CODEWITHSUNDEEP
c++opencvcomputer-vision
user_3849
user_3849

Reputation: 106

How to load a txt/.pgn.camera file and store it in matrices in c++/opencv

I want to load some camera files in order to calculate the fundamental matrix of two images. The files are in .png.camera format, space-delimited, from a free dataset. They look like:

2759.48 0 1520.69 
0 2764.16 1006.81 
0 0 1 
0 0 0
0.582226 -0.0983866 -0.807052 
-0.813027 -0.0706383 -0.577925 
-0.000148752 0.992638 -0.121118 
-8.31326 -6.3181 0.16107

The first 3 lines are the camera matrix K, so I want to store them in a matrix cv::Mat called K.

Lines 5-7 are the rotation matrix and last line is the translation vector.

I want to use these matrices to do some further calculations.

I wonder if I can do it through OpenCV (I use version 2.4.5).

Any suggestion would be appreciated!!!

Upvotes: 0

Views: 411

Answers (1)

Michael M.
Michael M.

Reputation: 2584

I don't know if there is some existing opencv api but you can easily do it yourself :

float K[3];
float Rot1[9];
float Rot2[9];
float T[3];

FILE* f = fopen(".png.camera", "r");

if (f) {
  printf("File successfully opened.\n");

  fscanf(f, "%f %f %f", &K[0], &K[1], &K[2]);
  fscanf(f, "%f %f %f %f %f %f %f %f %f", &Rot1[0], &Rot1[1], &Rot1[2], &Rot1[3], &Rot1[4], &Rot1[5], &Rot1[6], &Rot1[7], &Rot1[8]);
  fscanf(f, "%f %f %f %f %f %f %f %f %f", &Rot2[0], &Rot2[1], &Rot2[2], &Rot2[3], &Rot2[4], &Rot2[5], &Rot2[6], &Rot2[7], &Rot2[8]);
  fscanf(f, "%f %f %f", &T[0], &T[1], &T[2]);

  fclose(f);
}
else
{
  printf("Cannot open file.\n");
}

Upvotes: 1

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