/* * ===================================================================================== * * 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 /* *-------------------------------------------------------------------------------------- * 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(); _K(0,1) = BINNING*config["camera_matrix"]["data"][1].as(); _K(0,2) = BINNING*config["camera_matrix"]["data"][2].as(); _K(1,0) = BINNING*config["camera_matrix"]["data"][3].as(); _K(1,1) = BINNING*config["camera_matrix"]["data"][4].as(); _K(1,2) = BINNING*config["camera_matrix"]["data"][5].as(); _K(2,0) = BINNING*config["camera_matrix"]["data"][6].as(); _K(2,1) = BINNING*config["camera_matrix"]["data"][7].as(); _K(2,2) = config["camera_matrix"]["data"][8].as(); _d[0] = config["distortion_coefficients"]["data"][0].as(); _d[1] = config["distortion_coefficients"]["data"][1].as(); _d[2] = config["distortion_coefficients"]["data"][2].as(); _d[3] = config["distortion_coefficients"]["data"][3].as(); } /* ----- end of method Camera::Camera (constructor) ----- */ Matrix Camera::K ( ) { return _K ; } /* ----- end of method Camera::K ----- */ Vector4d Camera::d ( ) { return _d; } /* ----- end of method Camera::d ----- */