Parameters of the camera. More...

#include <cameraparameters.h>

Public Member Functions
	CameraParameters ()
	CameraParameters (cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) throw (cv::Exception)
	CameraParameters (const CameraParameters &CI)
void	glGetProjectionMatrix (cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar, bool invert=false) throw (cv::Exception)
bool	isValid () const
void	OgreGetProjectionMatrix (cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar, bool invert=false) throw (cv::Exception)
CameraParameters &	operator= (const CameraParameters &CI)
void	readFromFile (string path) throw (cv::Exception)
void	readFromXMLFile (string filePath) throw (cv::Exception)
void	resize (cv::Size size) throw (cv::Exception)
void	saveToFile (string path, bool inXML=true) throw (cv::Exception)
void	setParams (cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) throw (cv::Exception)
Static Public Member Functions
static cv::Point3f	getCameraLocation (cv::Mat Rvec, cv::Mat Tvec)
static cv::Mat	getRTMatrix (const cv::Mat &R_, const cv::Mat &T_, int forceType)
Public Attributes
cv::Mat	CameraMatrix
cv::Size	CamSize
cv::Mat	Distorsion
Static Private Member Functions
static void	argConvGLcpara2 (double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert) throw (cv::Exception)
static int	arParamDecompMat (double source[3][4], double cpara[3][4], double trans[3][4]) throw (cv::Exception)
static double	dot (double a1, double a2, double a3, double b1, double b2, double b3)
static double	norm (double a, double b, double c)

Detailed Description

Parameters of the camera.

Definition at line 39 of file cameraparameters.h.

Constructor & Destructor Documentation

aruco::CameraParameters::CameraParameters ( )

Empty constructor

Definition at line 37 of file cameraparameters.cpp.

aruco::CameraParameters::CameraParameters	(	cv::Mat	cameraMatrix,
		cv::Mat	distorsionCoeff,
		cv::Size	size
	)		throw (cv::Exception)

Creates the object from the info passed

Parameters:

cameraMatrix	3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
distorsionCoeff	4x1 matrix (k1,k2,p1,p2)
size	image size

Definition at line 47 of file cameraparameters.cpp.

aruco::CameraParameters::CameraParameters ( const CameraParameters & CI )

Copy constructor

Definition at line 52 of file cameraparameters.cpp.

Member Function Documentation

void aruco::CameraParameters::argConvGLcpara2	(	double	cparam[3][4],
		int	width,
		int	height,
		double	gnear,
		double	gfar,
		double	m[16],
		bool	invert
	)		throw (cv::Exception) `[static, private]`

Definition at line 274 of file cameraparameters.cpp.

int aruco::CameraParameters::arParamDecompMat	(	double	source[3][4],
		double	cpara[3][4],
		double	trans[3][4]
	)		throw (cv::Exception) `[static, private]`

Definition at line 344 of file cameraparameters.cpp.

double aruco::CameraParameters::dot	(	double	a1,
		double	a2,
		double	a3,
		double	b1,
		double	b2,
		double	b3
	)		`[static, private]`

Definition at line 263 of file cameraparameters.cpp.

cv::Point3f aruco::CameraParameters::getCameraLocation	(	cv::Mat	Rvec,
		cv::Mat	Tvec
	)		`[static]`

Returns the location of the camera in the reference system given by the rotation and translation vectors passed NOT TESTED

Definition at line 89 of file cameraparameters.cpp.

cv::Mat aruco::CameraParameters::getRTMatrix	(	const cv::Mat &	R_,
		const cv::Mat &	T_,
		int	forceType
	)		`[static]`

Returns the 4x4 homogeneous transform matrix from the R and T vectors computed

Definition at line 453 of file cameraparameters.cpp.

void aruco::CameraParameters::glGetProjectionMatrix	(	cv::Size	orgImgSize,
		cv::Size	size,
		double	proj_matrix[16],
		double	gnear,
		double	gfar,
		bool	invert = `false`
	)		throw (cv::Exception)

Given the intrinsic camera parameters returns the GL_PROJECTION matrix for opengl. PLease NOTE that when using OpenGL, it is assumed no camera distorsion! So, if it is not true, you should have undistor image

Parameters:

orgImgSize	size of the original image
size	of the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix
proj_matrix	output projection matrix to give to opengl
gnear,gfar,:	visible rendering range
invert,:	indicates if the output projection matrix has to yield a horizontally inverted image because image data has not been stored in the order of glDrawPixels: bottom-to-top.

Definition at line 223 of file cameraparameters.cpp.

bool aruco::CameraParameters::isValid ( ) const [inline]

Indicates whether this object is valid

Definition at line 71 of file cameraparameters.h.

double aruco::CameraParameters::norm	(	double	a,
		double	b,
		double	c
	)		`[static, private]`

Definition at line 253 of file cameraparameters.cpp.

void aruco::CameraParameters::OgreGetProjectionMatrix	(	cv::Size	orgImgSize,
		cv::Size	size,
		double	proj_matrix[16],
		double	gnear,
		double	gfar,
		bool	invert = `false`
	)		throw (cv::Exception)

setup camera for an Ogre project. Use: ... Ogre::Matrix4 PM(proj_matrix[0], proj_matrix[1], ... , proj_matrix[15]); yourCamera->setCustomProjectionMatrix(true, PM); yourCamera->setCustomViewMatrix(true, Ogre::Matrix4::IDENTITY); ... As in OpenGL, it assumes no camera distorsion

Definition at line 425 of file cameraparameters.cpp.

CameraParameters & aruco::CameraParameters::operator= ( const CameraParameters & CI )

Assign operator

Definition at line 60 of file cameraparameters.cpp.

void aruco::CameraParameters::readFromFile ( string path ) throw (cv::Exception)

Reads the camera parameters from a file generated using saveToFile.

Reads the camera parameters from file

Definition at line 110 of file cameraparameters.cpp.

void aruco::CameraParameters::readFromXMLFile ( string filePath ) throw (cv::Exception)

Reads from a YAML file generated with the opencv2.2 calibration utility

Definition at line 189 of file cameraparameters.cpp.

void aruco::CameraParameters::resize ( cv::Size size ) throw (cv::Exception)

Adjust the parameters to the size of the image indicated

Definition at line 169 of file cameraparameters.cpp.

void aruco::CameraParameters::saveToFile	(	string	path,
		bool	inXML = `true`
	)		throw (cv::Exception)

Saves this to a file

Definition at line 140 of file cameraparameters.cpp.

void aruco::CameraParameters::setParams	(	cv::Mat	cameraMatrix,
		cv::Mat	distorsionCoeff,
		cv::Size	size
	)		throw (cv::Exception)

Sets the parameters

Parameters:

cameraMatrix	3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
distorsionCoeff	4x1 matrix (k1,k2,p1,p2)
size	image size

Definition at line 68 of file cameraparameters.cpp.

Member Data Documentation

cv::Mat aruco::CameraParameters::CameraMatrix

Definition at line 44 of file cameraparameters.h.

cv::Size aruco::CameraParameters::CamSize

Definition at line 48 of file cameraparameters.h.

cv::Mat aruco::CameraParameters::Distorsion

Definition at line 46 of file cameraparameters.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Static Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation