71 lines
1.1 KiB
C++
71 lines
1.1 KiB
C++
#include "CameraArguments.h"
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CameraArguments* CameraArguments::instance = nullptr;
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/**
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* \brief
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*/
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CameraArguments::CameraArguments()
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{
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//r12 = cv::Mat::zeros(cv::Size(3, 3), CV_8UC1);
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}
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CameraArguments::CameraArguments(cv::Mat r, cv::Mat t, cv::Mat kc, cv::Mat kp)
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{
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r12 = r;
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t12 = t;
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kc1 = kc;
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kp2 = kp;
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cv::Mat tmp;
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hconcat(cv::Mat::eye(3, 3, CV_32FC1),
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cv::Mat::zeros(cv::Size(1, 3), CV_32FC1), tmp);
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hc1 = kc1 * tmp;
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hconcat(r12, t12.t(), tmp);
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hp2 = kp2 * tmp;
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}
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CameraArguments* CameraArguments::getInstance(cv::Mat r, cv::Mat t, cv::Mat kc, cv::Mat kp)
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{
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if (instance == nullptr) instance = new CameraArguments(r, t, kc, kp);
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return instance;
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}
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CameraArguments* CameraArguments::getInstance()
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{
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if (instance) return instance;
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}
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CameraArguments::~CameraArguments()
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= default;
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cv::Mat CameraArguments::getR() const
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{
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return r12;
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}
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cv::Mat CameraArguments::getT() const
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{
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return t12;
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}
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cv::Mat CameraArguments::getKc() const
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{
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return kc1;
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}
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cv::Mat CameraArguments::getKp() const
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{
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return kp2;
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}
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cv::Mat CameraArguments::getHc() const
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{
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return hc1;
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}
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cv::Mat CameraArguments::getHp() const
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{
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return hp2;
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}
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