Simplifies interpreting images geometrically using the parameters from sensor_msgs/CameraInfo. More...

#include <pinhole_camera_model.h>

Classes
struct	Cache

Public Member Functions
uint32_t	binningX () const
	Returns the number of columns in each bin. More...

uint32_t	binningY () const
	Returns the number of rows in each bin. More...

const sensor_msgs::CameraInfo &	cameraInfo () const
	Returns the camera info message held internally. More...

double	cx () const
	Returns the x coordinate of the optical center. More...

double	cy () const
	Returns the y coordinate of the optical center. More...

const cv::Mat_< double > &	distortionCoeffs () const
	Returns the distortion coefficients. More...

double	fovX () const
	Returns the horizontal field of view in radians. More...

double	fovY () const
	Returns the vertical field of view in radians. More...

bool	fromCameraInfo (const sensor_msgs::CameraInfo &msg)
	Set the camera parameters from the sensor_msgs/CameraInfo message. More...

bool	fromCameraInfo (const sensor_msgs::CameraInfoConstPtr &msg)
	Set the camera parameters from the sensor_msgs/CameraInfo message. More...

const cv::Matx33d &	fullIntrinsicMatrix () const
	Returns the original camera matrix for full resolution. More...

const cv::Matx34d &	fullProjectionMatrix () const
	Returns the projection matrix for full resolution. More...

cv::Size	fullResolution () const
	The resolution at which the camera was calibrated. More...

double	fx () const
	Returns the focal length (pixels) in x direction of the rectified image. More...

double	fy () const
	Returns the focal length (pixels) in y direction of the rectified image. More...

double	getDeltaU (double deltaX, double Z) const
	Compute delta u, given Z and delta X in Cartesian space. More...

double	getDeltaV (double deltaY, double Z) const
	Compute delta v, given Z and delta Y in Cartesian space. More...

double	getDeltaX (double deltaU, double Z) const
	Compute delta X, given Z in Cartesian space and delta u in pixels. More...

double	getDeltaY (double deltaV, double Z) const
	Compute delta Y, given Z in Cartesian space and delta v in pixels. More...

bool	initialized () const
	Returns true if the camera has been initialized. More...

const cv::Matx33d &	intrinsicMatrix () const
	Returns the original camera matrix. More...

PinholeCameraModel &	operator= (const PinholeCameraModel &other)

	PinholeCameraModel ()

	PinholeCameraModel (const PinholeCameraModel &other)

cv::Point2d	project3dToPixel (const cv::Point3d &xyz) const
	Project a 3d point to rectified pixel coordinates. More...

const cv::Matx34d &	projectionMatrix () const
	Returns the projection matrix. More...

cv::Point3d	projectPixelTo3dRay (const cv::Point2d &uv_rect) const
	Project a rectified pixel to a 3d ray. More...

cv::Point3d	projectPixelTo3dRay (const cv::Point2d &uv_rect, const cv::Matx34d &P) const

cv::Rect	rawRoi () const
	The current raw ROI, as used for capture by the camera driver. More...

cv::Rect	rectifiedRoi () const
	The current rectified ROI, which best fits the raw ROI. More...

void	rectifyImage (const cv::Mat &raw, cv::Mat &rectified, int interpolation=cv::INTER_LINEAR) const
	Rectify a raw camera image. More...

cv::Point2d	rectifyPoint (const cv::Point2d &uv_raw) const
	Compute the rectified image coordinates of a pixel in the raw image. More...

cv::Point2d	rectifyPoint (const cv::Point2d &uv_raw, const cv::Matx33d &K, const cv::Matx34d &P) const

cv::Rect	rectifyRoi (const cv::Rect &roi_raw) const
	Compute the rectified ROI best fitting a raw ROI. More...

cv::Size	reducedResolution () const
	The resolution of the current rectified image. More...

const cv::Matx33d &	rotationMatrix () const
	Returns the rotation matrix. More...

ros::Time	stamp () const
	Get the time stamp associated with this camera model. More...

std::string	tfFrame () const
	Get the name of the camera coordinate frame in tf. More...

cv::Point2d	toFullResolution (const cv::Point2d &uv_reduced) const

cv::Rect	toFullResolution (const cv::Rect &roi_reduced) const

cv::Point2d	toReducedResolution (const cv::Point2d &uv_full) const

cv::Rect	toReducedResolution (const cv::Rect &roi_full) const

double	Tx () const
	Returns the x-translation term of the projection matrix. More...

double	Ty () const
	Returns the y-translation term of the projection matrix. More...

void	unrectifyImage (const cv::Mat &rectified, cv::Mat &raw, int interpolation=cv::INTER_LINEAR) const
	Apply camera distortion to a rectified image. More...

cv::Point2d	unrectifyPoint (const cv::Point2d &uv_rect) const
	Compute the raw image coordinates of a pixel in the rectified image. More...

cv::Point2d	unrectifyPoint (const cv::Point2d &uv_rect, const cv::Matx33d &K, const cv::Matx34d &P) const

cv::Rect	unrectifyRoi (const cv::Rect &roi_rect) const
	Compute the raw ROI best fitting a rectified ROI. More...

