CameraIntrinsicParam.H

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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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