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mrpt::utils::TCamera Class Reference

Detailed Description

Structure to hold the parameters of a pinhole camera model.

The parameters obtained for one camera resolution can be used for any other resolution by means of the method TCamera::scaleToResolution()

See also
mrpt::vision::CCamModel, the application camera-calib-gui for calibrating a camera

Definition at line 31 of file TCamera.h.

#include <mrpt/utils/TCamera.h>

Inheritance diagram for mrpt::utils::TCamera:
Inheritance graph

Public Member Functions

 TCamera ()
 
void scaleToResolution (unsigned int new_ncols, unsigned int new_nrows)
 Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted).
 
void saveToConfigFile (const std::string &section, mrpt::utils::CConfigFileBase &cfg) const
 Save as a config block:
 
void loadFromConfigFile (const std::string &section, const mrpt::utils::CConfigFileBase &cfg)
 Load all the params from a config source, in the format used in saveToConfigFile(), that is:
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string &section)
 
std::string dumpAsText () const
 Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.
 
void setIntrinsicParamsFromValues (double fx, double fy, double cx, double cy)
 Set the matrix of intrinsic params of the camera from the individual values of focal length and principal point coordinates (in pixels)
 
void getDistortionParamsVector (mrpt::math::CMatrixDouble15 &distParVector) const
 Get the vector of distortion params of the camera

 
std::vector< double > getDistortionParamsAsVector () const
 Get a vector with the distortion params of the camera

 
void setDistortionParamsVector (const mrpt::math::CMatrixDouble15 &distParVector)
 Set the whole vector of distortion params of the camera.
 
template<class VECTORLIKE >
void setDistortionParamsVector (const VECTORLIKE &distParVector)
 Set the whole vector of distortion params of the camera from a 4 or 5-vector.
 
void setDistortionParamsFromValues (double k1, double k2, double p1, double p2, double k3=0)
 Set the vector of distortion params of the camera from the individual values of the distortion coefficients.
 
double cx () const
 Get the value of the principal point x-coordinate (in pixels).
 
double cy () const
 Get the value of the principal point y-coordinate (in pixels).
 
double fx () const
 Get the value of the focal length x-value (in pixels).
 
double fy () const
 Get the value of the focal length y-value (in pixels).
 
void cx (double val)
 Set the value of the principal point x-coordinate (in pixels).
 
void cy (double val)
 Set the value of the principal point y-coordinate (in pixels).
 
void fx (double val)
 Set the value of the focal length x-value (in pixels).
 
void fy (double val)
 Set the value of the focal length y-value (in pixels).
 
double k1 () const
 Get the value of the k1 distortion parameter.
 
double k2 () const
 Get the value of the k2 distortion parameter.
 
double p1 () const
 Get the value of the p1 distortion parameter.
 
double p2 () const
 Get the value of the p2 distortion parameter.
 
double k3 () const
 Get the value of the k3 distortion parameter.
 
void k1 (double val)
 Get the value of the k1 distortion parameter.
 
void k2 (double val)
 Get the value of the k2 distortion parameter.
 
void p1 (double val)
 Get the value of the p1 distortion parameter.
 
void p2 (double val)
 Get the value of the p2 distortion parameter.
 
void k3 (double val)
 Get the value of the k3 distortion parameter.
 

Public Attributes

Camera parameters
uint32_t ncols
 
uint32_t nrows
 Camera resolution.
 
mrpt::math::CMatrixDouble33 intrinsicParams
 Matrix of intrinsic parameters (containing the focal length and principal point coordinates)
 
mrpt::math::CArrayDouble< 5 > dist
 [k1 k2 t1 t2 k3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0)
 
double focalLengthMeters
 The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

RTTI stuff <br>

typedef TCameraPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_TCamera
 
static mrpt::utils::TRuntimeClassId classTCamera
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static TCameraPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 33 of file TCamera.h.

