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:

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::TRuntimeClassId *	classinfo

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

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

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

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

static TCameraPtr	Create ()

Member Typedef Documentation

◆ SmartPtr

typedef TCameraPtr mrpt::utils::TCamera::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

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(), mrpt::vision::pinhole::projectPoint_no_distortion(), and mrpt::vision::pinhole::projectPoint_no_distortion().

◆ 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

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(), mrpt::vision::pinhole::projectPoint_no_distortion(), and mrpt::vision::pinhole::projectPoint_no_distortion().

◆ 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

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(), mrpt::vision::pinhole::projectPoint_no_distortion(), and mrpt::vision::pinhole::projectPoint_no_distortion().

◆ 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

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(), mrpt::vision::pinhole::projectPoint_no_distortion(), and mrpt::vision::pinhole::projectPoint_no_distortion().

◆ 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

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().

◆ 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

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().

◆ 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

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().

◆ 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]

Exceptions

std::exception on missing fields

◆ p1() [1/2]

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

inline

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().

◆ 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

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().

◆ 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.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff <br>

Member Typedef Documentation

◆ SmartPtr

Constructor & Destructor Documentation

◆ TCamera()

Member Function Documentation

◆ _GetBaseClass()

◆ Create()

◆ CreateObject()

◆ cx() [1/2]

◆ cx() [2/2]

◆ cy() [1/2]

◆ cy() [2/2]

◆ dumpAsText()

◆ duplicate()

◆ fx() [1/2]

◆ fx() [2/2]

◆ fy() [1/2]

◆ fy() [2/2]

◆ getDistortionParamsAsVector()

◆ getDistortionParamsVector()

◆ GetRuntimeClass()

◆ k1() [1/2]

◆ k1() [2/2]

◆ k2() [1/2]

◆ k2() [2/2]

◆ k3() [1/2]

◆ k3() [2/2]

◆ loadFromConfigFile() [1/2]

◆ loadFromConfigFile() [2/2]

◆ p1() [1/2]

◆ p1() [2/2]

◆ p2() [1/2]

◆ p2() [2/2]

◆ readFromStream()

◆ saveToConfigFile()

◆ scaleToResolution()

◆ setDistortionParamsFromValues()

◆ setDistortionParamsVector() [1/2]

◆ setDistortionParamsVector() [2/2]

◆ setIntrinsicParamsFromValues()

◆ writeToStream()

Member Data Documentation

◆ _init_TCamera

◆ classinfo

◆ classTCamera

◆ dist

◆ focalLengthMeters

◆ intrinsicParams

◆ ncols

◆ nrows