ipa_CameraSensors::CameraSensorToolbox Class Reference

#include <CameraSensorToolbox.h>

Public Member Functions
	CameraSensorToolbox (const CameraSensorToolbox &cameraSensorToolbox)
	Copy constructor.
	CameraSensorToolbox ()
	Constructor.
virtual cv::Mat	GetDistortionMapX (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex)
virtual cv::Mat	GetDistortionMapY (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex)
virtual cv::Mat	GetDistortionParameters (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex)
virtual cv::Mat	GetExtrinsicParameters (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex)
virtual cv::Mat	GetIntrinsicMatrix (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex)
virtual unsigned long	Init (const std::map< std::string, cv::Mat > intrinsicMatrices, const std::map< std::string, cv::Mat > distortionParameters, const std::map< std::string, cv::Mat > extrinsicMatrices, const std::map< std::string, cv::Mat > undistortMapsX, const std::map< std::string, cv::Mat > *undistortMapY, const CvSize imageSize)
virtual unsigned long	Init (std::string directory, ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, const CvSize imageSize)
CameraSensorToolbox &	operator= (const CameraSensorToolbox &cameraSensorToolbox)
	Overwritten assignment operator.
virtual unsigned long	Release ()
virtual unsigned long	RemoveDistortion (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, const cv::Mat &src, cv::Mat &dst)
virtual unsigned long	ReprojectXYZ (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, double x, double y, double z, int &u, int &v)
virtual unsigned long	SetExtrinsicParameters (std::string key, const cv::Mat &_rotation, const cv::Mat &_translation)
virtual unsigned long	SetExtrinsicParameters (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, const cv::Mat &_rotation, const cv::Mat &_translation)
virtual unsigned long	SetIntrinsicParameters (std::string key, const cv::Mat &_intrinsicMatrix, const cv::Mat &_distortion_coeffs)
virtual unsigned long	SetIntrinsicParameters (ipa_CameraSensors::t_cameraType cameraType, int cameraIndex, const cv::Mat &_intrinsicMatrix, const cv::Mat &_distortion_coeffs)
	~CameraSensorToolbox ()
	Destructor.
Private Member Functions
virtual unsigned long	ConvertCameraTypeToString (ipa_CameraSensors::t_cameraType cameraType, std::string &cameraTypeString)
virtual unsigned long	LoadParameters (const char *filename, ipa_CameraSensors::t_cameraType cameraType, int cameraIndex)
Private Attributes
std::map< std::string, cv::Mat >	m_distortionCoeffs
	Distortion coefficients [k1, k2, p1=0, p2=0].
std::map< std::string, cv::Mat >	m_extrinsicMatrices
CvSize	m_ImageSize
	The size of the image that is returned.
bool	m_Initialized
	True, when the camera has sucessfully been initialized.
std::map< std::string, cv::Mat >	m_intrinsicMatrices
	Intrinsic parameters [fx 0 cx; 0 fy cy; 0 0 1].
std::map< std::string, cv::Mat >	m_undistortMapsX
	where R is a 3x3 rotation matrix and T is a 3x1 translation vector.
std::map< std::string, cv::Mat >	m_undistortMapsY
	The output array of Y coordinates for the undistortion map.

Detailed Description

A toolbox for common color cameras. Provides generic functions like image undistortion. Holds essential matrices like distortion, intrinsic and extrinsic matrix. For each camera in the system a separate camera toolbox should be initialized.

Definition at line 87 of file CameraSensorToolbox.h.

Constructor & Destructor Documentation

CameraSensorToolbox::CameraSensorToolbox ( )

Constructor.

Definition at line 73 of file CameraSensorToolbox.cpp.

CameraSensorToolbox::~CameraSensorToolbox ( )

Destructor.

Definition at line 78 of file CameraSensorToolbox.cpp.

CameraSensorToolbox::CameraSensorToolbox ( const CameraSensorToolbox & cameraSensorToolbox )

Copy constructor.

Definition at line 97 of file CameraSensorToolbox.cpp.

Member Function Documentation

unsigned long CameraSensorToolbox::ConvertCameraTypeToString	(	ipa_CameraSensors::t_cameraType	cameraType,
		std::string &	cameraTypeString
	)			`[private, virtual]`

Converts the camera type enumeration value to a string.