Constructor & Destructor Documentation

◆ TCamera()

mrpt::utils::TCamera::TCamera ( )
inline

Definition at line 39 of file TCamera.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::utils::TCamera::_GetBaseClass ( )
staticprotected

◆ Create()

static TCameraPtr mrpt::utils::TCamera::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::utils::TCamera::CreateObject ( )
static

◆ cx() [1/2]

double mrpt::utils::TCamera::cx ( ) const
inline

◆ cx() [2/2]

void mrpt::utils::TCamera::cx ( double  val)
inline

Set the value of the principal point x-coordinate (in pixels).

Definition at line 163 of file TCamera.h.

◆ cy() [1/2]

double mrpt::utils::TCamera::cy ( ) const
inline

◆ cy() [2/2]

void mrpt::utils::TCamera::cy ( double  val)
inline

Set the value of the principal point y-coordinate (in pixels).

Definition at line 165 of file TCamera.h.

◆ dumpAsText()

std::string mrpt::utils::TCamera::dumpAsText ( ) const

Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.

See also
saveToConfigFile

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::utils::TCamera::duplicate ( ) const
virtual

◆ fx() [1/2]

double mrpt::utils::TCamera::fx ( ) const
inline

◆ fx() [2/2]

void mrpt::utils::TCamera::fx ( double  val)
inline

Set the value of the focal length x-value (in pixels).

Definition at line 167 of file TCamera.h.

◆ fy() [1/2]

double mrpt::utils::TCamera::fy ( ) const
inline

◆ fy() [2/2]

void mrpt::utils::TCamera::fy ( double  val)
inline

Set the value of the focal length y-value (in pixels).

Definition at line 169 of file TCamera.h.

◆ getDistortionParamsAsVector()

std::vector< double > mrpt::utils::TCamera::getDistortionParamsAsVector ( ) const
inline

Get a vector with the distortion params of the camera

Definition at line 118 of file TCamera.h.

◆ getDistortionParamsVector()

void mrpt::utils::TCamera::getDistortionParamsVector ( mrpt::math::CMatrixDouble15 distParVector) const
inline

Get the vector of distortion params of the camera

Definition at line 111 of file TCamera.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::utils::TCamera::GetRuntimeClass ( ) const
virtual

◆ k1() [1/2]

double mrpt::utils::TCamera::k1 ( ) const
inline

◆ k1() [2/2]

void mrpt::utils::TCamera::k1 ( double  val)
inline

Get the value of the k1 distortion parameter.


Definition at line 183 of file TCamera.h.

◆ k2() [1/2]

double mrpt::utils::TCamera::k2 ( ) const
inline

◆ k2() [2/2]

void mrpt::utils::TCamera::k2 ( double  val)
inline

Get the value of the k2 distortion parameter.


Definition at line 185 of file TCamera.h.

◆ k3() [1/2]

double mrpt::utils::TCamera::k3 ( ) const
inline

◆ k3() [2/2]

void mrpt::utils::TCamera::k3 ( double  val)
inline

Get the value of the k3 distortion parameter.


Definition at line 191 of file TCamera.h.

◆ loadFromConfigFile() [1/2]

void mrpt::utils::TCamera::loadFromConfigFile ( const mrpt::utils::CConfigFileBase cfg,
const std::string &  section 
)
inline

Definition at line 94 of file TCamera.h.

References loadFromConfigFile().

Referenced by loadFromConfigFile().

◆ loadFromConfigFile() [2/2]

void mrpt::utils::TCamera::loadFromConfigFile ( const std::string &  section,
const mrpt::utils::CConfigFileBase cfg 
)

Load all the params from a config source, in the format used in saveToConfigFile(), that is:

[SECTION]
resolution = [NCOLS NROWS]
cx = CX
cy = CY
fx = FX
fy = FY
dist = [K1 K2 T1 T2 K3]
focal_length = FOCAL_LENGTH [optional field]
mrpt::math::CArrayDouble< 5 > dist
[k1 k2 t1 t2 k3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (d...
Definition: TCamera.h:55
double cx() const
Get the value of the principal point x-coordinate (in pixels).
Definition: TCamera.h:154
double fx() const
Get the value of the focal length x-value (in pixels).
Definition: TCamera.h:158
double cy() const
Get the value of the principal point y-coordinate (in pixels).
Definition: TCamera.h:156
double fy() const
Get the value of the focal length y-value (in pixels).
Definition: TCamera.h:160
Exceptions
std::exceptionon missing fields

◆ p1() [1/2]

double mrpt::utils::TCamera::p1 ( ) const
inline

◆ p1() [2/2]

void mrpt::utils::TCamera::p1 ( double  val)
inline

Get the value of the p1 distortion parameter.


