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Public Member Functions

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 53 of file TCamera.h.

#include <mrpt/utils/TCamera.h>

Inheritance diagram for mrpt::utils::TCamera:
Inheritance graph
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List of all members.

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 &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:
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static TCameraPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 55 of file TCamera.h.


Constructor & Destructor Documentation

mrpt::utils::TCamera::TCamera ( ) [inline]

Definition at line 58 of file TCamera.h.


Member Function Documentation

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]

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

Definition at line 185 of file TCamera.h.

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]

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

Definition at line 187 of file TCamera.h.

std::string mrpt::utils::TCamera::dumpAsText ( ) [inline]

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

See also:
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]

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

Definition at line 189 of file TCamera.h.

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]

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

Definition at line 191 of file TCamera.h.

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

Get a vector with the distortion params of the camera.

Definition at line 140 of file TCamera.h.

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

Get the vector of distortion params of the camera.

Definition at line 133 of file TCamera.h.

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]

Get the value of the k1 distortion parameter.

Definition at line 194 of file TCamera.h.

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

Get the value of the k1 distortion parameter.

Definition at line 205 of file TCamera.h.

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

Get the value of the k2 distortion parameter.

Definition at line 196 of file TCamera.h.

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

Get the value of the k2 distortion parameter.

Definition at line 207 of file TCamera.h.

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

Get the value of the k3 distortion parameter.

Definition at line 213 of file TCamera.h.

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

Get the value of the k3 distortion parameter.

Definition at line 202 of file TCamera.h.

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::exceptionon missing fields
void mrpt::utils::TCamera::p1 ( double  val) [inline]

Get the value of the p1 distortion parameter.

Definition at line 209 of file TCamera.h.

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

Get the value of the p1 distortion parameter.

Definition at line 198 of file TCamera.h.

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

Get the value of the p2 distortion parameter.

Definition at line 200 of file TCamera.h.

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

Get the value of the p2 distortion parameter.

Definition at line 211 of file TCamera.h.

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().

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 156 of file TCamera.h.

References ASSERT_.

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().


Member Data Documentation

Definition at line 55 of file TCamera.h.

Definition at line 55 of file TCamera.h.

Definition at line 55 of file TCamera.h.

[k1 k2 t1 t2 t3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0)

Definition at line 74 of file TCamera.h.

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().

Definition at line 72 of file TCamera.h.

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

Camera resolution.

Definition at line 72 of file TCamera.h.

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




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