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()
#include <mrpt/utils/TCamera.h>
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
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). More... | |
void | saveToConfigFile (const std::string §ion, mrpt::utils::CConfigFileBase &cfg) const |
Save as a config block: More... | |
void | loadFromConfigFile (const std::string §ion, const mrpt::utils::CConfigFileBase &cfg) |
Load all the params from a config source, in the format used in saveToConfigFile(), that is: More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string §ion) |
std::string | dumpAsText () const |
Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile. More... | |
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) More... | |
void | getDistortionParamsVector (mrpt::math::CMatrixDouble15 &distParVector) const |
Get the vector of distortion params of the camera More... | |
std::vector< double > | getDistortionParamsAsVector () const |
Get a vector with the distortion params of the camera More... | |
void | setDistortionParamsVector (const mrpt::math::CMatrixDouble15 &distParVector) |
Set the whole vector of distortion params of the camera. More... | |
template<class VECTORLIKE > | |
void | setDistortionParamsVector (const VECTORLIKE &distParVector) |
Set the whole vector of distortion params of the camera from a 4 or 5-vector. More... | |
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. More... | |
double | cx () const |
Get the value of the principal point x-coordinate (in pixels). More... | |
double | cy () const |
Get the value of the principal point y-coordinate (in pixels). More... | |
double | fx () const |
Get the value of the focal length x-value (in pixels). More... | |
double | fy () const |
Get the value of the focal length y-value (in pixels). More... | |
void | cx (double val) |
Set the value of the principal point x-coordinate (in pixels). More... | |
void | cy (double val) |
Set the value of the principal point y-coordinate (in pixels). More... | |
void | fx (double val) |
Set the value of the focal length x-value (in pixels). More... | |
void | fy (double val) |
Set the value of the focal length y-value (in pixels). More... | |
double | k1 () const |
Get the value of the k1 distortion parameter. More... | |
double | k2 () const |
Get the value of the k2 distortion parameter. More... | |
double | p1 () const |
Get the value of the p1 distortion parameter. More... | |
double | p2 () const |
Get the value of the p2 distortion parameter. More... | |
double | k3 () const |
Get the value of the k3 distortion parameter. More... | |
void | k1 (double val) |
Get the value of the k1 distortion parameter. More... | |
void | k2 (double val) |
Get the value of the k2 distortion parameter. More... | |
void | p1 (double val) |
Get the value of the p1 distortion parameter. More... | |
void | p2 (double val) |
Get the value of the p2 distortion parameter. More... | |
void | k3 (double val) |
Get the value of the k3 distortion parameter. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
Public Attributes | |
Camera parameters | |
uint32_t | ncols |
uint32_t | nrows |
Camera resolution. More... | |
mrpt::math::CMatrixDouble33 | intrinsicParams |
Matrix of intrinsic parameters (containing the focal length and principal point coordinates) More... | |
mrpt::math::CArrayDouble< 5 > | dist |
[k1 k2 t1 t2 k3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0) More... | |
double | focalLengthMeters |
The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size). More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
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static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
RTTI stuff | |
typedef TCameraPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_TCamera |
static mrpt::utils::TRuntimeClassId | classTCamera |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static TCameraPtr | Create () |
typedef TCameraPtr mrpt::utils::TCamera::SmartPtr |
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Get the value of the principal point x-coordinate (in pixels).
Definition at line 154 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullProjectionT(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), and mrpt::vision::pinhole::projectPoint_no_distortion().
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Get the value of the principal point y-coordinate (in pixels).
Definition at line 156 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullProjectionT(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), and mrpt::vision::pinhole::projectPoint_no_distortion().
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std::string mrpt::utils::TCamera::dumpAsText | ( | ) | const |
Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.
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Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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Get the value of the focal length x-value (in pixels).
Definition at line 158 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), mrpt::vision::CCamModel::getFullProjectionT(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), and mrpt::vision::pinhole::projectPoint_no_distortion().
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Get the value of the focal length y-value (in pixels).
Definition at line 160 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), mrpt::vision::CCamModel::getFullProjectionT(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), and mrpt::vision::pinhole::projectPoint_no_distortion().
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
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Get the value of the k1 distortion parameter.
Definition at line 172 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), and mrpt::vision::CCamModel::getTemporaryVariablesForTransform().
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Get the value of the k2 distortion parameter.
Definition at line 174 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), and mrpt::vision::CCamModel::getTemporaryVariablesForTransform().
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Get the value of the k3 distortion parameter.
Definition at line 180 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), and mrpt::vision::CCamModel::getTemporaryVariablesForTransform().
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Definition at line 94 of file TCamera.h.
References loadFromConfigFile().
Referenced by loadFromConfigFile().
void mrpt::utils::TCamera::loadFromConfigFile | ( | const std::string & | section, |
const mrpt::utils::CConfigFileBase & | cfg | ||
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Get the value of the p1 distortion parameter.
Definition at line 176 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), and mrpt::vision::CCamModel::getTemporaryVariablesForTransform().
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Get the value of the p2 distortion parameter.
Definition at line 178 of file TCamera.h.
Referenced by mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), and mrpt::vision::CCamModel::getTemporaryVariablesForTransform().
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Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
void mrpt::utils::TCamera::saveToConfigFile | ( | const std::string & | section, |
mrpt::utils::CConfigFileBase & | cfg | ||
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void mrpt::utils::TCamera::scaleToResolution | ( | unsigned int | new_ncols, |
unsigned int | new_nrows | ||
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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().
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Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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Definition at line 42 of file CSerializable.h.
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mrpt::math::CArrayDouble<5> mrpt::utils::TCamera::dist |
double mrpt::utils::TCamera::focalLengthMeters |
mrpt::math::CMatrixDouble33 mrpt::utils::TCamera::intrinsicParams |
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