Detailed Description

Parameters for the Brown-Conrady camera lens distortion model.

The parameters obtained for one camera resolution can be used for any other resolution by means of the method TCamera::scaleToResolution()

See also: The application camera-calib-gui for calibrating a camera

Definition at line 26 of file TCamera.h.

#include <mrpt/img/TCamera.h>

Inheritance diagram for mrpt::img::TCamera:

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). More...

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

void	loadFromConfigFile (const std::string &section, const mrpt::config::CConfigFileBase &cfg)
	Load all the params from a config source, in the format used in saveToConfigFile(), that is: More...

void	loadFromConfigFile (const mrpt::config::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, 5, or 8-vector (see definition of dist for parameter order) 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...

double	k4 () const
	Get the value of the k4 distortion parameter. More...

double	k5 () const
	Get the value of the k5 distortion parameter. More...

double	k6 () const
	Get the value of the k6 distortion parameter. More...

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

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

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

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

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

void	k4 (double val)
	Set the value of the k4 distortion parameter. More...

void	k5 (double val)
	Set the value of the k5 distortion parameter. More...

void	k6 (double val)
	Set the value of the k6 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...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
Camera parameters
uint32_t	ncols {640}
	Camera resolution. More...

uint32_t	nrows {480}

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

std::array< double, 8 >	dist {{.0, .0, .0, .0, .0, .0, .0, .0}}
	[k1 k2 t1 t2 k3 k4 k5 k6] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0) More...

double	focalLengthMeters {.0}
	The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size). More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::img ::TCamera >

using	ConstPtr = std::shared_ptr< const mrpt::img ::TCamera >

using	UniquePtr = std::unique_ptr< mrpt::img ::TCamera >

using	ConstUniquePtr = std::unique_ptr< const mrpt::img ::TCamera >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::img" "::" "TCamera"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::img::TCamera::ConstPtr = std::shared_ptr<const mrpt::img :: TCamera >

Definition at line 28 of file TCamera.h.

◆ ConstUniquePtr

using mrpt::img::TCamera::ConstUniquePtr = std::unique_ptr<const mrpt::img :: TCamera >

Definition at line 28 of file TCamera.h.

◆ Ptr

using mrpt::img::TCamera::Ptr = std::shared_ptr< mrpt::img :: TCamera >

A type for the associated smart pointer

Definition at line 28 of file TCamera.h.

◆ UniquePtr

using mrpt::img::TCamera::UniquePtr = std::unique_ptr< mrpt::img :: TCamera >

Definition at line 28 of file TCamera.h.

Constructor & Destructor Documentation

◆ TCamera()

TCamera::TCamera ( )

Definition at line 26 of file TCamera.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::img::TCamera::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::img::TCamera::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::img::TCamera::Create ( Args &&... args )

inlinestatic

Definition at line 28 of file TCamera.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::img::TCamera::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 28 of file TCamera.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::img::TCamera::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::img::TCamera::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 28 of file TCamera.h.

◆ cx() [1/2]

double mrpt::img::TCamera::cx ( ) const

inline

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

Definition at line 171 of file TCamera.h.

References intrinsicParams.

Referenced by mrpt::obs::detail::cam2vec(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), DECLARE_MEXPLUS_FROM(), fillSampleObs(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::recompute_errors_and_Jacobians(), setIntrinsicParamsFromValues(), mrpt::vision::StereoObs2BRObs(), mrpt::vision::pinhole::undistort_point(), and mrpt::vision::pinhole::undistort_points().

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◆ cx() [2/2]

void mrpt::img::TCamera::cx ( double val )

inline

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

Definition at line 179 of file TCamera.h.

References intrinsicParams, and val.

◆ cy() [1/2]

double mrpt::img::TCamera::cy ( ) const

inline

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

Definition at line 173 of file TCamera.h.

References intrinsicParams.

Referenced by mrpt::obs::detail::cam2vec(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), DECLARE_MEXPLUS_FROM(), fillSampleObs(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::recompute_errors_and_Jacobians(), setIntrinsicParamsFromValues(), mrpt::vision::StereoObs2BRObs(), mrpt::vision::pinhole::undistort_point(), and mrpt::vision::pinhole::undistort_points().

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◆ cy() [2/2]

void mrpt::img::TCamera::cy ( double val )

inline

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

Definition at line 181 of file TCamera.h.

References intrinsicParams, and 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 34 of file TCamera.cpp.