Parameters:

	cameraType	The camera type as enumeration
	cameraTypeString	The resulting string

Returns:: Retun code

Definition at line 248 of file CameraSensorToolbox.cpp.

cv::Mat CameraSensorToolbox::GetDistortionMapX	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex
	)			`[virtual]`

Returns the distortion map for x components For each x pixel, the undistorted location is specified within the distortion map.

Parameters:

	cameraType	The camera type, the parameters are optimized with
	cameraIndex	Index of the specified camera, the parameters are optimized with

Returns:: The distortion map for x components

Definition at line 479 of file CameraSensorToolbox.cpp.

cv::Mat CameraSensorToolbox::GetDistortionMapY	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex
	)			`[virtual]`

Returns the distortion map for x components For each y pixel, the undistorted location is specified within the distortion map.

Parameters:

	cameraType	The camera type, the parameters are optimized with
	cameraIndex	Index of the specified camera, the parameters are optimized with

Returns:: The distortion map for y components

Definition at line 499 of file CameraSensorToolbox.cpp.

cv::Mat CameraSensorToolbox::GetDistortionParameters	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex
	)			`[virtual]`

Returns the distortion coefficients. The matrix is given by [k1, k2, p1, p2] where k1, k2 are radial distortion coefficients and p1, p2 are tangential distortion coefficients.

Parameters:

	cameraType	The camera type, the parameters are optimized with
	cameraIndex	Index of the specified camera, the parameters are optimized with

Returns:: The OpenCV matrix that refers to the distortion parameters.

Definition at line 459 of file CameraSensorToolbox.cpp.

cv::Mat CameraSensorToolbox::GetExtrinsicParameters	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex
	)			`[virtual]`

Returns a matrix of the camera's extrinsic parameters. The extrinsic matrix is a 4x3 matrix of the format (R|t), where R desribes a 3x3 rotation matrix and t a 3x1 translation vector.

Parameters:

	cameraType	The camera type
	cameraIndex	The camera index

Returns:: The OpenCV matrix that refers to the extrinsic parameters of the camera.

Definition at line 294 of file CameraSensorToolbox.cpp.

cv::Mat CameraSensorToolbox::GetIntrinsicMatrix	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex
	)			`[virtual]`

Returns a matrix of the camera's intrinsic parameters.

Parameters:

	cameraType	The camera type, the parameters are optimized with
	cameraIndex	Index of the specified camera, the parameters are optimized with

Returns:: The OpenCV matrix that should refer to the intrinsic parameters

Definition at line 360 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::Init	(	const std::map< std::string, cv::Mat > *	intrinsicMatrices,
		const std::map< std::string, cv::Mat > *	distortionParameters,
		const std::map< std::string, cv::Mat > *	extrinsicMatrices,
		const std::map< std::string, cv::Mat > *	undistortMapsX,
		const std::map< std::string, cv::Mat > *	undistortMapY,
		const CvSize	imageSize
	)			`[virtual]`

Initialize the camera sensor toolbox.

Parameters:

	intrinsicMatrices	Intrinsic parameters [fx 0 cx; 0 fy cy; 0 0 1]
	distortionParameters	Distortion coefficients [k1, k2, p1=0, p2=0]
	extrinsicMatrices	3x4 matrix of the form (R\|t), where R is a 3x3 rotation matrix and t a 3x1 translation vector.
	undistortMapsX	The output array of x coordinates for the undistortion map
	undistortMapY	The output array of Y coordinates for the undistortion map
	imageSize	The Size of the image returned by the camera

Returns:: Return code

Definition at line 201 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::Init	(	std::string	directory,
		ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex,
		const CvSize	imageSize
	)			`[virtual]`

Initialize the camera sensor toolbox. The matrices are read from the specified xml configuration file.

Parameters:

	directory	The director where the configuration resides, with ending '/'.
	cameraType	The camera type
	cameraIndex	The camera index
	imageSize	The Size of the image returned by the camera

Returns:: Return code

Definition at line 183 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::LoadParameters	(	const char *	filename,
		ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex
	)			`[private, virtual]`

Parses the XML configuration file, that holds the camera settings

Parameters:

	filename	The file name and path of the configuration file
	cameraType	The camera type i.e. CAM_AVTPIKE or CAM_IC
	cameraIndex	The index of the camera within the configuration file i.e. AvtPikeCam_0 or ICCam_1

Returns:: Return value

Definition at line 592 of file CameraSensorToolbox.cpp.

CameraSensorToolbox & CameraSensorToolbox::operator= ( const CameraSensorToolbox & cameraSensorToolbox )

Overwritten assignment operator.

