00001 /*!@file SIFT/CameraIntrinsicParam.H Stores a camera intrinsic parameter*/ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Christian Siagian <siagian@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SIFT/CameraIntrinsicParam.H $ 00035 // $Id: CameraIntrinsicParam.H 6182 2006-01-31 18:41:41Z rjpeters $ 00036 // 00037 00038 #ifndef CAMERAINTRINSICPARAM_H_DEFINED 00039 #define CAMERAINTRINSICPARAM_H_DEFINED 00040 00041 #include "Image/Image.H" 00042 00043 //! A class that stores a camera's intrinsic parameter 00044 class CameraIntrinsicParam { 00045 public: 00046 00047 //! Constructor 00048 inline CameraIntrinsicParam 00049 (double fcU, double fcV, double ccU, double ccV, double skew); 00050 00051 //! get the camera param in a form of Camera Matrix 00052 inline Image<double> getCameraMatrix(); 00053 00054 private: 00055 00056 double itsFcU; //!< Horizontal(U) component of Focal Length 00057 double itsFcV; //!< Vertical(V) component of Focal Length 00058 double itsCcU; //!< Horizontal principal point position in camera coor 00059 double itsCcV; //!< Vertical principal point position in camera coor 00060 double itsSkew; //!< skew angle in form of cotangent(theta) 00061 }; 00062 00063 // ###################################################################### 00064 // CameraIntrinsicParam I/O: 00065 // ###################################################################### 00066 00067 00068 // ###################################################################### 00069 // ########## Implementation of inline functions 00070 // ###################################################################### 00071 00072 // ###################################################################### 00073 inline CameraIntrinsicParam::CameraIntrinsicParam 00074 (double fcU, double fcV, double ccU, double ccV, double skew): 00075 itsFcU(fcU), itsFcV(fcV), itsCcU(ccU), itsCcV(ccV), itsSkew(skew) 00076 { } 00077 00078 // ###################################################################### 00079 inline Image<double> CameraIntrinsicParam::getCameraMatrix() 00080 { 00081 Image<double> res(3,3,ZEROS); 00082 00083 res.setVal(0,0, itsFcU); 00084 res.setVal(1,0, itsSkew*itsFcU); 00085 res.setVal(1,1, itsFcV); 00086 res.setVal(2,0, itsCcU); 00087 res.setVal(2,1, itsCcV); 00088 res.setVal(2,2, 1.0); 00089 00090 return res; 00091 } 00092 00093 #endif 00094 00095 // ###################################################################### 00096 /* So things look consistent in everyone's emacs... */ 00097 /* Local Variables: */ 00098 /* indent-tabs-mode: nil */ 00099 /* End: */
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