mrpt::utils::TCamera Class Reference

Structure to hold the parameters of a pinhole camera model. More...

#include <mrpt/utils/TCamera.h>

Inheritance diagram for mrpt::utils::TCamera:

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Collaboration diagram for mrpt::utils::TCamera:

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List of all members.

Public Member Functions
	TCamera ()
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:.
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.
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 p3=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).
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	p3 () const
	Get the value of the p3 distortion parameter.
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).

Detailed Description

Structure to hold the parameters of a pinhole camera model.

See also:: mrpt::vision::CCamModel, the application camera-calib-gui for calibrating a camera

Definition at line 49 of file TCamera.h.

Constructor & Destructor Documentation

mrpt::utils::TCamera::TCamera ( ) [inline]

Definition at line 54 of file TCamera.h.

Member Function Documentation

double mrpt::utils::TCamera::cx ( ) const [inline]

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

Definition at line 161 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 164 of file TCamera.h.

double mrpt::utils::TCamera::fx ( ) const [inline]

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

Definition at line 167 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 170 of file TCamera.h.

vector_double mrpt::utils::TCamera::getDistortionParamsAsVector ( ) const [inline]

Get a vector with the distortion params of the camera.

Definition at line 124 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 117 of file TCamera.h.

double mrpt::utils::TCamera::k1 ( ) const [inline]

Get the value of the k1 distortion parameter.

Definition at line 174 of file TCamera.h.

double mrpt::utils::TCamera::k2 ( ) const [inline]

Get the value of the k2 distortion parameter.

Definition at line 177 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 T3]
  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 180 of file TCamera.h.

double mrpt::utils::TCamera::p2 ( ) const [inline]

Get the value of the p2 distortion parameter.

Definition at line 183 of file TCamera.h.

double mrpt::utils::TCamera::p3 ( ) const [inline]

Get the value of the p3 distortion parameter.

Definition at line 186 of file TCamera.h.

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 T3]
  focal_length = FOCAL_LENGTH

void mrpt::utils::TCamera::setDistortionParamsFromValues	(	double	k1,
		double	k2,
		double	p1,
		double	p2,
		double	p3 = `0`
	)			`[inline]`

Set the vector of distortion params of the camera from the individual values of the distortion coefficients.

Definition at line 150 of file TCamera.h.

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 140 of file TCamera.h.

References ASSERT_.

void mrpt::utils::TCamera::setDistortionParamsVector ( const CMatrixDouble15 & distParVector ) [inline]

Set the whole vector of distortion params of the camera.

Definition at line 132 of file TCamera.h.

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 108 of file TCamera.h.

Member Data Documentation

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 70 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 71 of file TCamera.h.

CMatrixDouble33 mrpt::utils::TCamera::intrinsicParams

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

Definition at line 69 of file TCamera.h.

uint32_t mrpt::utils::TCamera::ncols

Definition at line 68 of file TCamera.h.

uint32_t mrpt::utils::TCamera::nrows

Camera resolution.