Definition at line 136 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::Release ( ) [virtual]

Release all allocated memory.

Returns:: Return code

Definition at line 83 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::RemoveDistortion	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex,
		const cv::Mat &	src,
		cv::Mat &	dst
	)			`[virtual]`

Removes distortion from an image. It is necessary to set the distortion coefficients prior to calling this function.

Parameters:

	t_cameraType	The camera type
	cameraIndex	Index of the specified camera, the parameters are optimized with
	src	The distorted image.
	dst	The undistorted image.

Returns:: Return code.

Definition at line 519 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::ReprojectXYZ	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex,
		double	x,
		double	y,
		double	z,
		int &	u,
		int &	v
	)			`[virtual]`

Returns image coordinates (u,v) from (x,y,z) coordinates. (x,y,z) is expressed within the cameras coordinate system.

Parameters:

	t_cameraType	The camera type
	cameraIndex	Index of the specified camera, the parameters are optimized with
	u	image coordinate u
	v	image coordinate v
	x	x-coordinates in mm relative to the camera's coodinate system.
	y	y-coordinates in mm relative to the camera's coodinate system.
	z	z-coordinates in mm relative to the camera's coodinate system.

Returns:: Return code

Definition at line 545 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::SetExtrinsicParameters	(	std::string	key,
		const cv::Mat &	_rotation,
		const cv::Mat &	_translation
	)			`[virtual]`

Sets the camera's extrinsic parameters. The extrinsic matrix is a 4x3 matrix of the format (R|T), where R desribes a 3x3 rotation matrix and T a 3x1 translation vector.

Parameters:

	key	The key/identifier within the map of extrinsic matrices
	_translation	3x1 translation vector.
	_rotation	3x3 rotation matrix.

Returns:: Return code.

Definition at line 326 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::SetExtrinsicParameters	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex,
		const cv::Mat &	_rotation,
		const cv::Mat &	_translation
	)			`[virtual]`

Sets the camera's extrinsic parameters. The extrinsic matrix is a 4x3 matrix of the format (R|T), where R desribes a 3x3 rotation matrix and T a 3x1 translation vector.

Parameters:

	t_cameraType	The camera type
	cameraIndex	The camera index
	_translation	3x1 translation vector.
	_rotation	3x3 rotation matrix.

Returns:: Return code.

Definition at line 314 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::SetIntrinsicParameters	(	std::string	key,
		const cv::Mat &	_intrinsicMatrix,
		const cv::Mat &	_distortion_coeffs
	)			`[virtual]`

Initializes the distortion parameters. The following equations apply: (x,y,z) = R*(X,Y,Z) + t and x' = x/z, y' = y/z and u = fx*x' + cx, v = fy*y' + cy. The model might be extended with distortion coefficients to replace x' and y' with x'' = x'*(1 + k1*r^2 + k2*r^4) + 2*p1*x'*y' + p2(r^2+2*x'^2) y'' = y'*(1 + k1*r^2 + k2*r^4) + p1(r^2+2*y'^2) + 2*p2*x'*y'

Parameters:

	key	The key/identifier within the map of extrinsic matrices
	_intrinsicMatrix	The cameras intrinsic matrix
	_distortion_coeffs	radial and tangential distortion coefficient

Returns:: Return code.

Definition at line 392 of file CameraSensorToolbox.cpp.

unsigned long CameraSensorToolbox::SetIntrinsicParameters	(	ipa_CameraSensors::t_cameraType	cameraType,
		int	cameraIndex,
		const cv::Mat &	_intrinsicMatrix,
		const cv::Mat &	_distortion_coeffs
	)			`[virtual]`

Initializes the distortion parameters. The following equations apply: (x,y,z) = R*(X,Y,Z) + t and x' = x/z, y' = y/z and u = fx*x' + cx, v = fy*y' + cy. The model might be extended with distortion coefficients to replace x' and y' with x'' = x'*(1 + k1*r^2 + k2*r^4) + 2*p1*x'*y' + p2(r^2+2*x'^2) y'' = y'*(1 + k1*r^2 + k2*r^4) + p1(r^2+2*y'^2) + 2*p2*x'*y'

Parameters:

	cameraType	The camera type, the parameters are optimized with
	cameraIndex	Index of the specified camera, the parameters are optimized with
	_intrinsicMatrix	The cameras intrinsic matrix
	_distortion_coeffs	radial and tangential distortion coefficient