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47 std::array<double, 5>
dist{{.0, .0, .0, .0, .0}};
106 double fx,
double fy,
double cx,
double cy)
118 for (
size_t i = 0; i < 5; i++) distParVector.set_unsafe(0, i,
dist[i]);
124 std::vector<double>
v(5);
125 for (
size_t i = 0; i < 5; i++)
v[i] =
dist[i];
133 for (
size_t i = 0; i < 5; i++)
dist[i] = distParVector.get_unsafe(0, i);
138 template <
class VECTORLIKE>
141 size_t N =
static_cast<size_t>(distParVector.size());
144 for (
size_t i = 0; i < N; i++)
dist[i] = distParVector[i];
151 double k1,
double k2,
double p1,
double p2,
double k3 = 0)
177 inline double k1()
const {
return dist[0]; }
179 inline double k2()
const {
return dist[1]; }
181 inline double p1()
const {
return dist[2]; }
183 inline double p2()
const {
return dist[3]; }
185 inline double k3()
const {
return dist[4]; }
mrpt::math::CMatrixDouble33 intrinsicParams
Matrix of intrinsic parameters (containing the focal length and principal point coordinates)
void fy(double val)
Set the value of the focal length y-value (in pixels).
void k1(double val)
Get the value of the k1 distortion parameter.
double fx() const
Get the value of the focal length x-value (in pixels).
void p2(double val)
Get the value of the p2 distortion parameter.
void loadFromConfigFile(const std::string §ion, const mrpt::config::CConfigFileBase &cfg)
Load all the params from a config source, in the format used in saveToConfigFile(),...
double k1() const
Get the value of the k1 distortion parameter.
void setDistortionParamsFromValues(double k1, double k2, double p1, double p2, double k3=0)
Set the vector of distortion params of the camera from the individual values of the distortion coeffi...
void p1(double val)
Get the value of the p1 distortion parameter.
void getDistortionParamsVector(mrpt::math::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
uint32_t ncols
Camera resolution.
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...
void cy(double val)
Set the value of the principal point y-coordinate (in pixels).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool operator==(const mrpt::img::TCamera &a, const mrpt::img::TCamera &b)
#define ASSERT_(f)
Defines an assertion mechanism.
double cy() const
Get the value of the principal point y-coordinate (in pixels).
double focalLengthMeters
The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel...
void setDistortionParamsVector(const mrpt::math::CMatrixDouble15 &distParVector)
Set the whole vector of distortion params of the camera.
double fy() const
Get the value of the focal length y-value (in pixels).
std::string dumpAsText() const
Dumps all the parameters as a multi-line string, with the same format than saveToConfigFile.
double cx() const
Get the value of the principal point x-coordinate (in pixels).
void loadFromConfigFile(const mrpt::config::CConfigFileBase &cfg, const std::string §ion)
overload This signature is consistent with the rest of MRPT APIs
This class allows loading and storing values and vectors of different types from a configuration text...
The virtual base class which provides a unified interface for all persistent objects in MRPT.
Structure to hold the parameters of a pinhole camera model.
void saveToConfigFile(const std::string §ion, mrpt::config::CConfigFileBase &cfg) const
Save as a config block:
void setDistortionParamsVector(const VECTORLIKE &distParVector)
Set the whole vector of distortion params of the camera from a 4 or 5-vector.
void setIntrinsicParamsFromValues(double fx, double fy, double cx, double cy)
Set the matrix of intrinsic params of the camera from the individual values of focal length and princ...
#define DECLARE_MEXPLUS_FROM(complete_type)
This must be inserted if a custom conversion method for MEX API is implemented in the class.
bool operator!=(const mrpt::img::TCamera &a, const mrpt::img::TCamera &b)
std::array< double, 5 > dist
[k1 k2 t1 t2 k3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (d...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
double k3() const
Get the value of the k3 distortion parameter.
void k3(double val)
Get the value of the k3 distortion parameter.
void cx(double val)
Set the value of the principal point x-coordinate (in pixels).
double k2() const
Get the value of the k2 distortion parameter.
GLsizei const GLchar ** string
void k2(double val)
Get the value of the k2 distortion parameter.
double p2() const
Get the value of the p2 distortion parameter.
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class.
unsigned __int32 uint32_t
double p1() const
Get the value of the p1 distortion parameter.
void fx(double val)
Set the value of the focal length x-value (in pixels).
GLubyte GLubyte GLubyte a
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