rtabmap::CameraModel Class Reference

#include <CameraModel.h>

List of all members.

Public Member Functions
	CameraModel ()
	CameraModel (const std::string &name, const cv::Size &imageSize, const cv::Mat &K, const cv::Mat &D, const cv::Mat &R, const cv::Mat &P, const Transform &localTransform=Transform::getIdentity())
	CameraModel (double fx, double fy, double cx, double cy, const Transform &localTransform=Transform::getIdentity(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))
	CameraModel (const std::string &name, double fx, double fy, double cx, double cy, const Transform &localTransform=Transform::getIdentity(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))
double	cx () const
double	cy () const
cv::Mat	D () const
cv::Mat	D_raw () const
double	fx () const
double	fy () const
double	horizontalFOV () const
int	imageHeight () const
const cv::Size &	imageSize () const
int	imageWidth () const
void	initRectificationMap ()
bool	isValidForProjection () const
bool	isValidForRectification () const
cv::Mat	K () const
cv::Mat	K_raw () const
bool	load (const std::string &directory, const std::string &cameraName)
const Transform &	localTransform () const
const std::string &	name () const
cv::Mat	P () const
cv::Mat	R () const
cv::Mat	rectifyDepth (const cv::Mat &raw) const
cv::Mat	rectifyImage (const cv::Mat &raw, int interpolation=cv::INTER_LINEAR) const
bool	save (const std::string &directory) const
CameraModel	scaled (double scale) const
void	setImageSize (const cv::Size &size)
void	setLocalTransform (const Transform &transform)
void	setName (const std::string &name)
double	Tx () const
double	verticalFOV () const
virtual	~CameraModel ()
Private Attributes
cv::Mat	D_
cv::Size	imageSize_
cv::Mat	K_
Transform	localTransform_
cv::Mat	mapX_
cv::Mat	mapY_
std::string	name_
cv::Mat	P_
cv::Mat	R_

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Detailed Description

Definition at line 38 of file CameraModel.h.

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Constructor & Destructor Documentation

rtabmap::CameraModel::CameraModel

(

)

Definition at line 37 of file CameraModel.cpp.

rtabmap::CameraModel::CameraModel	(	const std::string &	name,
		const cv::Size &	imageSize,
		const cv::Mat &	K,
		const cv::Mat &	D,
		const cv::Mat &	R,
		const cv::Mat &	P,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 42 of file CameraModel.cpp.

rtabmap::CameraModel::CameraModel	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		const Transform &	localTransform = Transform::getIdentity(),
		double	Tx = 0.0f,
		const cv::Size &	imageSize = cv::Size(0,0)
	)

Definition at line 64 of file CameraModel.cpp.

rtabmap::CameraModel::CameraModel	(	const std::string &	name,
		double	fx,
		double	fy,
		double	cx,
		double	cy,
		const Transform &	localTransform = Transform::getIdentity(),
		double	Tx = 0.0f,
		const cv::Size &	imageSize = cv::Size(0,0)
	)

Definition at line 97 of file CameraModel.cpp.

virtual rtabmap::CameraModel::~CameraModel

(

)

[inline, virtual]

Definition at line 75 of file CameraModel.h.

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Member Function Documentation

double rtabmap::CameraModel::cx

(

)

const [inline]

Definition at line 95 of file CameraModel.h.

double rtabmap::CameraModel::cy

(

)

const [inline]

Definition at line 96 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::D

(

)

const [inline]

Definition at line 102 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::D_raw

(

)

const [inline]

Definition at line 100 of file CameraModel.h.

double rtabmap::CameraModel::fx

(

)

const [inline]

Definition at line 93 of file CameraModel.h.

double rtabmap::CameraModel::fy

(

)

const [inline]

Definition at line 94 of file CameraModel.h.

double rtabmap::CameraModel::horizontalFOV

(

)

const

Definition at line 386 of file CameraModel.cpp.

int rtabmap::CameraModel::imageHeight

(

)

const [inline]

Definition at line 112 of file CameraModel.h.

const cv::Size& rtabmap::CameraModel::imageSize

(

)

const [inline]

Definition at line 110 of file CameraModel.h.

int rtabmap::CameraModel::imageWidth

(

)

const [inline]

Definition at line 111 of file CameraModel.h.

void rtabmap::CameraModel::initRectificationMap

(

)

Definition at line 132 of file CameraModel.cpp.

bool rtabmap::CameraModel::isValidForProjection

(

)

const [inline]

Definition at line 79 of file CameraModel.h.

bool rtabmap::CameraModel::isValidForRectification

(

)

const [inline]

Definition at line 80 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::K

(

)

const [inline]

Definition at line 101 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::K_raw

(

)

const [inline]

Definition at line 99 of file CameraModel.h.

bool rtabmap::CameraModel::load	(	const std::string &	directory,
		const std::string &	cameraName
	)

Definition at line 143 of file CameraModel.cpp.

const Transform& rtabmap::CameraModel::localTransform

(

)

const [inline]

Definition at line 107 of file CameraModel.h.

const std::string& rtabmap::CameraModel::name

(

)

const [inline]

Definition at line 91 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::P

(

)

const [inline]

Definition at line 104 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::R

(

)

const [inline]

Definition at line 103 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::rectifyDepth

(

const cv::Mat &

raw

)

const

Definition at line 421 of file CameraModel.cpp.

cv::Mat rtabmap::CameraModel::rectifyImage	(	const cv::Mat &	raw,
		int	interpolation = cv::INTER_LINEAR
	)		const

Definition at line 404 of file CameraModel.cpp.

bool rtabmap::CameraModel::save

(

const std::string &

directory

)

const

Definition at line 272 of file CameraModel.cpp.

CameraModel rtabmap::CameraModel::scaled

(

double

scale

)

const

Definition at line 349 of file CameraModel.cpp.

void rtabmap::CameraModel::setImageSize

(

const cv::Size &

size

)

[inline]

Definition at line 109 of file CameraModel.h.

void rtabmap::CameraModel::setLocalTransform

(

const Transform &

transform

)

[inline]

Definition at line 106 of file CameraModel.h.

void rtabmap::CameraModel::setName

(

const std::string &

name

)

[inline]

Definition at line 90 of file CameraModel.h.

double rtabmap::CameraModel::Tx

(

)

const [inline]

Definition at line 97 of file CameraModel.h.

double rtabmap::CameraModel::verticalFOV

(

)

const

Definition at line 395 of file CameraModel.cpp.

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Member Data Documentation

cv::Mat rtabmap::CameraModel::D_ [private]

Definition at line 130 of file CameraModel.h.

cv::Size rtabmap::CameraModel::imageSize_ [private]

Definition at line 128 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::K_ [private]

Definition at line 129 of file CameraModel.h.

Transform rtabmap::CameraModel::localTransform_ [private]

Definition at line 135 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::mapX_ [private]

Definition at line 133 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::mapY_ [private]

Definition at line 134 of file CameraModel.h.

std::string rtabmap::CameraModel::name_ [private]

Definition at line 127 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::P_ [private]

Definition at line 132 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::R_ [private]

Definition at line 131 of file CameraModel.h.

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

• CameraModel.h
• CameraModel.cpp