mrpt::utils::TCamera Class Reference

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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

#include <mrpt/utils/TCamera.h>

Inheritance diagram for mrpt::utils::TCamera:

List of all members.

Public Member Functions
	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).
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.
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).
CObject *	clone () const
	Cloning interface for smart pointers.
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).
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
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 ()

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Member Typedef Documentation

typedef TCameraPtr mrpt::utils::TCamera::SmartPtr

A typedef for the associated smart pointer

Definition at line 56 of file TCamera.h.

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Constructor & Destructor Documentation

mrpt::utils::TCamera::TCamera

(

)

[inline]

Definition at line 59 of file TCamera.h.

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Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::utils::TCamera::_GetBaseClass

(

)

[static, protected]

Reimplemented from mrpt::utils::CSerializable.

CObject* mrpt::utils::CObject::clone

(

)

const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

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 177 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 186 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 179 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 188 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 115 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.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr

(

)

const [inline, inherited]

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 151 of file CObject.h.

double mrpt::utils::TCamera::fx

(

)

const [inline]

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

Definition at line 181 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 190 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 183 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 192 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 141 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 134 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 195 of file TCamera.h.

void mrpt::utils::TCamera::k1

(

double

val

)

[inline]

Get the value of the k1 distortion parameter.

Definition at line 206 of file TCamera.h.

double mrpt::utils::TCamera::k2

(

)

const [inline]

Get the value of the k2 distortion parameter.

Definition at line 197 of file TCamera.h.

void mrpt::utils::TCamera::k2

(

double

val

)

[inline]

Get the value of the k2 distortion parameter.

Definition at line 208 of file TCamera.h.

double mrpt::utils::TCamera::k3

(

)

const [inline]

Get the value of the k3 distortion parameter.

Definition at line 203 of file TCamera.h.

void mrpt::utils::TCamera::k3

(

double

val

)

[inline]

Get the value of the k3 distortion parameter.

Definition at line 214 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::exception

on missing fields

double mrpt::utils::TCamera::p1

(

)

const [inline]

Get the value of the p1 distortion parameter.

Definition at line 199 of file TCamera.h.

void mrpt::utils::TCamera::p1

(

double

val

)

[inline]

Get the value of the p1 distortion parameter.

Definition at line 210 of file TCamera.h.

double mrpt::utils::TCamera::p2

(

)

const [inline]

Get the value of the p2 distortion parameter.

Definition at line 201 of file TCamera.h.

void mrpt::utils::TCamera::p2

(

double

val

)

[inline]

Get the value of the p2 distortion parameter.

Definition at line 212 of file TCamera.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		[protected, pure virtual, inherited]

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

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

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	(	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).

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 167 of file TCamera.h.

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

void mrpt::utils::TCamera::setDistortionParamsVector

(

const CMatrixDouble15 &

distParVector

)

[inline]

Set the whole vector of distortion params of the camera.

Definition at line 149 of file TCamera.h.

Referenced by mrpt::utils::CImage::rectifyImage(), and mrpt::utils::CImage::rectifyImageInPlace().

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 157 of file TCamera.h.

References ASSERT_.

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 125 of file TCamera.h.

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

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const [protected, pure virtual, inherited]

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

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

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Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented in mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CPointsMap, mrpt::slam::CObservation, mrpt::slam::CMetricMap, mrpt::opengl::CRenderizable, mrpt::poses::CPose3DQuatPDF, mrpt::poses::CPointPDF, mrpt::poses::CPose3DPDF, mrpt::poses::CPosePDF, mrpt::poses::CPoint2DPDF, mrpt::opengl::CRenderizableDisplayList, mrpt::slam::CAction, mrpt::detectors::CDetectableObject, mrpt::opengl::CTexturedObject, and mrpt::reactivenav::CHolonomicLogFileRecord.

Definition at line 56 of file CSerializable.h.

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Member Data Documentation

mrpt::utils::CLASSINIT mrpt::utils::TCamera::_init_TCamera [static, protected]

Definition at line 56 of file TCamera.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::utils::TCamera::classinfo [static]

Definition at line 56 of file TCamera.h.

mrpt::utils::TRuntimeClassId mrpt::utils::TCamera::classTCamera [static]

Definition at line 56 of file TCamera.h.

CArrayDouble<5> mrpt::utils::TCamera::dist

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

Definition at line 75 of file TCamera.h.

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 76 of file TCamera.h.

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

CMatrixDouble33 mrpt::utils::TCamera::intrinsicParams

Matrix of intrinsic parameters (containing the focal length and principal point coordinates)

Definition at line 74 of file TCamera.h.

Referenced by mrpt::utils::CImage::rectifyImage(), and mrpt::utils::CImage::rectifyImageInPlace().

uint32_t mrpt::utils::TCamera::ncols

Definition at line 73 of file TCamera.h.

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

uint32_t mrpt::utils::TCamera::nrows

Camera resolution.

Definition at line 73 of file TCamera.h.

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