paramFile.c File Reference

#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include <ARX/AR/ar.h>
#include <errno.h>

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Classes
struct	ARParamd

Functions
int	arParamSave (const char *filename, const int num, const ARParam *param,...)
	Save camera intrinsics (pinhole lens model and distortion parameters) to a file.
int	arParamLoad (const char *filename, int num, ARParam *param,...)
	Load camera intrinsics (pinhole lens model and distortion parameters) from a file.
int	arParamLoadFromBuffer (const void *buffer, size_t bufsize, ARParam *param)
	Load camera intrinsics (pinhole lens model and distortion parameters) from a buffer.
int	arParamSaveExt (const char *filename, ARdouble para[3][4])
	Save camera extrinsic parameters from a matrix to a binary file.
int	arParamLoadExt (const char *filename, ARdouble para[3][4])
	Load camera extrinsic parameters into a matrix from a binary file.
int	arParamLoadExtFromBuffer (const void *buffer, size_t bufsize, ARdouble para[3][4])
	Load camera extrinsic parameters into a matrix from a binary buffer.
int	arParamSaveOptical (const char *filename, const ARdouble fovy, const ARdouble aspect, const ARdouble m[16])
int	arParamLoadOptical (const char *filename, ARdouble *fovy_p, ARdouble *aspect_p, ARdouble m[16])
int	arParamLoadOpticalFromBuffer (const void *buffer, size_t bufsize, ARdouble *fovy_p, ARdouble *aspect_p, ARdouble m[16])

Variables
const arParamVersionInfo_t	arParamVersionInfo [AR_DIST_FUNCTION_VERSION_MAX]
	Constant array with parameters applicable to each version of the camera parameter distortion function.

Function Documentation

arParamLoad()

int arParamLoad	(	const char *	filename,
		int	num,
		ARParam *	param,
			... )

Load camera intrinsics (pinhole lens model and distortion parameters) from a file.

See the discussion under ARParam for more info.

Parameters

filename	Path to file from which to load the parameters. The file pointed to should be a file saved with arParamSave.
num	Number of ARParams to be loaded, normally 1.
param	Pointer to the ARParam structure into which the parameters will be read.

Returns

0 if successful, or -1 if an error occured.

See also

ARParam

arParamLoadFromBuffer

arParamSave

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arParamLoadExt()

int arParamLoadExt	(	const char *	filename,
		ARdouble	para[3][4] )

Load camera extrinsic parameters into a matrix from a binary file.

A typical use of this function is to load the transform expressing the pose of the right camera in a stereo-camera pair, relative to the left camera.

Parameters

para	A 3x4 matrix in row-major order, specifying the camera extrinsic transform. (This corresponds to the first 3 rows of a 4x4 homogenous coordinate transform matrix, where the fourth row is assumed to be {0.0, 0.0, 0.0, 1.0}.)
filename	The path to the filename from which to load the parameters in binary format.

Returns

0 if successful, or -1 if an error occured.

See also

arParamSaveExt

arParamLoadExtFromBuffer

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arParamLoadExtFromBuffer()

int arParamLoadExtFromBuffer	(	const void *	buffer,
		size_t	bufsize,
		ARdouble	para[3][4] )

Load camera extrinsic parameters into a matrix from a binary buffer.

A typical use of this function is to load the transform expressing the pose of the right camera in a stereo-camera pair, relative to the left camera.

Parameters

buffer	Buffer from which the parameter(s) will be loaded. The buffer could be (for example) the contents of a parameter file read with fread().
bufsize	Size of the contents of buffer.
para	A 3x4 matrix in row-major order, specifying the camera extrinsic transform. (This corresponds to the first 3 rows of a 4x4 homogenous coordinate transform matrix, where the fourth row is assumed to be {0.0, 0.0, 0.0, 1.0}.)

Returns

0 if successful, or -1 if an error occured.

See also

arParamSaveExt

arParamLoadExt

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arParamLoadFromBuffer()

int arParamLoadFromBuffer	(	const void *	buffer,
		size_t	bufsize,
		ARParam *	param )

Load camera intrinsics (pinhole lens model and distortion parameters) from a buffer.

See the discussion under ARParam for more info.

Parameters

buffer	Buffer from which the parameter(s) will be loaded. The buffer could be (for example) the contents of a parameter file read with fread().
bufsize	Size of the contents of buffer.
param	Pointer to the ARParam structure into which the parameters will be read.

Returns

0 if successful, or -1 if an error occured.

See also

ARParam

arParamLoad

arParamSave

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arParamLoadOptical()

int arParamLoadOptical	(	const char *	filename,
		ARdouble *	fovy_p,
		ARdouble *	aspect_p,
		ARdouble	m[16] )

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arParamLoadOpticalFromBuffer()

int arParamLoadOpticalFromBuffer	(	const void *	buffer,
		size_t	bufsize,
		ARdouble *	fovy_p,
		ARdouble *	aspect_p,
		ARdouble	m[16] )

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arParamSave()

int arParamSave	(	const char *	filename,
		const int	num,
		const ARParam *	param,
			... )

Save camera intrinsics (pinhole lens model and distortion parameters) to a file.

See the discussion under ARParam for more info.

Parameters

filename	Path to file to which to save the parameters. The file pointed to may later be reloaded with arParamLoad.
num	Number of ARParams to be saved, normally 1.
param	Pointer to the ARParam structure to save.

Returns

0 if successful, or -1 if an error occured.

See also

ARParam

arParamLoad

arParamLoadFromBuffer

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arParamSaveExt()

int arParamSaveExt	(	const char *	filename,
		ARdouble	para[3][4] )

Save camera extrinsic parameters from a matrix to a binary file.

A typical use of this function is to save the transform expressing the pose of the right camera in a stereo-camera pair, relative to the left camera.

Parameters

para	A 3x4 matrix in row-major order, specifying the camera extrinsic transform. (This corresponds to the first 3 rows of a 4x4 homogenous coordinate transform matrix, where the fourth row is assumed to be {0.0, 0.0, 0.0, 1.0}.)
filename	The path to the filename in which to store the parameters in binary format.

Returns

0 if successful, or -1 if an error occured.

See also

arParamLoadExt

arParamLoadExtFromBuffer

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arParamSaveOptical()

int arParamSaveOptical	(	const char *	filename,
		const ARdouble	fovy,
		const ARdouble	aspect,
		const ARdouble	m[16] )

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Variable Documentation

arParamVersionInfo

const arParamVersionInfo_t arParamVersionInfo[AR_DIST_FUNCTION_VERSION_MAX]

Initial value:

                                              = {
    {4, 136}, 
    {5, 144}, 
    {6, 152}, 
    {9, 176}, 
    {17, 240},
}

Constant array with parameters applicable to each version of the camera parameter distortion function.