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

Referenced by mrpt::hwdrivers::CMyntEyeCamera::CMyntEyeCamera().

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◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ fx() [1/2]

double mrpt::img::TCamera::fx ( ) const

inline

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

Definition at line 175 of file TCamera.h.

References intrinsicParams.

Referenced by mrpt::obs::detail::cam2vec(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), DECLARE_MEXPLUS_FROM(), fillSampleObs(), mrpt::vision::frameJac(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::pointJac(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::recompute_errors_and_Jacobians(), setIntrinsicParamsFromValues(), mrpt::vision::StereoObs2BRObs(), mrpt::vision::pinhole::undistort_point(), and mrpt::vision::pinhole::undistort_points().

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◆ fx() [2/2]

void mrpt::img::TCamera::fx ( double val )

inline

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

Definition at line 183 of file TCamera.h.

References intrinsicParams, and val.

◆ fy() [1/2]

double mrpt::img::TCamera::fy ( ) const

inline

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

Definition at line 177 of file TCamera.h.

References intrinsicParams.

Referenced by mrpt::obs::detail::cam2vec(), mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), DECLARE_MEXPLUS_FROM(), fillSampleObs(), mrpt::vision::frameJac(), mrpt::maps::detail::pointmap_traits< CColouredPointsMap >::internal_loadFromRangeScan3D_init(), mrpt::vision::pointJac(), mrpt::vision::pinhole::projectPoint_no_distortion(), mrpt::vision::recompute_errors_and_Jacobians(), setIntrinsicParamsFromValues(), mrpt::vision::pinhole::undistort_point(), and mrpt::vision::pinhole::undistort_points().

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◆ fy() [2/2]

void mrpt::img::TCamera::fy ( double val )

inline

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

Definition at line 185 of file TCamera.h.

References intrinsicParams, and val.

◆ getClassName()

static constexpr auto mrpt::img::TCamera::getClassName ( )

inlinestatic

Definition at line 28 of file TCamera.h.

◆ getDistortionParamsAsVector()

std::vector<double> mrpt::img::TCamera::getDistortionParamsAsVector ( ) const

inline

Get a vector with the distortion params of the camera.

Definition at line 131 of file TCamera.h.

References dist.

Referenced by mrpt::vision::checkerBoardCameraCalibration().

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◆ getDistortionParamsVector()

void mrpt::img::TCamera::getDistortionParamsVector ( mrpt::math::CMatrixDouble15 & distParVector ) const

inline

Get the vector of distortion params of the camera.

Definition at line 123 of file TCamera.h.

References dist, and mrpt::math::CMatrixFixed< T, ROWS, COLS >::size().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::img::TCamera::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::img::TCamera::GetRuntimeClassIdStatic ( )

static

◆ k1() [1/2]

double mrpt::img::TCamera::k1 ( ) const

inline

Get the value of the k1 distortion parameter.

Definition at line 187 of file TCamera.h.

References dist.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::vision::recompute_errors_and_Jacobians(), and setDistortionParamsFromValues().

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◆ k1() [2/2]

void mrpt::img::TCamera::k1 ( double val )

inline

Set the value of the k1 distortion parameter.

Definition at line 204 of file TCamera.h.

References dist, and val.

◆ k2() [1/2]

double mrpt::img::TCamera::k2 ( ) const

inline

Get the value of the k2 distortion parameter.

Definition at line 189 of file TCamera.h.

References dist.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::vision::recompute_errors_and_Jacobians(), and setDistortionParamsFromValues().

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◆ k2() [2/2]

void mrpt::img::TCamera::k2 ( double val )

inline

Set the value of the k2 distortion parameter.

Definition at line 206 of file TCamera.h.

References dist, and val.

◆ k3() [1/2]

double mrpt::img::TCamera::k3 ( ) const

inline

Get the value of the k3 distortion parameter.

Definition at line 195 of file TCamera.h.

References dist.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::vision::recompute_errors_and_Jacobians(), and setDistortionParamsFromValues().

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◆ k3() [2/2]

void mrpt::img::TCamera::k3 ( double val )

inline

Set the value of the k3 distortion parameter.

Definition at line 212 of file TCamera.h.

References dist, and val.

◆ k4() [1/2]

double mrpt::img::TCamera::k4 ( ) const

inline

Get the value of the k4 distortion parameter.

Definition at line 197 of file TCamera.h.

References dist.

◆ k4() [2/2]

void mrpt::img::TCamera::k4 ( double val )

inline

Set the value of the k4 distortion parameter.

