MRPT  1.9.9
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mrpt::img::TCamera Class Reference

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 25 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 mxArraywriteToMatlab () 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::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
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::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () 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 27 of file TCamera.h.

◆ ConstUniquePtr

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

Definition at line 27 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 27 of file TCamera.h.

◆ UniquePtr

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

Definition at line 27 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 27 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 27 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 27 of file TCamera.h.

◆ cx() [1/2]

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

◆ 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 178 of file TCamera.h.

References intrinsicParams, and val.

◆ cy() [1/2]

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

◆ 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 180 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().

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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::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ fx() [1/2]

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

◆ 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 182 of file TCamera.h.

References intrinsicParams, and val.

◆ fy() [1/2]

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

◆ 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 184 of file TCamera.h.

References intrinsicParams, and val.

◆ getClassName()

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

Definition at line 27 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 130 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 122 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 186 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 203 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 188 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 205 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 194 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 211 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 196 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 213 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 198 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 215 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 200 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 217 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::exceptionon 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 97 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 190 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 207 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 192 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 209 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().

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

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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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn 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::exceptionOn 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 159 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 138 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 148 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 110 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 27 of file TCamera.h.

◆ dist

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

◆ 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 55 of file TCamera.h.

Referenced by mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters().

◆ intrinsicParams

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

◆ ncols

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

◆ nrows

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

◆ runtimeClassId

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

Definition at line 27 of file TCamera.h.




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