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TCamera.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef TCamera_H
10 #define TCamera_H
11 
17 #include <mrpt/poses/CPose3DQuat.h>
18 
19 namespace mrpt
20 {
21  namespace utils
22  {
24 
25  /** Structure to hold the parameters of a pinhole camera model.
26  * The parameters obtained for one camera resolution can be used for any other resolution by means of the method TCamera::scaleToResolution()
27  *
28  * \sa mrpt::vision::CCamModel, the application <a href="http://www.mrpt.org/Application:camera-calib-gui" >camera-calib-gui</a> for calibrating a camera
29  * \ingroup mrpt_base_grp
30  */
31  class BASE_IMPEXP TCamera : public mrpt::utils::CSerializable
32  {
34 
35  // This must be added for declaration of MEX-related functions
37 
38  public:
39  TCamera() : ncols(640), nrows(480), focalLengthMeters(0)
40  {
41  intrinsicParams.set_unsafe(0,0,507.808);
42  intrinsicParams.set_unsafe(1,1,507.808);
43  intrinsicParams.set_unsafe(0,2,356.2368);
44  intrinsicParams.set_unsafe(1,2,252.9216);
45  intrinsicParams.set_unsafe(2,2,1);
46  for (size_t i=0;i<dist.SizeAtCompileTime ;i++)
47  dist[i] = 0;
48  }
49 
50  /** @name Camera parameters
51  @{ */
52 
53  uint32_t ncols,nrows; //!< Camera resolution
54  mrpt::math::CMatrixDouble33 intrinsicParams; //!< Matrix of intrinsic parameters (containing the focal length and principal point coordinates)
55  mrpt::math::CArrayDouble<5> dist; //!< [k1 k2 t1 t2 k3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0)
56  double focalLengthMeters; //!< The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).
57 
58  /** @} */
59 
60  /** Rescale all the parameters for a new camera resolution (it raises an exception if the aspect ratio is modified, which is not permitted).
61  */
62  void scaleToResolution(unsigned int new_ncols, unsigned int new_nrows);
63 
64  /** Save as a config block:
65  * \code
66  * [SECTION]
67  * resolution = [NCOLS NROWS]
68  * cx = CX
69  * cy = CY
70  * fx = FX
71  * fy = FY
72  * dist = [K1 K2 T1 T2 K3]
73  * focal_length = FOCAL_LENGTH
74  * \endcode
75  */
76  void saveToConfigFile( const std::string &section, mrpt::utils::CConfigFileBase &cfg ) const;
77 
78  /** Load all the params from a config source, in the format used in saveToConfigFile(), that is:
79  *
80  * \code
81  * [SECTION]
82  * resolution = [NCOLS NROWS]
83  * cx = CX
84  * cy = CY
85  * fx = FX
86  * fy = FY
87  * dist = [K1 K2 T1 T2 K3]
88  * focal_length = FOCAL_LENGTH [optional field]
89  * \endcode
90  * \exception std::exception on missing fields
91  */
92  void loadFromConfigFile(const std::string &section, const mrpt::utils::CConfigFileBase &cfg );
93  /** overload This signature is consistent with the rest of MRPT APIs */
94  inline void loadFromConfigFile(const mrpt::utils::CConfigFileBase &cfg,const std::string &section) { loadFromConfigFile(section,cfg); }
95 
96  /** Dumps all the parameters as a multi-line string, with the same format than \a saveToConfigFile. \sa saveToConfigFile */
97  std::string dumpAsText() const;
98 
99 
100  /** Set the matrix of intrinsic params of the camera from the individual values of focal length and principal point coordinates (in pixels)
101  */
102  inline void setIntrinsicParamsFromValues ( double fx, double fy, double cx, double cy )
103  {
104  intrinsicParams.set_unsafe( 0, 0, fx );
105  intrinsicParams.set_unsafe( 1, 1, fy );
106  intrinsicParams.set_unsafe( 0, 2, cx );
107  intrinsicParams.set_unsafe( 1, 2, cy );
108  }
109 
110  /** Get the vector of distortion params of the camera */
111  inline void getDistortionParamsVector ( mrpt::math::CMatrixDouble15 &distParVector ) const
112  {
113  for (size_t i=0;i<5;i++)
114  distParVector.set_unsafe(0,i, dist[i]);
115  }
116 
117  /** Get a vector with the distortion params of the camera */
