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
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	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). More...

void	saveToConfigFile (const std::string &section, mrpt::utils::CConfigFileBase &cfg) const
	Save as a config block: More...

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: More...

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &cfg, const std::string &section)
	overload This signature is consistent with the rest of MRPT APIs More...

std::string	dumpAsText () const
	Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile. More...

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) More...

void	getDistortionParamsVector (mrpt::math::CMatrixDouble15 &distParVector) const
	Get the vector of distortion params of the camera. More...

std::vector< double >	getDistortionParamsAsVector () const
	Get a vector with the distortion params of the camera. More...

void	setDistortionParamsVector (const mrpt::math::CMatrixDouble15 &distParVector)
	Set the whole vector of distortion params of the camera. More...

template<class VECTORLIKE >
void	setDistortionParamsVector (const VECTORLIKE &distParVector)
	Set the whole vector of distortion params of the camera from a 4 or 5-vector. More...

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. More...

double	cx () const
	Get the value of the principal point x-coordinate (in pixels). More...

double	cy () const
	Get the value of the principal point y-coordinate (in pixels). More...

double	fx () const
	Get the value of the focal length x-value (in pixels). More...

double	fy () const
	Get the value of the focal length y-value (in pixels). More...

void	cx (double val)
	Set the value of the principal point x-coordinate (in pixels). More...

void	cy (double val)
	Set the value of the principal point y-coordinate (in pixels). More...

void	fx (double val)
	Set the value of the focal length x-value (in pixels). More...

void	fy (double val)
	Set the value of the focal length y-value (in pixels). More...

double	k1 () const
	Get the value of the k1 distortion parameter. More...

double	k2 () const
	Get the value of the k2 distortion parameter. More...

double	p1 () const
	Get the value of the p1 distortion parameter. More...

double	p2 () const
	Get the value of the p2 distortion parameter. More...

double	k3 () const
	Get the value of the k3 distortion parameter. More...

void	k1 (double val)
	Get the value of the k1 distortion parameter. More...

void	k2 (double val)
	Get the value of the k2 distortion parameter. More...

void	p1 (double val)
	Get the value of the p1 distortion parameter. More...

void	p2 (double val)
	Get the value of the p2 distortion parameter. More...

void	k3 (double val)
	Get the value of the k3 distortion parameter. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

RTTI classes and functions
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
Camera parameters
uint32_t	ncols

uint32_t	nrows
	Camera resolution. More...

mrpt::math::CMatrixDouble33	intrinsicParams
	Matrix of intrinsic parameters (containing the focal length and principal point coordinates) More...

mrpt::math::CArrayDouble< 5 >	dist
	[k1 k2 t1 t2 k3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0) More...

double	focalLengthMeters
	The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size). More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
typedef TCameraPtr	Ptr

typedef TCameraPtr	ConstPtr

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. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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

static TCameraPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef TCameraPtr mrpt::utils::TCamera::ConstPtr

Definition at line 33 of file TCamera.h.

◆ Ptr

typedef TCameraPtr mrpt::utils::TCamera::Ptr

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

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ 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::obs::detail::cam2vec(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::vision::CCamModel::distort_a_point(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullProjectionT(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::CCamModel::jacob_undistor(), mrpt::vision::CCamModel::jacob_undistor_fm(), mrpt::vision::CCamModel::jacobian_unproject_with_distortion(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::vision::CCamModel::project_3D_point(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::obs::detail::range2XYZ(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::vision::recompute_errors_and_Jacobians(), mrpt::vision::StereoObs2BRObs(), mrpt::vision::pinhole::undistort_point(), mrpt::vision::pinhole::undistort_points(), and mrpt::vision::CCamModel::unproject_3D_point().

◆ 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.

References val.

◆ 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::obs::detail::cam2vec(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::vision::CCamModel::distort_a_point(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullProjectionT(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::CCamModel::jacob_undistor(), mrpt::vision::CCamModel::jacob_undistor_fm(), mrpt::vision::CCamModel::jacobian_unproject_with_distortion(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::vision::CCamModel::project_3D_point(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::obs::detail::range2XYZ(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::vision::recompute_errors_and_Jacobians(), mrpt::vision::StereoObs2BRObs(), mrpt::vision::pinhole::undistort_point(), mrpt::vision::pinhole::undistort_points(), and mrpt::vision::CCamModel::unproject_3D_point().

◆ 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.

References val.