Definition at line 214 of file TCamera.h.

References dist, and val.

◆ k5() [1/2]

double mrpt::img::TCamera::k5 ( ) const

inline

Get the value of the k5 distortion parameter.

Definition at line 199 of file TCamera.h.

References dist.

◆ k5() [2/2]

void mrpt::img::TCamera::k5 ( double val )

inline

Set the value of the k5 distortion parameter.

Definition at line 216 of file TCamera.h.

References dist, and val.

◆ k6() [1/2]

double mrpt::img::TCamera::k6 ( ) const

inline

Get the value of the k6 distortion parameter.

Definition at line 201 of file TCamera.h.

References dist.

◆ k6() [2/2]

void mrpt::img::TCamera::k6 ( double val )

inline

Set the value of the k6 distortion parameter.

Definition at line 218 of file TCamera.h.

References dist, and val.

◆ loadFromConfigFile() [1/2]

void TCamera::loadFromConfigFile	(	const std::string &	section,
		const mrpt::config::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 165 of file TCamera.cpp.

References mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_vector(), mrpt::math::CVectorDynamic< T >::size(), and THROW_EXCEPTION.

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

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◆ loadFromConfigFile() [2/2]

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

inline

overload This signature is consistent with the rest of MRPT APIs

Definition at line 98 of file TCamera.h.

References loadFromConfigFile().

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◆ p1() [1/2]

double mrpt::img::TCamera::p1 ( ) const

inline

Get the value of the p1 distortion parameter.

Definition at line 191 of file TCamera.h.

References dist.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::vision::recompute_errors_and_Jacobians(), and setDistortionParamsFromValues().

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◆ p1() [2/2]

void mrpt::img::TCamera::p1 ( double val )

inline

Set the value of the p1 distortion parameter.

Definition at line 208 of file TCamera.h.

References dist, and val.

◆ p2() [1/2]

double mrpt::img::TCamera::p2 ( ) const

inline

Get the value of the p2 distortion parameter.

Definition at line 193 of file TCamera.h.

References dist.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::vision::recompute_errors_and_Jacobians(), and setDistortionParamsFromValues().

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◆ p2() [2/2]

void mrpt::img::TCamera::p2 ( double val )

inline

Set the value of the p2 distortion parameter.

Definition at line 210 of file TCamera.h.

References dist, and val.

◆ saveToConfigFile()

void TCamera::saveToConfigFile	(	const std::string &	section,
		mrpt::config::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 143 of file TCamera.cpp.

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

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◆ 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 203 of file TCamera.cpp.

References ASSERT_, and ASSERTMSG_.

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

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◆ serializeFrom() [1/2]

void TCamera::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 52 of file TCamera.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t TCamera::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 41 of file TCamera.cpp.

◆ serializeTo() [1/2]

void TCamera::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 42 of file TCamera.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setDistortionParamsFromValues()

void mrpt::img::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 160 of file TCamera.h.

References dist, k1(), k2(), k3(), p1(), and p2().

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

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◆ setDistortionParamsVector() [1/2]

void mrpt::img::TCamera::setDistortionParamsVector ( const mrpt::math::CMatrixDouble15 & distParVector )

inline

Set the whole vector of distortion params of the camera.

Definition at line 139 of file TCamera.h.

References dist.

◆ setDistortionParamsVector() [2/2]

template<class VECTORLIKE >

void mrpt::img::TCamera::setDistortionParamsVector ( const VECTORLIKE & distParVector )

inline

Set the whole vector of distortion params of the camera from a 4, 5, or 8-vector (see definition of dist for parameter order)

Definition at line 149 of file TCamera.h.

References ASSERT_, and dist.

◆ setIntrinsicParamsFromValues()

void mrpt::img::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 111 of file TCamera.h.

References cx(), cy(), fx(), fy(), intrinsicParams, and mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero().

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

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::img::TCamera::className = "mrpt::img" "::" "TCamera"

static

Definition at line 28 of file TCamera.h.

◆ dist

std::array<double, 8> mrpt::img::TCamera::dist {{.0, .0, .0, .0, .0, .0, .0, .0}}

[k1 k2 t1 t2 k3 k4 k5 k6] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0)

Definition at line 53 of file TCamera.h.

