virtualcamera.cpp

#include "virtualcamera.h"
#include "utilities.h"
#include <QFile>
#include <QObject>
#include <QMessageBox>

VirtualCamera::VirtualCamera()
{
    distortion = NULL;
    rotationMatrix = NULL;
    translationVector = NULL;
    fc.x=0;
    fc.y=0;
    cc.x=0;
    cc.y=0;
}

VirtualCamera::~VirtualCamera()
{
}

void VirtualCamera::loadDistortion(QString path)
{
    loadMatrix(distortion, 5, 1, path.toStdString());
}

bool VirtualCamera::loadCameraMatrix(QString path)
{
    bool existPath = QFile::exists(path);
    if(!existPath){
        QMessageBox::warning(NULL, QObject::tr("Matrix not found"), QObject::tr("File: '") + path + QObject::tr("' need to be added."));
        return false;//Imply that the matrix didn't loaded successfully.
    }

    cv::Mat camMatrix;
    loadMatrix(camMatrix, 3, 3, path.toStdString());
    cc.x = Utilities::matGet2D(camMatrix, 0, 2);//0, 2表示第0行，第2列
    cc.y = Utilities::matGet2D(camMatrix, 1, 2);
    fc.x = Utilities::matGet2D(camMatrix, 0, 0);
    fc.y = Utilities::matGet2D(camMatrix, 1, 1);
    return true;
}

void VirtualCamera::loadRotationMatrix(QString path)
{
    loadMatrix(rotationMatrix, 3, 3, path.toStdString());
}

void VirtualCamera::loadTranslationVector(QString path)
{
    loadMatrix(translationVector, 3, 1, path.toStdString());
}

int VirtualCamera::loadMatrix(cv::Mat &matrix, int rows, int cols, std::string file)
{
    std:: ifstream in1;
    in1.open(file);
    if(!in1)
    {
        return -1;
    }
    if(!matrix.empty())
        matrix.release();
    matrix = cv::Mat(rows, cols, CV_32F);//cv_32f表示数据精度32-bit floating-point numbers ( -FLT_MAX..FLT_MAX, INF, NAN )
    for(int i = 0; i < rows; i++)
    {
        for(int j = 0; j < cols; j++)
        {
            float val;
            in1>>val;
            Utilities::matSet2D(matrix, i, j, val);
        }
    }
    return 1;
}