a_pmat.cxx

Go to the documentation of this file.

/*
Copyright 2010-2019 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_pmat.h"
#include <sstream>
//---------------------------------------------------------------------------
const std::string a_pmat::help()
{
  std::ostringstream o;
  o << "******" << std::endl;
  o << "a_pmat" << std::endl;
  o << "*****" << std::endl;
  o << "This is a P projective matrix class, representing a camera" << std::endl;
  o << "3x4 matrix of the form:" << std::endl;
  o << "----------------------" << std::endl;
  o << "[p11 p12 p13 p14]" << std::endl;
  o << "[p21 p22 p23 p24]" << std::endl;
  o << "[p31 p32 p33 p34]" << std::endl;
  o << "Commands:" << std::endl;
  o << "--------" << std::endl;
  o << "intern a_intern: set the camera (internal calibration)" << std::endl;
  o << "move a_pos: place the camera in 3D (external calibration)" << std::endl;
  o << "project a_3dh: project a 3D point (in homogeneous coordinate)" << std::endl;
        return o.str();
}
//---------------------------------------------------------------------------
a_pmat::a_pmat(const a_intern& cam) : a_mat(3,4)
{
        for (int i = 0; i<3; i++)
        {
                for (int j = 0; j<3; j++)
                        (*this)(i,j)= cam(i,j); 
        }
}
//---------------------------------------------------------------------------
a_pmat::a_pmat(const a_mat& m) : a_mat(3,4)
{
        *this = m;
}
//---------------------------------------------------------------------------
a_pmat& a_pmat::operator=(const a_mat& m)
{
        if (m.maxi() != maxi_) throw compatibility_error();
        if (m.maxj() != maxj_) throw compatibility_error();
        for (int i = 0; i<3; i++)
        {
                for (int j = 0; j<4; j++)
                        (*this)(i,j)= m(i,j); 
        }
        return (*this);
}
//---------------------------------------------------------------------------
void a_pmat::intern(const a_intern& m)
{
        for (int i = 0; i<3; i++)
        {
                for (int j = 0; j<3; j++)
                        (*this)(i,j)= m(i,j); 
        }
}
//---------------------------------------------------------------------------
void a_pmat::move(const a_pos& m)
{
        a_mat m2 = *this;
        a_mat m3 = m;
        a_mat m4 = m2*m3;
        (*this) = m4;
}
//---------------------------------------------------------------------------
a_2dh a_pmat::project(const a_3dh& p3d) const
{
        a_mat m2 = *this;
        a_mat m3 = p3d;
        a_mat m4 = m2*m3;
        return m4;
}