a_intern.cxx

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/*
Copyright 2000-2019 Pierre SMARS (smars@yuntech.edu.tw)
This program 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 program 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 program.  If not, see <http://www.gnu.org/licenses/>.
*/
#include "a_intern.h"
#include <sstream>
//---------------------------------------------------------------------------
const std::string a_intern::help()
{
        std::ostringstream o;
        o << "*********" << std::endl;
        o << "a_intern" << std::endl;
        o << "*********" << std::endl;
        o << "This is an internal camera calibration class" << std::endl;
        o << "It can be used to map a 3D point to a 2D projection" << std::endl;
        o << "3x3 matrix of the form:" << std::endl;
        o << "----------------------:" << std::endl;
        o << "[sx   stheta  u0]" << std::endl;
        o << "[0    sy      v0]" << std::endl;
        o << "[0    0       1 ]" << std::endl;
        o << "Commands:" << std::endl;
        o << "--------" << std::endl;
        o << "sx: set or get the focal for x coordinates (in image unit)" << std::endl;
        o << "sy: set or get the focal for y coordinates (in image unit)" << std::endl;
        o << "s: set or get the (unique) focal (in image unit)" << std::endl;
        o << "   sx = sy in a perfect pinhole camera" << std::endl;
        o << "   sx != sy if the sensor pixels are not straight" << std::endl;
        o << "stheta: set or the skew parameter(0 in a perfect camera)" << std::endl;
        o << "        0 for normal camera" << std::endl;
        o << "u0: set or get the x coordinate of the principal point (in image unit)" << std::endl;
        o << "v0: set or get the y coordinate of the principal point (in image unit)" << std::endl;
        return o.str();
}
//---------------------------------------------------------------------------
a_intern::a_intern(const a_mat& m) : a_mat(3,3)
{
        for (int i = 0; i<3; i++)
        {
                for (int j = 0; j<3; j++)
                        (*this)(i,j)= m(i,j); 
        }
}