Protected Member Functions
void	initRectificationMaps () const

void	initUnrectificationMaps () const

Protected Attributes
std::shared_ptr< Cache >	cache_

sensor_msgs::CameraInfo	cam_info_

cv::Mat_< double >	D_

cv::Matx33d	K_

cv::Matx33d	K_full_

cv::Matx34d	P_

cv::Matx34d	P_full_

cv::Matx33d	R_

Friends
class	StereoCameraModel

Detailed Description

Simplifies interpreting images geometrically using the parameters from sensor_msgs/CameraInfo.

Definition at line 24 of file pinhole_camera_model.h.

Constructor & Destructor Documentation

◆ PinholeCameraModel() [1/2]

image_geometry::PinholeCameraModel::PinholeCameraModel ( )

Definition at line 47 of file pinhole_camera_model.cpp.

◆ PinholeCameraModel() [2/2]

image_geometry::PinholeCameraModel::PinholeCameraModel ( const PinholeCameraModel & other )

Definition at line 58 of file pinhole_camera_model.cpp.

Member Function Documentation

◆ binningX()

uint32_t image_geometry::PinholeCameraModel::binningX ( ) const

inline

Returns the number of columns in each bin.

Definition at line 336 of file pinhole_camera_model.h.

◆ binningY()

uint32_t image_geometry::PinholeCameraModel::binningY ( ) const

inline

Returns the number of rows in each bin.

Definition at line 337 of file pinhole_camera_model.h.

◆ cameraInfo()

const sensor_msgs::CameraInfo & image_geometry::PinholeCameraModel::cameraInfo ( ) const

inline

Returns the camera info message held internally.

Definition at line 314 of file pinhole_camera_model.h.

◆ cx()

double image_geometry::PinholeCameraModel::cx ( ) const

inline

Returns the x coordinate of the optical center.

Definition at line 324 of file pinhole_camera_model.h.

◆ cy()

double image_geometry::PinholeCameraModel::cy ( ) const

inline

Returns the y coordinate of the optical center.

Definition at line 325 of file pinhole_camera_model.h.

◆ distortionCoeffs()

const cv::Mat_< double > & image_geometry::PinholeCameraModel::distortionCoeffs ( ) const

inline

Returns the distortion coefficients.

Definition at line 316 of file pinhole_camera_model.h.

◆ fovX()

double image_geometry::PinholeCameraModel::fovX ( ) const

inline

Returns the horizontal field of view in radians.

Definition at line 329 of file pinhole_camera_model.h.

◆ fovY()

double image_geometry::PinholeCameraModel::fovY ( ) const

inline

Returns the vertical field of view in radians.

Definition at line 332 of file pinhole_camera_model.h.

◆ fromCameraInfo() [1/2]

bool image_geometry::PinholeCameraModel::fromCameraInfo ( const sensor_msgs::CameraInfo & msg )

Set the camera parameters from the sensor_msgs/CameraInfo message.

Todo:: Calculate and use rectified ROI

Todo:: Adjust P by rectified ROI instead

Definition at line 97 of file pinhole_camera_model.cpp.

◆ fromCameraInfo() [2/2]

bool image_geometry::PinholeCameraModel::fromCameraInfo ( const sensor_msgs::CameraInfoConstPtr & msg )

Set the camera parameters from the sensor_msgs/CameraInfo message.

Definition at line 225 of file pinhole_camera_model.cpp.

◆ fullIntrinsicMatrix()

const cv::Matx33d & image_geometry::PinholeCameraModel::fullIntrinsicMatrix ( ) const

inline

Returns the original camera matrix for full resolution.

Definition at line 319 of file pinhole_camera_model.h.

◆ fullProjectionMatrix()

const cv::Matx34d & image_geometry::PinholeCameraModel::fullProjectionMatrix ( ) const

inline

Returns the projection matrix for full resolution.

Definition at line 320 of file pinhole_camera_model.h.

◆ fullResolution()

cv::Size image_geometry::PinholeCameraModel::fullResolution ( ) const

The resolution at which the camera was calibrated.

