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PS3Eye.h
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PS3Eye.h
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#pragma once
#include "CameraModel.h"
namespace Lightning
{
class PS3EyeModel : public CameraModel
{
public:
PS3EyeModel()
{
_cameraMatrix = cv::Mat(3, 3, CV_64FC1);
_distanceCoefficients = cv::Mat(5, 1, CV_64FC1);
// TODO get from camera calibration
// Wide angle
/*
_cameraMatrix.at<double>(0,0) = 5.3978998477177777e+02;
_cameraMatrix.at<double>(0,1) = 0;
_cameraMatrix.at<double>(0,2) = 3.1387384515857258e+02;
_cameraMatrix.at<double>(1,0) = 0;
_cameraMatrix.at<double>(1,1) = 5.3959736049747960e+02;
_cameraMatrix.at<double>(1,2) = 2.3186414031626754e+02;
_cameraMatrix.at<double>(2,0) = 0;
_cameraMatrix.at<double>(2,1) = 0;
_cameraMatrix.at<double>(2,2) = 1;
_distanceCoefficients.at<double>(0,0) = -1.2177044514044434e-01;
_distanceCoefficients.at<double>(1,0) = 1.6107320330688607e-01;
_distanceCoefficients.at<double>(2,0) = -1.0523229353437240e-03;
_distanceCoefficients.at<double>(3,0) = -3.2604889426788471e-03;
_distanceCoefficients.at<double>(4,0) = 0;
*/
// Zoom
_cameraMatrix.at<double>(0,0) = 7.8260817835479315e+02;
_cameraMatrix.at<double>(0,1) = 0;
_cameraMatrix.at<double>(0,2) = 3.1426738665012704e+02;
_cameraMatrix.at<double>(1,0) = 0;
_cameraMatrix.at<double>(1,1) = 7.8260817835479315e+02;
_cameraMatrix.at<double>(1,2) = 2.2242433404695547e+02;
_cameraMatrix.at<double>(2,0) = 0;
_cameraMatrix.at<double>(2,1) = 0;
_cameraMatrix.at<double>(2,2) = 1;
_distanceCoefficients.at<double>(0,0) = 2.0054776400722535e-01;
_distanceCoefficients.at<double>(1,0) = -2.6613601317616151e+00;
_distanceCoefficients.at<double>(2,0) = 0;
_distanceCoefficients.at<double>(3,0) = 0;
_distanceCoefficients.at<double>(4,0) = 8.9227221657839131e+00;
}
};
}