Simple Camera class for calculating distortions, orientation or projections with pre-calibrated camera. More...

#include <Camera.h>

Inheritance diagram for Camera:

Public Member Functions
std::string	SerializeId ()
	One of the two methods to make this class serializable by Serialization class.

bool	Serialize (Serialization *ser)
	One of the two methods to make this class serializable by Serialization class. More...

	Camera ()
	Constructor.

double	GetFovX ()
	Get x-direction FOV in radians.

double	GetFovY ()
	Get y-direction FOV in radians.

void	SetSimpleCalib (int _x_res, int _y_res, double f_fac=1.)

bool	SetCalib (const char *calibfile, int _x_res, int _y_res, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Set the calibration file and the current resolution for which the calibration is adjusted to. More...

bool	SaveCalib (const char *calibfile, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Save the current calibration information to a file. More...

void	Calibrate (ProjPoints &pp)
	Calibrate using the collected ProjPoints.

void	SetRes (int _x_res, int _y_res)
	If we have no calibration file we can still adjust the default calibration to current resolution

void	GetOpenglProjectionMatrix (double proj_matrix[16], const int width, const int height, const float far_clip=1000.0f, const float near_clip=0.1f)
	Get OpenGL matrix Generates the OpenGL projection matrix based on OpenCV intrinsic camera matrix K. More...

void	SetOpenglProjectionMatrix (double proj_matrix[16], const int width, const int height)
	Invert operation for GetOpenglProjectionMatrix.

void	Undistort (std::vector< PointDouble > &points)
	Unapplys the lens distortion for points on image plane.

void	Undistort (PointDouble &point)
	Unapplys the lens distortion for one point on an image plane.

void	Undistort (cv::Point2f &point)
	Unapplys the lens distortion for one point on an image plane.

void	Distort (cv::Point2f &point)
	Applys the lens distortion for one point on an image plane.

void	Distort (std::vector< PointDouble > &points)
	Applys the lens distortion for points on image plane.

void	Distort (PointDouble &point)
	Applys the lens distortion for points on image plane.

void	CalcExteriorOrientation (const std::vector< cv::Point3d > &pw, const std::vector< PointDouble > &pi, cv::Mat &rodriques, cv::Mat &tra) const
	Calculate exterior orientation.

void	CalcExteriorOrientation (const std::vector< PointDouble > &pw, const std::vector< PointDouble > &pi, cv::Mat &rodriques, cv::Mat &tra) const
	Calculate exterior orientation.

void	CalcExteriorOrientation (const std::vector< PointDouble > &pw, const std::vector< PointDouble > &pi, Pose *pose) const
	Update existing pose (in rodriques&tra) based on new observations. Use (CV_32FC3 and CV_32FC2) for matrices.

void	CalcExteriorOrientation (std::vector< cv::Point3d > &pw, std::vector< cv::Point2d > &pi, Pose *pose)

bool	CalcExteriorOrientation (const cv::Mat &object_points, cv::Mat &image_points, Pose *pose)

bool	CalcExteriorOrientation (const cv::Mat &object_points, cv::Mat &image_points, cv::Mat &rodriques, cv::Mat &tra)

void	ProjectPoint (const cv::Point3d &pw, const Pose *pose, cv::Point2d &pi) const
	Project one point.

void	ProjectPoint (const cv::Point3f &pw, const Pose *pose, cv::Point2f &pi) const
	Project one point.

void	ProjectPoints (std::vector< cv::Point3d > &pw, Pose *pose, std::vector< cv::Point2d > &pi) const
	Project points.

void	ProjectPoints (const cv::Mat &object_points, const cv::Mat &rotation_vector, const cv::Mat &translation_vector, cv::Mat &image_points) const
	Project points.

void	ProjectPoints (const cv::Mat &object_points, double gl[16], cv::Mat &image_points) const
	Project points.

void	ProjectPoints (const cv::Mat &object_points, const Pose *pose, cv::Mat &image_points) const
	Project points

Public Attributes
cv::Mat	calib_K

double	calib_K_data [3][3]

cv::Mat	calib_D

double	calib_D_data [4]

Protected Attributes
int	calib_x_res

int	calib_y_res

int	x_res

int	y_res

Detailed Description

Simple Camera class for calculating distortions, orientation or projections with pre-calibrated camera.

Definition at line 81 of file Camera.h.

Member Function Documentation

◆ GetOpenglProjectionMatrix()

void GetOpenglProjectionMatrix	(	double	proj_matrix[16],
		const int	width,
		const int	height,
		const float	far_clip = `1000.0f`,
		const float	near_clip = `0.1f`
	)

Get OpenGL matrix Generates the OpenGL projection matrix based on OpenCV intrinsic camera matrix K.

2*K[0][0]/width  2*K[0][1]/width   -(2*K[0][2]/width+1)  0
              2*K[1][1]/height  2*K[1][2]/height-1    0
              0                 -(f+n)/(f-n)          -2*f*n/(f-n)
              0                 -1                    0

Note, that the sign of the element [2][0] is changed. It should be

2*K[0][2]/width+1

The sign change is due to the fact that with OpenCV and OpenGL projection matrices both y and z should be mirrored. With other matrix elements the sign changes eliminate each other, but with principal point in x-direction we need to make the change by hand.

◆ SaveCalib()

bool SaveCalib	(	const char *	calibfile,
		FILE_FORMAT	format = `FILE_FORMAT_DEFAULT`
	)

Save the current calibration information to a file.

Parameters

calibfile	File to save.
format	FILE_FORMAT_OPENCV (default) or FILE_FORMAT_XML (see doc/Camera.xsd).

◆ Serialize()

bool Serialize ( Serialization * ser )

inline

One of the two methods to make this class serializable by Serialization class.

You can serialize the Camera class using filename or any std::iostream as follows:

alvar::Camera cam;
cam.SetCalib("calib.xml", 320, 240);
Serialization sero("calib1.xml");
sero<<cam;

alvar::Camera cam;
Serialization seri("calib1.xml");
seri>>cam;
cam.SetRes(320, 240);

std::stringstream ss;
Serialization sero(ss);
sero<<cam;
std::cout<<ss.str()<<std::endl;
// ...
Serialization seri(ss);
seri>>cam;

Definition at line 135 of file Camera.h.

◆ SetCalib()

bool SetCalib	(	const char *	calibfile,
		int	_x_res,
		int	_y_res,
		FILE_FORMAT	format = `FILE_FORMAT_DEFAULT`
	)

Set the calibration file and the current resolution for which the calibration is adjusted to.

Parameters

calibfile	File to load.
_x_res	Width of images captured from the real camera.
_y_res	Height of images captured from the real camera.
format	FILE_FORMAT_OPENCV (default) or FILE_FORMAT_XML (see doc/Camera.xsd).

The documentation for this class was generated from the following file:

Camera.h

Public Member Functions