/*!
initialise the camera from a calibration matrix.
Using a calibration matrix leads to a camera without distorsion
The K matrix in parameters must be like:
\f$ K = \left(\begin{array}{ccc}
p_x & 0 & u_0 \\
0 & p_y & v_0 \\
0 & 0 & 1
\end{array} \right) \f$
\param _K : the 3by3 calibration matrix
*/
void
vpCameraParameters::initFromCalibrationMatrix(const vpMatrix& _K)
{
if(_K.getRows() != 3 || _K.getCols() != 3 ){
throw vpException(vpException::dimensionError, "bad size for calibration matrix");
}
if( std::fabs(_K[2][2] - 1.0) > std::numeric_limits<double>::epsilon()){
throw vpException(vpException::badValue, "bad value: K[2][2] must be equal to 1");
}
initPersProjWithoutDistortion (_K[0][0], _K[1][1], _K[0][2], _K[1][2]);
}
/*!
Constructor for perspective projection without distortion model
\param cam_px,cam_py : pixel size
\param cam_u0,cam_v0 : principal points
*/
vpCameraParameters::vpCameraParameters(const double cam_px, const double cam_py,
const double cam_u0, const double cam_v0)
:
px(DEFAULT_PX_PARAMETER), py(DEFAULT_PY_PARAMETER),
u0(DEFAULT_U0_PARAMETER), v0(DEFAULT_V0_PARAMETER),
kud(DEFAULT_KUD_PARAMETER), kdu(DEFAULT_KDU_PARAMETER),
width(0), height(0),
isFov(false), m_hFovAngle(0), m_vFovAngle(0), fovNormals(),
inv_px(1./DEFAULT_PX_PARAMETER), inv_py(1./DEFAULT_PY_PARAMETER),
projModel(DEFAULT_PROJ_TYPE)
{
initPersProjWithoutDistortion(cam_px,cam_py,cam_u0,cam_v0) ;
}
/*!
Constructor for perspective projection without distortion model
\param px,py : pixel size
\param u0,v0 : principal points
*/
vpCameraParameters::vpCameraParameters(const double px, const double py,
const double u0, const double v0)
{
initPersProjWithoutDistortion(px,py,u0,v0) ;
}