118  inline std::vector<double> getDistortionParamsAsVector () const {
119  std::vector<double> v(5);
120  for (size_t i=0;i<5;i++)
121  v[i] = dist[i];
122  return v;
123  }
124 
125  /** Set the whole vector of distortion params of the camera */
127  {
128  for (size_t i=0;i<5;i++)
129  dist[i] = distParVector.get_unsafe(0,i);
130  }
131 
132  /** Set the whole vector of distortion params of the camera from a 4 or 5-vector */
133  template <class VECTORLIKE>
134  void setDistortionParamsVector( const VECTORLIKE &distParVector )
135  {
136  size_t N = static_cast<size_t>(distParVector.size());
137  ASSERT_(N==4 || N==5)
138  dist[4] = 0; // Default value
139  for (size_t i=0;i<N;i++) dist[i] = distParVector[i];
140  }
141 
142  /** Set the vector of distortion params of the camera from the individual values of the distortion coefficients
143  */
144  inline void setDistortionParamsFromValues( double k1, double k2, double p1, double p2, double k3 = 0 )
145  {
146  dist[0] = k1;
147  dist[1] = k2;
148  dist[2] = p1;
149  dist[3] = p2;
150  dist[4] = k3;
151  }
152 
153  /** Get the value of the principal point x-coordinate (in pixels). */
154  inline double cx() const { return intrinsicParams(0,2); }
155  /** Get the value of the principal point y-coordinate (in pixels). */
156  inline double cy() const { return intrinsicParams(1,2); }
157  /** Get the value of the focal length x-value (in pixels). */
158  inline double fx() const { return intrinsicParams(0,0); }
159  /** Get the value of the focal length y-value (in pixels). */
160  inline double fy() const { return intrinsicParams(1,1); }
161 
162  /** Set the value of the principal point x-coordinate (in pixels). */
163  inline void cx(double val) { intrinsicParams(0,2)=val; }
164  /** Set the value of the principal point y-coordinate (in pixels). */
165  inline void cy(double val) { intrinsicParams(1,2)=val; }
166  /** Set the value of the focal length x-value (in pixels). */
167  inline void fx(double val) { intrinsicParams(0,0)=val; }
168  /** Set the value of the focal length y-value (in pixels). */
169  inline void fy(double val) { intrinsicParams(1,1)=val; }
170 
171  /** Get the value of the k1 distortion parameter. */
172  inline double k1() const { return dist[0]; }
173  /** Get the value of the k2 distortion parameter. */
174  inline double k2() const { return dist[1]; }
175  /** Get the value of the p1 distortion parameter. */
176  inline double p1() const { return dist[2]; }
177  /** Get the value of the p2 distortion parameter. */
178  inline double p2() const { return dist[3]; }
179  /** Get the value of the k3 distortion parameter. */
180  inline double k3() const { return dist[4]; }
181 
182  /** Get the value of the k1 distortion parameter. */
183  inline void k1(double val) { dist[0]=val; }
184  /** Get the value of the k2 distortion parameter. */
185  inline void k2(double val) { dist[1]=val; }
186  /** Get the value of the p1 distortion parameter. */
187  inline void p1(double val) { dist[2]=val; }
188  /** Get the value of the p2 distortion parameter. */
189  inline void p2(double val) { dist[3]=val; }
190  /** Get the value of the k3 distortion parameter. */
191  inline void k3(double val) { dist[4]=val; }
192  }; // end class TCamera
194 
195 
196  bool BASE_IMPEXP operator ==(const mrpt::utils::TCamera& a, const mrpt::utils::TCamera& b);
197  bool BASE_IMPEXP operator !=(const mrpt::utils::TCamera& a, const mrpt::utils::TCamera& b);
198 
199  } // End of namespace
200 } // end of namespace
201 
202 // Add for declaration of mexplus::from template specialization
203 DECLARE_MEXPLUS_FROM( mrpt::utils::TCamera ) // Not working at the beginning?
204 #endif
GLboolean GLboolean GLboolean GLboolean a
Definition: glew.h:5406
const GLdouble * v
Definition: glew.h:1296
void k1(double val)
Get the value of the k1 distortion parameter.
