From 2a08bf8b469131e82aa259a3be65a6b5dc8c1be0 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 19 Mar 2017 22:13:51 -0500
Subject: Add Camera class

---
 src/camera.cpp | 60 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 60 insertions(+)
 create mode 100644 src/camera.cpp

(limited to 'src/camera.cpp')

diff --git a/src/camera.cpp b/src/camera.cpp
new file mode 100644
index 0000000..a78746f
--- /dev/null
+++ b/src/camera.cpp
@@ -0,0 +1,60 @@
+/*
+ * =====================================================================================
+ *
+ *       Filename:  camera.cpp
+ *
+ *    Description:  Class for camera
+ *
+ *        Version:  1.0
+ *        Created:  03/19/2017 09:39:58 PM
+ *       Revision:  none
+ *       Compiler:  gcc
+ *
+ *         Author:  Martin Miller (MHM), miller7@illinois.edu
+ *   Organization:  Aerospace Robotics and Controls Lab (ARC)
+ *
+ * =====================================================================================
+ */
+#include "camera.h"
+#include <iostream>
+
+/*
+ *--------------------------------------------------------------------------------------
+ *       Class:  Camera
+ *      Method:  Camera
+ * Description:  constructor
+ *--------------------------------------------------------------------------------------
+ */
+Camera::Camera (const char *fin)
+{
+    YAML::Node config = YAML::LoadFile(fin);
+    _K(0,0) = BINNING*config["camera_matrix"]["data"][0].as<double>();
+    _K(0,1) = BINNING*config["camera_matrix"]["data"][1].as<double>();
+    _K(0,2) = BINNING*config["camera_matrix"]["data"][2].as<double>();
+    _K(1,0) = BINNING*config["camera_matrix"]["data"][3].as<double>();
+    _K(1,1) = BINNING*config["camera_matrix"]["data"][4].as<double>();
+    _K(1,2) = BINNING*config["camera_matrix"]["data"][5].as<double>();
+    _K(2,0) = BINNING*config["camera_matrix"]["data"][6].as<double>();
+    _K(2,1) = BINNING*config["camera_matrix"]["data"][7].as<double>();
+    _K(2,2) = config["camera_matrix"]["data"][8].as<double>();
+
+    _d[0] = config["distortion_coefficients"]["data"][0].as<double>();
+    _d[1] = config["distortion_coefficients"]["data"][1].as<double>();
+    _d[2] = config["distortion_coefficients"]["data"][2].as<double>();
+    _d[3] = config["distortion_coefficients"]["data"][3].as<double>();
+
+}  /* -----  end of method Camera::Camera  (constructor)  ----- */
+
+
+Matrix<double,3,3>
+Camera::K (  )
+{
+    return _K ;
+}		/* -----  end of method Camera::K  ----- */
+
+Vector4d
+Camera::d ( )
+{
+    return _d;
+}		/* -----  end of method Camera::d  ----- */
+
-- 
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