1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include "precomp.hpp" 44 45 namespace cv { 46 namespace detail { 47 48 CameraParams::CameraParams() : focal(1), aspect(1), ppx(0), ppy(0), 49 R(Mat::eye(3, 3, CV_64F)), t(Mat::zeros(3, 1, CV_64F)) {} 50 51 CameraParams::CameraParams(const CameraParams &other) { *this = other; } 52 53 const CameraParams& CameraParams::operator =(const CameraParams &other) 54 { 55 focal = other.focal; 56 ppx = other.ppx; 57 ppy = other.ppy; 58 aspect = other.aspect; 59 R = other.R.clone(); 60 t = other.t.clone(); 61 return *this; 62 } 63 64 Mat CameraParams::K() const 65 { 66 Mat_<double> k = Mat::eye(3, 3, CV_64F); 67 k(0,0) = focal; k(0,2) = ppx; 68 k(1,1) = focal * aspect; k(1,2) = ppy; 69 return k; 70 } 71 72 } // namespace detail 73 } // namespace cv 74