Definition: TCamera.h:183
std::vector< double > getDistortionParamsAsVector() const
Get a vector with the distortion params of the camera.
Definition: TCamera.h:118
void p1(double val)
Get the value of the p1 distortion parameter.
Definition: TCamera.h:187
double focalLengthMeters
The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel...
Definition: TCamera.h:56
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:39
double p2() const
Get the value of the p2 distortion parameter.
Definition: TCamera.h:178
double k1() const
Get the value of the k1 distortion parameter.
Definition: TCamera.h:172
#define DECLARE_MEXPLUS_FROM(complete_type)
This must be inserted if a custom conversion method for MEX API is implemented in the class...
double k2() const
Get the value of the k2 distortion parameter.
Definition: TCamera.h:174
void setDistortionParamsVector(const VECTORLIKE &distParVector)
Set the whole vector of distortion params of the camera from a 4 or 5-vector.
Definition: TCamera.h:134
This class allows loading and storing values and vectors of different types from a configuration text...
double fy() const
Get the value of the focal length y-value (in pixels).
Definition: TCamera.h:160
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class...
void setDistortionParamsVector(const mrpt::math::CMatrixDouble15 &distParVector)
Set the whole vector of distortion params of the camera.
Definition: TCamera.h:126
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &cfg, const std::string &section)
overload This signature is consistent with the rest of MRPT APIs
Definition: TCamera.h:94
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void fy(double val)
Set the value of the focal length y-value (in pixels).
Definition: TCamera.h:169
double k3() const
Get the value of the k3 distortion parameter.
Definition: TCamera.h:180
mrpt::math::CMatrixDouble33 intrinsicParams
Matrix of intrinsic parameters (containing the focal length and principal point coordinates) ...
Definition: TCamera.h:54
void p2(double val)
Get the value of the p2 distortion parameter.
Definition: TCamera.h:189
void getDistortionParamsVector(mrpt::math::CMatrixDouble15 &distParVector) const
Get the vector of distortion params of the camera.
Definition: TCamera.h:111
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void k3(double val)
Get the value of the k3 distortion parameter.
Definition: TCamera.h:191
GLsizei const GLcharARB ** string
Definition: glew.h:3293
mrpt::math::CArrayDouble< 5 > dist
[k1 k2 t1 t2 k3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (d...
Definition: TCamera.h:55
void k2(double val)
Get the value of the k2 distortion parameter.
Definition: TCamera.h:185
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
uint32_t nrows
Camera resolution.
Definition: TCamera.h:53
#define ASSERT_(f)
void cx(double val)
Set the value of the principal point x-coordinate (in pixels).
Definition: TCamera.h:163
void fx(double val)
Set the value of the focal length x-value (in pixels).
Definition: TCamera.h:167
double fx() const
Get the value of the focal length x-value (in pixels).
Definition: TCamera.h:158
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 coeffi...
Definition: TCamera.h:144
double p1() const
Get the value of the p1 distortion parameter.
Definition: TCamera.h:176
GLuint GLfloat * val
Definition: glew.h:7785
GLdouble GLdouble GLdouble b
Definition: glew.h:5092
void cy(double val)
Set the value of the principal point y-coordinate (in pixels).
Definition: TCamera.h:165
unsigned __int32 uint32_t
Definition: rptypes.h:49
double cx() const
Get the value of the principal point x-coordinate (in pixels).
Definition: TCamera.h:154
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 princ...
Definition: TCamera.h:102
Structure to hold the parameters of a pinhole camera model.
Definition: TCamera.h:31
double cy() const
Get the value of the principal point y-coordinate (in pixels).
Definition: TCamera.h:156



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