WebSVN – seema-scanner – Diff – /src/SMCalibrationParameters.h


#ifndef SMCALIBRATIONPARAMETERS_H
#define SMCALIBRATIONPARAMETERS_H
 
#include <QObject>
#include <QDataStream>
#include <QMetaType>
#include <opencv2/opencv.hpp>
 
class SMCalibrationParameters{
 
    public:
 
        SMCalibrationParameters() : frameHeight(0), frameWidth(0),
                                  K0(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k0(0.0), cam0_error(0.0),
                                  K1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k1(0.0), cam1_error(0.0),
                                  R1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), T1(0.0), stereo_error(0.0){
 
            qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
            qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
        }
 
        ~SMCalibrationParameters(){}
 
        unsigned int frameHeight;
        unsigned int frameWidth;
 
        cv::Matx33f K0; // intrinsic camera matrix
        cv::Vec<float, 5> k0; // distortion coefficients
        double cam0_error; // overall reprojection error
 
        cv::Matx33f K1;
        cv::Vec<float, 5> k1;
        double cam1_error;
 
        double stereo_error; // stereo calibration reprojection error
 
        cv::Matx33f R1; // extrinsic rotation matrix camera 1
        cv::Vec3f   T1; // extrinsic translation vector camera 1
 
        cv::Matx33f Rr; // extrinsic rotation rotation stage
        cv::Vec3f   Tr; // extrinsic translation vector rotation stage
 
        cv::Matx33f E; // essential matrix
        cv::Matx33f F; // fundamental matrix
 
        void print();
        void exportToXML(QString fileName);
};
 
QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data);
QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data);
 
Q_DECLARE_METATYPE(SMCalibrationParameters)
 
 
#endif // SMCALIBRATIONPARAMETERS_H
 

Subversion Repositories seema-scanner

(root)/src/SMCalibrationParameters.h – Rev 31 → 42

Rev 31		Rev 42
1	`#ifndef SMCALIBRATIONPARAMETERS_H`	1	`#ifndef SMCALIBRATIONPARAMETERS_H`
2	`#define SMCALIBRATIONPARAMETERS_H`	2	`#define SMCALIBRATIONPARAMETERS_H`
3		3
4	`#include <QObject>`	4	`#include <QObject>`
5	`#include <QDataStream>`	5	`#include <QDataStream>`
6	`#include <QMetaType>`	6	`#include <QMetaType>`
7	`#include <opencv2/opencv.hpp>`	7	`#include <opencv2/opencv.hpp>`
8		8
9	`class SMCalibrationParameters{`	9	`class SMCalibrationParameters{`
10		10
11	`public:`	11	`public:`
12		12
13	`SMCalibrationParameters() : frameHeight(0), frameWidth(0),`	13	`SMCalibrationParameters() : frameHeight(0), frameWidth(0),`
14	`K0(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k0(0.0), cam0_error(0.0),`	14	`K0(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k0(0.0), cam0_error(0.0),`
15	`K1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k1(0.0), cam1_error(0.0),`	15	`K1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), k1(0.0), cam1_error(0.0),`
16	`R1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), T1(0.0), stereo_error(0.0){`	16	`R1(1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0), T1(0.0), stereo_error(0.0){`
17		17
18	`qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");`	18	`qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");`
19	`qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");`	19	`qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");`
20	`}`	20	`}`
21		21
22	`~SMCalibrationParameters(){}`	22	`~SMCalibrationParameters(){}`
23		23
24	`unsigned int frameHeight;`	24	`unsigned int frameHeight;`
25	`unsigned int frameWidth;`	25	`unsigned int frameWidth;`
26		26
27	`cv::Matx33f K0; // intrinsic camera matrix`	27	`cv::Matx33f K0; // intrinsic camera matrix`
28	`cv::Vec<float, 5> k0; // distortion coefficients`	28	`cv::Vec<float, 5> k0; // distortion coefficients`
29	`double cam0_error; // overall reprojection error`	29	`double cam0_error; // overall reprojection error`
30		30
31	`cv::Matx33f K1;`	31	`cv::Matx33f K1;`
32	`cv::Vec<float, 5> k1;`	32	`cv::Vec<float, 5> k1;`
33	`double cam1_error;`	33	`double cam1_error;`
34		34
35	`double stereo_error; // stereo calibration reprojection error`	35	`double stereo_error; // stereo calibration reprojection error`
36		36
37	`cv::Matx33f R1; // extrinsic rotation matrix camera 1`	37	`cv::Matx33f R1; // extrinsic rotation matrix camera 1`
38	`cv::Vec3f T1; // extrinsic translation vector camera 1`	38	`cv::Vec3f T1; // extrinsic translation vector camera 1`
39		39
40	`cv::Matx33f Rr; // extrinsic rotation rotation stage`	40	`cv::Matx33f Rr; // extrinsic rotation rotation stage`
41	`cv::Vec3f Tr; // extrinsic translation vector rotation stage`	41	`cv::Vec3f Tr; // extrinsic translation vector rotation stage`
42		42
43	`cv::Matx33f E; // essential matrix`	43	`cv::Matx33f E; // essential matrix`
44	`cv::Matx33f F; // fundamental matrix`	44	`cv::Matx33f F; // fundamental matrix`
45		45
46	`void print();`	46	`void print();`
-		47	`void exportToXML(QString fileName);`
47	`};`	48	`};`
48		49
49	`QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data);`	50	`QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data);`
50	`QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data);`	51	`QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data);`
51		52
52	`Q_DECLARE_METATYPE(SMCalibrationParameters)`	53	`Q_DECLARE_METATYPE(SMCalibrationParameters)`
53		54
54		55
55	`#endif // SMCALIBRATIONPARAMETERS_H`	56	`#endif // SMCALIBRATIONPARAMETERS_H`
56		57