Definition at line 187 of file TCamera.h.

◆ p2() [1/2]

double mrpt::utils::TCamera::p2 ( ) const
inline

◆ p2() [2/2]

void mrpt::utils::TCamera::p2 ( double  val)
inline

Get the value of the p2 distortion parameter.


Definition at line 189 of file TCamera.h.

◆ readFromStream()

void mrpt::utils::TCamera::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ saveToConfigFile()

void mrpt::utils::TCamera::saveToConfigFile ( const std::string &  section,
mrpt::utils::CConfigFileBase cfg 
) const

Save as a config block:

[SECTION]
resolution = [NCOLS NROWS]
cx = CX
cy = CY
fx = FX
fy = FY
dist = [K1 K2 T1 T2 K3]
focal_length = FOCAL_LENGTH

◆ scaleToResolution()

void mrpt::utils::TCamera::scaleToResolution ( unsigned int  new_ncols,
unsigned int  new_nrows 
)

Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted).

Referenced by mrpt::utils::TStereoCamera::scaleToResolution().

◆ setDistortionParamsFromValues()

void mrpt::utils::TCamera::setDistortionParamsFromValues ( double  k1,
double  k2,
double  p1,
double  p2,
double  k3 = 0 
)
inline

Set the vector of distortion params of the camera from the individual values of the distortion coefficients.

Definition at line 144 of file TCamera.h.

◆ setDistortionParamsVector() [1/2]

void mrpt::utils::TCamera::setDistortionParamsVector ( const mrpt::math::CMatrixDouble15 distParVector)
inline

Set the whole vector of distortion params of the camera.

Definition at line 126 of file TCamera.h.

◆ setDistortionParamsVector() [2/2]

template<class VECTORLIKE >
void mrpt::utils::TCamera::setDistortionParamsVector ( const VECTORLIKE &  distParVector)
inline

Set the whole vector of distortion params of the camera from a 4 or 5-vector.

Definition at line 134 of file TCamera.h.

References ASSERT_.

◆ setIntrinsicParamsFromValues()

void mrpt::utils::TCamera::setIntrinsicParamsFromValues ( double  fx,
double  fy,
double  cx,
double  cy 
)
inline

Set the matrix of intrinsic params of the camera from the individual values of focal length and principal point coordinates (in pixels)

Definition at line 102 of file TCamera.h.

◆ writeToStream()

void mrpt::utils::TCamera::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_TCamera

mrpt::utils::CLASSINIT mrpt::utils::TCamera::_init_TCamera
staticprotected

Definition at line 33 of file TCamera.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::utils::TCamera::classinfo
static

Definition at line 33 of file TCamera.h.

◆ classTCamera

mrpt::utils::TRuntimeClassId mrpt::utils::TCamera::classTCamera
static

Definition at line 33 of file TCamera.h.

◆ dist

mrpt::math::CArrayDouble<5> mrpt::utils::TCamera::dist

[k1 k2 t1 t2 k3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0)

Definition at line 55 of file TCamera.h.

◆ focalLengthMeters

double mrpt::utils::TCamera::focalLengthMeters

The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).

Definition at line 56 of file TCamera.h.

◆ intrinsicParams

mrpt::math::CMatrixDouble33 mrpt::utils::TCamera::intrinsicParams

Matrix of intrinsic parameters (containing the focal length and principal point coordinates)

Definition at line 54 of file TCamera.h.

◆ ncols

uint32_t mrpt::utils::TCamera::ncols

Definition at line 53 of file TCamera.h.

◆ nrows

uint32_t mrpt::utils::TCamera::nrows

Camera resolution.

Definition at line 53 of file TCamera.h.




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