1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
|
/* ========================================================================
* PROJECT: ARToolKitPlus
* ========================================================================
* This work is based on the original ARToolKit developed by
* Hirokazu Kato
* Mark Billinghurst
* HITLab, University of Washington, Seattle
* http://www.hitl.washington.edu/artoolkit/
*
* Copyright of the derived and new portions of this work
* (C) 2006 Graz University of Technology
*
* This framework is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This framework is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this framework; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
* For further information please contact
* Dieter Schmalstieg
* <schmalstieg@icg.tu-graz.ac.at>
* Graz University of Technology,
* Institut for Computer Graphics and Vision,
* Inffeldgasse 16a, 8010 Graz, Austria.
* ========================================================================
** @author Thomas Pintaric
*
* $Id$
* @file
* ======================================================================== */
#ifndef __ARTOOLKIT_CAMERAADVIMPL_HEADERFILE__
#define __ARTOOLKIT_CAMERAADVIMPL_HEADERFILE__
#include <ARToolKitPlus/Camera.h>
namespace ARToolKitPlus {
#define CAMERA_ADV_HEADER "ARToolKitPlus_CamCal_Rev02"
#define CAMERA_ADV_MAX_UNDIST_ITERATIONS 20
class CameraAdvImpl : public Camera
{
public:
CameraAdvImpl();
virtual ~CameraAdvImpl();
virtual void observ2Ideal(ARFloat ox, ARFloat oy, ARFloat *ix, ARFloat *iy);
virtual void ideal2Observ(ARFloat ix, ARFloat iy, ARFloat *ox, ARFloat *oy);
virtual bool loadFromFile(const char* filename);
virtual Camera* clone();
virtual bool changeFrameSize(const int frameWidth, const int frameHeight);
virtual void logSettings(Logger* p_log);
protected:
ARFloat cc[2];
ARFloat fc[2];
ARFloat kc[6];
// http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html
int undist_iterations;
};
} // namespace ARToolKitPlus
#endif // __ARTOOLKIT_CAMERAADVIMPL_HEADERFILE__
|