◆ dumpAsText()

std::string TCamera::dumpAsText ( ) const

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

See also: saveToConfigFile

Definition at line 26 of file TCamera.cpp.

References mrpt::utils::CConfigFileMemory::getContent().

◆ duplicate()

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

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ 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::obs::detail::cam2vec(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::vision::frameJac(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), mrpt::vision::CCamModel::getFullProjectionT(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::CCamModel::jacob_undistor_fm(), mrpt::vision::CCamModel::jacobian_project_with_distortion(), mrpt::vision::CCamModel::jacobian_unproject_with_distortion(), mrpt::vision::pointJac(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::vision::CCamModel::project_3D_point(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::obs::detail::range2XYZ(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::vision::recompute_errors_and_Jacobians(), mrpt::vision::StereoObs2BRObs(), mrpt::vision::pinhole::undistort_point(), mrpt::vision::pinhole::undistort_points(), and mrpt::vision::CCamModel::unproject_3D_point().

◆ 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.

References val.

◆ 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::obs::detail::cam2vec(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::vision::frameJac(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), mrpt::vision::CCamModel::getFullProjectionT(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::CCamModel::jacob_undistor_fm(), mrpt::vision::CCamModel::jacobian_project_with_distortion(), mrpt::vision::CCamModel::jacobian_unproject_with_distortion(), mrpt::vision::pointJac(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), mrpt::vision::CCamModel::project_3D_point(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::obs::detail::range2XYZ(), mrpt::obs::detail::range2XYZ_LUT(), mrpt::vision::recompute_errors_and_Jacobians(), mrpt::vision::pinhole::undistort_point(), mrpt::vision::pinhole::undistort_points(), and mrpt::vision::CCamModel::unproject_3D_point().

◆ 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.

References val.

◆ 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.

Referenced by mrpt::vision::checkerBoardCameraCalibration(), and mrpt::vision::CCamModel::undistort_point().

◆ 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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ 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.

◆ 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.

References val.

◆ 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::checkerBoardStereoCalibration(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), mrpt::vision::CCamModel::getTemporaryVariablesForTransform(), mrpt::vision::CCamModel::jacob_undistor_fm(), and mrpt::vision::recompute_errors_and_Jacobians().

◆ 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.

References val.

◆ 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::checkerBoardStereoCalibration(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), mrpt::vision::CCamModel::getTemporaryVariablesForTransform(), and mrpt::vision::recompute_errors_and_Jacobians().

◆ 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.

References val.

◆ loadFromConfigFile() [1/2]

void 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:

Load all the params from a config source, in the format described in saveToConfigFile()

[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

Definition at line 130 of file TCamera.cpp.

References mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_vector(), and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CRovio::loadConfig(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

◆ loadFromConfigFile() [2/2]

void mrpt::utils::TCamera::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	cfg,
		const std::string &	section
	)

inline

overload This signature is consistent with the rest of MRPT APIs

Definition at line 94 of file TCamera.h.

References loadFromConfigFile().

Referenced by loadFromConfigFile().

◆ operator delete() [1/3]

void mrpt::utils::TCamera::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 33 of file TCamera.h.

◆ operator delete() [2/3]

void mrpt::utils::TCamera::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 33 of file TCamera.h.

◆ operator delete() [3/3]

void mrpt::utils::TCamera::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 33 of file TCamera.h.

◆ operator delete[]()

void mrpt::utils::TCamera::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 33 of file TCamera.h.

◆ operator new() [1/3]

static void* mrpt::utils::TCamera::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 33 of file TCamera.h.

◆ operator new() [2/3]

void* mrpt::utils::TCamera::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 33 of file TCamera.h.

◆ operator new() [3/3]

void* mrpt::utils::TCamera::operator new ( size_t size )

inline

Definition at line 33 of file TCamera.h.

◆ operator new[]()

void* mrpt::utils::TCamera::operator new[] ( size_t size )

inline

Definition at line 33 of file TCamera.h.

◆ 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::checkerBoardStereoCalibration(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), mrpt::vision::CCamModel::getTemporaryVariablesForTransform(), and mrpt::vision::recompute_errors_and_Jacobians().

◆ 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.

References val.

◆ 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::checkerBoardStereoCalibration(), mrpt::vision::CCamModel::getFullInverseModelWithJacobian(), mrpt::vision::CCamModel::getFullJacobianT(), mrpt::vision::CCamModel::getTemporaryVariablesForTransform(), and mrpt::vision::recompute_errors_and_Jacobians().

