054  * @param img_width width of the image [px]
00055  * @param img_height height of the image [px]
00056  */
00057 CCDCalibration::CCDCalibration(float hor_fov, unsigned int img_width, unsigned int img_height):
00058   Calibration()
00059 {
00060   float w = img_width;
00061   float h = img_height;
00062   float ver_fov = hor_fov * h / w;
00063
00064   Matrix k(3, 3);
00065   k(0, 0) = w / (2.f * tanf(hor_fov / 2.f));
00066   k(1, 1) = h / (2.f * tanf(ver_fov / 2.f));
00067   k(2, 2) = 1.f;
00068   k(0, 2) = w / 2.f;
00069   k(1, 2) = h / 2.f;
00070
00071   K(k);
00072 }
00073 
00074 /** Copy constructor.
00075  * @param cp the CCDCalibration to copy
00076  */
00077 CCDCalibration::CCDCalibration(const CCDCalibration& cp):
00078   Calibration()
00079 {
00080   K(cp.K());
00081 }
00082 
00083 /** Destructor.
00084  */
00085 CCDCalibration::~CCDCalibration()
00086 {
00087 }