The maximum resolution at which the camera can be used with the current calibration; normally this is the same as the imager resolution.

Definition at line 230 of file pinhole_camera_model.cpp.

◆ fx()

double image_geometry::PinholeCameraModel::fx ( ) const

inline

Returns the focal length (pixels) in x direction of the rectified image.

Definition at line 322 of file pinhole_camera_model.h.

◆ fy()

double image_geometry::PinholeCameraModel::fy ( ) const

inline

Returns the focal length (pixels) in y direction of the rectified image.

Definition at line 323 of file pinhole_camera_model.h.

◆ getDeltaU()

double image_geometry::PinholeCameraModel::getDeltaU	(	double	deltaX,
		double	Z
	)		const

inline

Compute delta u, given Z and delta X in Cartesian space.

For given Z, this is the inverse of getDeltaX().

Parameters

deltaX	Delta X, in Cartesian space
Z	Z (depth), in Cartesian space

Definition at line 339 of file pinhole_camera_model.h.

◆ getDeltaV()

double image_geometry::PinholeCameraModel::getDeltaV	(	double	deltaY,
		double	Z
	)		const

inline

Compute delta v, given Z and delta Y in Cartesian space.

For given Z, this is the inverse of getDeltaY().

Parameters

deltaY	Delta Y, in Cartesian space
Z	Z (depth), in Cartesian space

Definition at line 345 of file pinhole_camera_model.h.

◆ getDeltaX()

double image_geometry::PinholeCameraModel::getDeltaX	(	double	deltaU,
		double	Z
	)		const

inline

Compute delta X, given Z in Cartesian space and delta u in pixels.

For given Z, this is the inverse of getDeltaU().

Parameters

deltaU	Delta u, in pixels
Z	Z (depth), in Cartesian space

Definition at line 351 of file pinhole_camera_model.h.

◆ getDeltaY()

double image_geometry::PinholeCameraModel::getDeltaY	(	double	deltaV,
		double	Z
	)		const

inline

Compute delta Y, given Z in Cartesian space and delta v in pixels.

For given Z, this is the inverse of getDeltaV().

Parameters

deltaV	Delta v, in pixels
Z	Z (depth), in Cartesian space

Definition at line 357 of file pinhole_camera_model.h.

◆ initialized()

bool image_geometry::PinholeCameraModel::initialized ( ) const

inline

Returns true if the camera has been initialized.

Definition at line 275 of file pinhole_camera_model.h.

◆ initRectificationMaps()

void image_geometry::PinholeCameraModel::initRectificationMaps ( ) const

protected

Todo:: For large binning settings, can drop extra rows/cols at bottom/right boundary. Make sure we're handling that 100% correctly.

Todo:: Should binned resolution, K, P be part of public API?

Todo:: Use rectified ROI

Definition at line 499 of file pinhole_camera_model.cpp.

◆ initUnrectificationMaps()

void image_geometry::PinholeCameraModel::initUnrectificationMaps ( ) const

protected

Todo:: For large binning settings, can drop extra rows/cols at bottom/right boundary. Make sure we're handling that 100% correctly.

Todo:: Should binned resolution, K, P be part of public API?

Todo:: Use rectified ROI

Definition at line 581 of file pinhole_camera_model.cpp.

◆ intrinsicMatrix()

const cv::Matx33d & image_geometry::PinholeCameraModel::intrinsicMatrix ( ) const

inline

Returns the original camera matrix.

Definition at line 315 of file pinhole_camera_model.h.

◆ operator=()

PinholeCameraModel & image_geometry::PinholeCameraModel::operator= ( const PinholeCameraModel & other )

Definition at line 51 of file pinhole_camera_model.cpp.

◆ project3dToPixel()

cv::Point2d image_geometry::PinholeCameraModel::project3dToPixel ( const cv::Point3d & xyz ) const

Project a 3d point to rectified pixel coordinates.

This is the inverse of projectPixelTo3dRay().

Parameters

xyz	3d point in the camera coordinate frame

Returns: (u,v) in rectified pixel coordinates

Definition at line 299 of file pinhole_camera_model.cpp.

◆ projectionMatrix()

const cv::Matx34d & image_geometry::PinholeCameraModel::projectionMatrix ( ) const

inline

Returns the projection matrix.

Definition at line 318 of file pinhole_camera_model.h.

◆ projectPixelTo3dRay() [1/2]

cv::Point3d image_geometry::PinholeCameraModel::projectPixelTo3dRay ( const cv::Point2d & uv_rect ) const

Project a rectified pixel to a 3d ray.

Returns the unit vector in the camera coordinate frame in the direction of rectified pixel (u,v) in the image plane. This is the inverse of project3dToPixel().