Referenced by mrpt::obs::detail::cam2vec(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::vision::computeStereoRectificationMaps(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), DECLARE_MEXPLUS_FROM(), getDistortionParamsAsVector(), getDistortionParamsVector(), k1(), k2(), k3(), k4(), k5(), k6(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), mrpt::img::operator==(), p1(), p2(), setDistortionParamsFromValues(), setDistortionParamsVector(), mrpt::vision::CUndistortMap::setFromCamParams(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), mrpt::img::CImage::undistort(), mrpt::obs::CObservation3DRangeScan::undistort(), mrpt::vision::pinhole::undistort_point(), mrpt::vision::pinhole::undistort_points(), and mrpt::obs::detail::vec2cam().

◆ focalLengthMeters

double mrpt::img::TCamera::focalLengthMeters {.0}

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::img::operator==(), and mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters().

◆ intrinsicParams

mrpt::math::CMatrixDouble33 mrpt::img::TCamera::intrinsicParams

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

[ fx 0 cx ] A = [ 0 fy cy ] [ 0 0 1 ]

Definition at line 50 of file TCamera.h.

Referenced by mrpt::vision::checkerBoardCameraCalibration(), mrpt::vision::computeStereoRectificationMaps(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), cx(), cy(), fx(), fy(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), mrpt::img::operator==(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::vision::CUndistortMap::setFromCamParams(), mrpt::vision::CStereoRectifyMap::setFromCamParams(), setIntrinsicParamsFromValues(), mrpt::hwdrivers::CRovio::TOptions::TOptions(), mrpt::img::CImage::undistort(), mrpt::obs::CObservation3DRangeScan::undistort(), mrpt::vision::pinhole::undistort_points(), and mrpt::obs::detail::vec2cam().

◆ ncols

uint32_t mrpt::img::TCamera::ncols {640}

Camera resolution.

Definition at line 40 of file TCamera.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::COpenNI2Sensor::cols(), mrpt::hwdrivers::CKinect::cols(), mrpt::vision::computeStereoRectificationMaps(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), DECLARE_MEXPLUS_FROM(), do_rectify(), fillSampleObs(), mrpt::hwdrivers::CKinect::getNextObservation(), isValidParameter(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::CKinect::open(), mrpt::img::operator==(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::vision::CUndistortMap::setFromCamParams(), and mrpt::vision::CStereoRectifyMap::setFromCamParams().

◆ nrows

uint32_t mrpt::img::TCamera::nrows {480}

Definition at line 40 of file TCamera.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::vision::computeStereoRectificationMaps(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), DECLARE_MEXPLUS_FROM(), do_rectify(), fillSampleObs(), mrpt::hwdrivers::CKinect::getNextObservation(), isValidParameter(), mrpt::hwdrivers::TCaptureOptions_DUO3D::loadOptionsFrom(), mrpt::hwdrivers::CKinect::open(), mrpt::img::operator==(), mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters(), mrpt::hwdrivers::COpenNI2Sensor::rows(), mrpt::hwdrivers::CKinect::rows(), mrpt::vision::CUndistortMap::setFromCamParams(), and mrpt::vision::CStereoRectifyMap::setFromCamParams().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::img::TCamera::runtimeClassId

staticprotected

Definition at line 28 of file TCamera.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ TCamera()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ cx() [1/2]

◆ cx() [2/2]

◆ cy() [1/2]

◆ cy() [2/2]

◆ dumpAsText()

◆ duplicateGetSmartPtr()

◆ fx() [1/2]

◆ fx() [2/2]

◆ fy() [1/2]

◆ fy() [2/2]

◆ getClassName()

◆ getDistortionParamsAsVector()

◆ getDistortionParamsVector()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ k1() [1/2]

◆ k1() [2/2]

◆ k2() [1/2]

◆ k2() [2/2]

◆ k3() [1/2]

◆ k3() [2/2]

◆ k4() [1/2]

◆ k4() [2/2]

◆ k5() [1/2]

◆ k5() [2/2]

◆ k6() [1/2]

◆ k6() [2/2]

◆ loadFromConfigFile() [1/2]

◆ loadFromConfigFile() [2/2]

◆ p1() [1/2]

◆ p1() [2/2]

◆ p2() [1/2]

◆ p2() [2/2]

◆ saveToConfigFile()

◆ scaleToResolution()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setDistortionParamsFromValues()

◆ setDistortionParamsVector() [1/2]

◆ setDistortionParamsVector() [2/2]

◆ setIntrinsicParamsFromValues()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ dist

◆ focalLengthMeters

◆ intrinsicParams

◆ ncols

◆ nrows

◆ runtimeClassId