◆ 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.

References val.

◆ readFromStream()

void TCamera::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 50 of file TCamera.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ saveToConfigFile()

void 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

[SECTION]
resolution = NCOLS NROWS
cx         = CX
cy         = CY
fx         = FX
fy         = FY
dist       = K1 K2 T1 T2 T3
focal_length = FOCAL_LENGTH

Definition at line 117 of file TCamera.cpp.

References mrpt::format(), and mrpt::utils::CConfigFileBase::write().

Referenced by mrpt::vision::checkerBoardCameraCalibration(), and mrpt::obs::CObservation3DRangeScan::getDescriptionAsText().

◆ scaleToResolution()

void 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).

Definition at line 165 of file TCamera.cpp.

References ASSERT_, and ASSERTMSG_.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and 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.

Referenced by mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), and mrpt::hwdrivers::CRovio::TOptions::TOptions().

◆ 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.

Referenced by mrpt::vision::CCamModel::loadFromConfigFile().

◆ 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.

Referenced by mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::vision::CCamModel::loadFromConfigFile(), and mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml().

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void TCamera::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 35 of file TCamera.cpp.

References version.

Member Data Documentation

◆ _init_TCamera

mrpt::utils::CLASSINIT mrpt::utils::TCamera::_init_TCamera

staticprotected

Definition at line 33 of file TCamera.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 118 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.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.

Referenced by mrpt::obs::CObservationStereoImages::areImagesRectified(), mrpt::obs::detail::cam2vec(), mrpt::vision::checkerBoardCameraCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::vision::computeStereoRectificationMaps(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), mrpt::utils::CImage::rectifyImage(), mrpt::utils::CImage::rectifyImageInPlace(), mrpt::vision::CUndistortMap::setFromCamParams(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), mrpt::vision::pinhole::undistort_point(), mrpt::vision::pinhole::undistort_points(), and mrpt::obs::detail::vec2cam().

◆ 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.

Referenced by mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), and mrpt::vision::CStereoRectifyMap::setFromCamParams().

◆ 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.

Referenced by mrpt::vision::checkerBoardCameraCalibration(), mrpt::vision::computeStereoRectificationMaps(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::utils::CImage::rectifyImage(), mrpt::utils::CImage::rectifyImageInPlace(), mrpt::vision::CUndistortMap::setFromCamParams(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), mrpt::hwdrivers::CRovio::TOptions::TOptions(), mrpt::vision::CCamModel::undistort_point(), mrpt::vision::pinhole::undistort_points(), and mrpt::obs::detail::vec2cam().

◆ ncols

uint32_t mrpt::utils::TCamera::ncols

Definition at line 53 of file TCamera.h.

Referenced by mrpt::vision::checkerBoardCameraCalibration(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::vision::computeStereoRectificationMaps(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::obs::CObservation3DRangeScan::getZoneAsObs(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::CKinect::open(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::CStereoRectifyMap::rectify_IPL(), mrpt::vision::CUndistortMap::setFromCamParams(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), and mrpt::vision::CUndistortMap::undistort().

◆ nrows

uint32_t mrpt::utils::TCamera::nrows

Camera resolution.

Definition at line 53 of file TCamera.h.

Referenced by mrpt::vision::checkerBoardCameraCalibration(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::vision::computeStereoRectificationMaps(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::obs::CObservation3DRangeScan::getZoneAsObs(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::CKinect::open(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::vision::CStereoRectifyMap::rectify(), mrpt::vision::CStereoRectifyMap::rectify_IPL(), mrpt::vision::CUndistortMap::setFromCamParams(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), and mrpt::vision::CUndistortMap::undistort().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ TCamera()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ cx() [1/2]

◆ cx() [2/2]

◆ cy() [1/2]

◆ cy() [2/2]

◆ dumpAsText()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ 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]

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ p1() [1/2]

◆ p1() [2/2]

◆ p2() [1/2]

◆ p2() [2/2]

◆ readFromStream()

◆ saveToConfigFile()

◆ scaleToResolution()

◆ setDistortionParamsFromValues()

◆ setDistortionParamsVector() [1/2]

◆ setDistortionParamsVector() [2/2]

◆ setIntrinsicParamsFromValues()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_TCamera

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ classTCamera

◆ dist

◆ focalLengthMeters

◆ intrinsicParams

◆ ncols

◆ nrows