In 1.4.x, the vector has z = 1.0. Previously, this function returned a unit vector.

Parameters

uv_rect Rectified pixel coordinates

Returns: 3d ray passing through (u,v)

Definition at line 313 of file pinhole_camera_model.cpp.

◆ projectPixelTo3dRay() [2/2]

cv::Point3d image_geometry::PinholeCameraModel::projectPixelTo3dRay	(	const cv::Point2d &	uv_rect,
		const cv::Matx34d &	P
	)		const

Definition at line 318 of file pinhole_camera_model.cpp.

◆ rawRoi()

cv::Rect image_geometry::PinholeCameraModel::rawRoi ( ) const

The current raw ROI, as used for capture by the camera driver.

Definition at line 276 of file pinhole_camera_model.cpp.

◆ rectifiedRoi()

cv::Rect image_geometry::PinholeCameraModel::rectifiedRoi ( ) const

The current rectified ROI, which best fits the raw ROI.

Definition at line 284 of file pinhole_camera_model.cpp.

◆ rectifyImage()

void image_geometry::PinholeCameraModel::rectifyImage	(	const cv::Mat &	raw,
		cv::Mat &	rectified,
		int	interpolation = `cv::INTER_LINEAR`
	)		const

Rectify a raw camera image.

Definition at line 336 of file pinhole_camera_model.cpp.

◆ rectifyPoint() [1/2]

cv::Point2d image_geometry::PinholeCameraModel::rectifyPoint ( const cv::Point2d & uv_raw ) const

Compute the rectified image coordinates of a pixel in the raw image.

Definition at line 384 of file pinhole_camera_model.cpp.

◆ rectifyPoint() [2/2]

cv::Point2d image_geometry::PinholeCameraModel::rectifyPoint	(	const cv::Point2d &	uv_raw,
		const cv::Matx33d &	K,
		const cv::Matx34d &	P
	)		const

Todo:: cv::undistortPoints requires the point data to be float, should allow double

Definition at line 389 of file pinhole_camera_model.cpp.

◆ rectifyRoi()

cv::Rect image_geometry::PinholeCameraModel::rectifyRoi ( const cv::Rect & roi_raw ) const

Compute the rectified ROI best fitting a raw ROI.

Todo:: Actually implement "best fit" as described by REP 104.

Definition at line 456 of file pinhole_camera_model.cpp.

◆ reducedResolution()

cv::Size image_geometry::PinholeCameraModel::reducedResolution ( ) const

The resolution of the current rectified image.

The size of the rectified image associated with the latest CameraInfo, as reduced by binning/ROI and affected by distortion. If binning and ROI are not in use, this is the same as fullResolution().

Definition at line 236 of file pinhole_camera_model.cpp.

◆ rotationMatrix()

const cv::Matx33d & image_geometry::PinholeCameraModel::rotationMatrix ( ) const

inline

Returns the rotation matrix.

Definition at line 317 of file pinhole_camera_model.h.

◆ stamp()

ros::Time image_geometry::PinholeCameraModel::stamp ( ) const

inline

Get the time stamp associated with this camera model.

Definition at line 308 of file pinhole_camera_model.h.

◆ tfFrame()

std::string image_geometry::PinholeCameraModel::tfFrame ( ) const

inline

Get the name of the camera coordinate frame in tf.

Definition at line 302 of file pinhole_camera_model.h.

◆ toFullResolution() [1/2]

cv::Point2d image_geometry::PinholeCameraModel::toFullResolution ( const cv::Point2d & uv_reduced ) const

Definition at line 244 of file pinhole_camera_model.cpp.

◆ toFullResolution() [2/2]

cv::Rect image_geometry::PinholeCameraModel::toFullResolution ( const cv::Rect & roi_reduced ) const

Definition at line 251 of file pinhole_camera_model.cpp.

◆ toReducedResolution() [1/2]

cv::Point2d image_geometry::PinholeCameraModel::toReducedResolution ( const cv::Point2d & uv_full ) const

Definition at line 260 of file pinhole_camera_model.cpp.

◆ toReducedResolution() [2/2]

cv::Rect image_geometry::PinholeCameraModel::toReducedResolution ( const cv::Rect & roi_full ) const

Definition at line 267 of file pinhole_camera_model.cpp.

◆ Tx()

double image_geometry::PinholeCameraModel::Tx ( ) const

inline

Returns the x-translation term of the projection matrix.

Definition at line 326 of file pinhole_camera_model.h.

◆ Ty()

double image_geometry::PinholeCameraModel::Ty ( ) const

inline

Returns the y-translation term of the projection matrix.

