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 | |
TCamera () | |
void | scaleToResolution (uint32_t new_ncols, uint32_t 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 §ion, mrpt::utils::CConfigFileBase &cfg) const |
Save as a config block: | |
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: | |
std::string | dumpAsText () |
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 (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 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. | |
CMatrixDouble33 | intrinsicParams |
Matrix of intrinsic parameters (containing the focal length and principal point coordinates) | |
CArrayDouble< 5 > | dist |
[k1 k2 t1 t2 t3] -> 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). | |
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. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static TCameraPtr | Create () |
static const mrpt::utils::TRuntimeClassId* mrpt::utils::TCamera::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
static TCameraPtr mrpt::utils::TCamera::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::utils::TCamera::CreateObject | ( | ) | [static] |
double mrpt::utils::TCamera::cx | ( | ) | const [inline] |
Get the value of the principal point x-coordinate (in pixels).
Definition at line 176 of file TCamera.h.
Referenced by mrpt::vision::pinhole::projectPoint_no_distortion().
void mrpt::utils::TCamera::cx | ( | double | val | ) | [inline] |
double mrpt::utils::TCamera::cy | ( | ) | const [inline] |
Get the value of the principal point y-coordinate (in pixels).
Definition at line 178 of file TCamera.h.
Referenced by mrpt::vision::pinhole::projectPoint_no_distortion().
void mrpt::utils::TCamera::cy | ( | double | val | ) | [inline] |
std::string mrpt::utils::TCamera::dumpAsText | ( | ) | [inline] |
Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.
Definition at line 114 of file TCamera.h.
References mrpt::utils::CConfigFileMemory::getContent().
virtual mrpt::utils::CObject* mrpt::utils::TCamera::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
double mrpt::utils::TCamera::fx | ( | ) | const [inline] |
Get the value of the focal length x-value (in pixels).
Definition at line 180 of file TCamera.h.
Referenced by mrpt::vision::pinhole::projectPoint_no_distortion().
void mrpt::utils::TCamera::fx | ( | double | val | ) | [inline] |
double mrpt::utils::TCamera::fy | ( | ) | const [inline] |
Get the value of the focal length y-value (in pixels).
Definition at line 182 of file TCamera.h.
Referenced by mrpt::vision::pinhole::projectPoint_no_distortion().
void mrpt::utils::TCamera::fy | ( | double | val | ) | [inline] |
std::vector<double> mrpt::utils::TCamera::getDistortionParamsAsVector | ( | ) | const [inline] |
void mrpt::utils::TCamera::getDistortionParamsVector | ( | CMatrixDouble15 & | distParVector | ) | const [inline] |
virtual const mrpt::utils::TRuntimeClassId* mrpt::utils::TCamera::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
double mrpt::utils::TCamera::k1 | ( | ) | const [inline] |
void mrpt::utils::TCamera::k1 | ( | double | val | ) | [inline] |
double mrpt::utils::TCamera::k2 | ( | ) | const [inline] |
void mrpt::utils::TCamera::k2 | ( | double | val | ) | [inline] |
void mrpt::utils::TCamera::k3 | ( | double | val | ) | [inline] |
double mrpt::utils::TCamera::k3 | ( | ) | const [inline] |
void mrpt::utils::TCamera::loadFromConfigFile | ( | const std::string & | section, |
const mrpt::utils::CConfigFileBase & | cfg | ||
) |
void mrpt::utils::TCamera::p1 | ( | double | val | ) | [inline] |
double mrpt::utils::TCamera::p1 | ( | ) | const [inline] |
double mrpt::utils::TCamera::p2 | ( | ) | const [inline] |
void mrpt::utils::TCamera::p2 | ( | double | val | ) | [inline] |
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
void mrpt::utils::TCamera::scaleToResolution | ( | uint32_t | new_ncols, |
uint32_t | 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 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 166 of file TCamera.h.
Referenced by mrpt::utils::TStereoCamera::TStereoCamera().
void mrpt::utils::TCamera::setDistortionParamsVector | ( | const VECTORLIKE & | distParVector | ) | [inline] |
void mrpt::utils::TCamera::setDistortionParamsVector | ( | const CMatrixDouble15 & | distParVector | ) | [inline] |
Set the whole vector of distortion params of the camera.
Definition at line 148 of file TCamera.h.
Referenced by mrpt::utils::CImage::rectifyImage(), and mrpt::utils::CImage::rectifyImageInPlace().
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 124 of file TCamera.h.
Referenced by mrpt::utils::TStereoCamera::TStereoCamera().
mrpt::utils::CLASSINIT mrpt::utils::TCamera::_init_TCamera [static, protected] |
const mrpt::utils::TRuntimeClassId* mrpt::utils::TCamera::classinfo [static] |
The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).
Definition at line 75 of file TCamera.h.
Referenced by mrpt::utils::TStereoCamera::TStereoCamera().
Matrix of intrinsic parameters (containing the focal length and principal point coordinates)
Definition at line 73 of file TCamera.h.
Referenced by mrpt::utils::CImage::rectifyImage(), and mrpt::utils::CImage::rectifyImageInPlace().
uint32_t mrpt::utils::TCamera::ncols |
Definition at line 72 of file TCamera.h.
Referenced by mrpt::utils::TStereoCamera::TStereoCamera().
uint32_t mrpt::utils::TCamera::nrows |
Camera resolution.
Definition at line 72 of file TCamera.h.
Referenced by mrpt::utils::TStereoCamera::TStereoCamera().
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