Definition at line 327 of file pinhole_camera_model.h.

◆ unrectifyImage()

void image_geometry::PinholeCameraModel::unrectifyImage	(	const cv::Mat &	rectified,
		cv::Mat &	raw,
		int	interpolation = `cv::INTER_LINEAR`
	)		const

Apply camera distortion to a rectified image.

Definition at line 360 of file pinhole_camera_model.cpp.

◆ unrectifyPoint() [1/2]

cv::Point2d image_geometry::PinholeCameraModel::unrectifyPoint ( const cv::Point2d & uv_rect ) const

Compute the raw image coordinates of a pixel in the rectified image.

Definition at line 418 of file pinhole_camera_model.cpp.

◆ unrectifyPoint() [2/2]

cv::Point2d image_geometry::PinholeCameraModel::unrectifyPoint	(	const cv::Point2d &	uv_rect,
		const cv::Matx33d &	K,
		const cv::Matx34d &	P
	)		const

Definition at line 423 of file pinhole_camera_model.cpp.

◆ unrectifyRoi()

cv::Rect image_geometry::PinholeCameraModel::unrectifyRoi ( const cv::Rect & roi_rect ) const

Compute the raw ROI best fitting a rectified ROI.

Todo:: Actually implement "best fit" as described by REP 104.

Definition at line 478 of file pinhole_camera_model.cpp.

Friends And Related Function Documentation

◆ StereoCameraModel

friend class StereoCameraModel

friend

Definition at line 297 of file pinhole_camera_model.h.

Member Data Documentation

◆ cache_

std::shared_ptr<Cache> image_geometry::PinholeCameraModel::cache_

protected

Definition at line 287 of file pinhole_camera_model.h.

◆ cam_info_

sensor_msgs::CameraInfo image_geometry::PinholeCameraModel::cam_info_

protected

Definition at line 278 of file pinhole_camera_model.h.

◆ D_

cv::Mat_<double> image_geometry::PinholeCameraModel::D_

protected

Definition at line 279 of file pinhole_camera_model.h.

◆ K_

cv::Matx33d image_geometry::PinholeCameraModel::K_

protected

Definition at line 281 of file pinhole_camera_model.h.

◆ K_full_

cv::Matx33d image_geometry::PinholeCameraModel::K_full_

protected

Definition at line 283 of file pinhole_camera_model.h.

◆ P_

cv::Matx34d image_geometry::PinholeCameraModel::P_

protected

Definition at line 282 of file pinhole_camera_model.h.

◆ P_full_

cv::Matx34d image_geometry::PinholeCameraModel::P_full_

protected

Definition at line 284 of file pinhole_camera_model.h.

◆ R_

cv::Matx33d image_geometry::PinholeCameraModel::R_

protected

Definition at line 280 of file pinhole_camera_model.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ PinholeCameraModel() [1/2]

◆ PinholeCameraModel() [2/2]

Member Function Documentation

◆ binningX()

◆ binningY()

◆ cameraInfo()

◆ cx()

◆ cy()

◆ distortionCoeffs()

◆ fovX()

◆ fovY()

◆ fromCameraInfo() [1/2]

◆ fromCameraInfo() [2/2]

◆ fullIntrinsicMatrix()

◆ fullProjectionMatrix()

◆ fullResolution()

◆ fx()

◆ fy()

◆ getDeltaU()

◆ getDeltaV()

◆ getDeltaX()

◆ getDeltaY()

◆ initialized()

◆ initRectificationMaps()

◆ initUnrectificationMaps()

◆ intrinsicMatrix()

◆ operator=()

◆ project3dToPixel()

◆ projectionMatrix()

◆ projectPixelTo3dRay() [1/2]

◆ projectPixelTo3dRay() [2/2]

◆ rawRoi()

◆ rectifiedRoi()

◆ rectifyImage()

◆ rectifyPoint() [1/2]

◆ rectifyPoint() [2/2]

◆ rectifyRoi()

◆ reducedResolution()

◆ rotationMatrix()

◆ stamp()

◆ tfFrame()

◆ toFullResolution() [1/2]

◆ toFullResolution() [2/2]

◆ toReducedResolution() [1/2]

◆ toReducedResolution() [2/2]

◆ Tx()

◆ Ty()

◆ unrectifyImage()

◆ unrectifyPoint() [1/2]

◆ unrectifyPoint() [2/2]

◆ unrectifyRoi()

Friends And Related Function Documentation

◆ StereoCameraModel

Member Data Documentation

◆ cache_

◆ cam_info_

◆ D_

◆ K_

◆ K_full_

◆ P_

◆ P_full_

◆ R_