rtabmap::CameraModel Class Reference

#include <CameraModel.h>

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=opticalRotation())
	CameraModel (double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), 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=opticalRotation(), 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
unsigned int	deserialize (const std::vector< unsigned char > &data)
unsigned int	deserialize (const unsigned char *data, unsigned int dataSize)
double	fovX () const
double	fovY () const
double	fx () const
double	fy () const
double	horizontalFOV () const
int	imageHeight () const
const cv::Size &	imageSize () const
int	imageWidth () const
bool	inFrame (int u, int v) const
void	initRectificationMap ()
bool	isRectificationMapInitialized () const
bool	isValidForProjection () const
bool	isValidForRectification () const
bool	isValidForReprojection () const
cv::Mat	K () const
cv::Mat	K_raw () const
bool	load (const std::string &filePath)
bool	load (const std::string &directory, const std::string &cameraName)
const Transform &	localTransform () const
const std::string &	name () const
cv::Mat	P () const
void	project (float u, float v, float depth, float &x, float &y, float &z) 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
void	reproject (float x, float y, float z, float &u, float &v) const
void	reproject (float x, float y, float z, int &u, int &v) const
CameraModel	roi (const cv::Rect &roi) const
bool	save (const std::string &directory) const
CameraModel	scaled (double scale) const
std::vector< unsigned char >	serialize () 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 ()

Static Public Member Functions
static Transform	opticalRotation ()

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_

Detailed Description

Definition at line 38 of file CameraModel.h.

Constructor & Destructor Documentation

rtabmap::CameraModel::CameraModel

(

)

Definition at line 40 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 = opticalRotation()
	)

Definition at line 46 of file CameraModel.cpp.

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

Definition at line 68 of file CameraModel.cpp.

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

Definition at line 111 of file CameraModel.cpp.

virtual rtabmap::CameraModel::~CameraModel ( )

inlinevirtual

Definition at line 82 of file CameraModel.h.

Member Function Documentation

double rtabmap::CameraModel::cx ( ) const

inline

Definition at line 104 of file CameraModel.h.

double rtabmap::CameraModel::cy ( ) const

inline

Definition at line 105 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::D ( ) const

inline

Definition at line 111 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::D_raw ( ) const

inline

Definition at line 109 of file CameraModel.h.

unsigned int rtabmap::CameraModel::deserialize

(

const std::vector< unsigned char > &

data

)

Definition at line 502 of file CameraModel.cpp.

unsigned int rtabmap::CameraModel::deserialize	(	const unsigned char *	data,
		unsigned int	dataSize
	)

Definition at line 506 of file CameraModel.cpp.

double rtabmap::CameraModel::fovX

(

)

const

Definition at line 643 of file CameraModel.cpp.

double rtabmap::CameraModel::fovY

(

)

const

Definition at line 647 of file CameraModel.cpp.

double rtabmap::CameraModel::fx ( ) const

inline

Definition at line 102 of file CameraModel.h.

double rtabmap::CameraModel::fy ( ) const

inline

Definition at line 103 of file CameraModel.h.

double rtabmap::CameraModel::horizontalFOV

(

)

const

Definition at line 652 of file CameraModel.cpp.

int rtabmap::CameraModel::imageHeight ( ) const

inline

Definition at line 121 of file CameraModel.h.

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

inline

Definition at line 119 of file CameraModel.h.

int rtabmap::CameraModel::imageWidth ( ) const

inline

Definition at line 120 of file CameraModel.h.

bool rtabmap::CameraModel::inFrame	(	int	u,
		int	v
	)		const

Definition at line 763 of file CameraModel.cpp.

void rtabmap::CameraModel::initRectificationMap

(

)

Definition at line 156 of file CameraModel.cpp.

bool rtabmap::CameraModel::isRectificationMapInitialized ( ) const

inline

Definition at line 85 of file CameraModel.h.

bool rtabmap::CameraModel::isValidForProjection ( ) const

inline

Definition at line 87 of file CameraModel.h.

bool rtabmap::CameraModel::isValidForRectification ( ) const

inline

Definition at line 89 of file CameraModel.h.

bool rtabmap::CameraModel::isValidForReprojection ( ) const

inline

Definition at line 88 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::K ( ) const

inline

Definition at line 110 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::K_raw ( ) const

inline

Definition at line 108 of file CameraModel.h.

bool rtabmap::CameraModel::load

(

const std::string &

filePath

)

Definition at line 214 of file CameraModel.cpp.

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

Definition at line 363 of file CameraModel.cpp.

const Transform& rtabmap::CameraModel::localTransform ( ) const

inline

Definition at line 116 of file CameraModel.h.

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

inline

Definition at line 100 of file CameraModel.h.

static Transform rtabmap::CameraModel::opticalRotation ( )

inlinestatic

Optical rotation used to transform image coordinate frame (x->right, y->down, z->forward) to robot coordinate frame (x->forward, y->left, z->up).

Definition at line 45 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::P ( ) const

inline

Definition at line 113 of file CameraModel.h.

void rtabmap::CameraModel::project	(	float	u,
		float	v,
		float	depth,
		float &	x,
		float &	y,
		float &	z
	)		const

Definition at line 733 of file CameraModel.cpp.

cv::Mat rtabmap::CameraModel::R ( ) const

inline

Definition at line 112 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::rectifyDepth

(

const cv::Mat &

raw

)

const

Definition at line 679 of file CameraModel.cpp.

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

Definition at line 662 of file CameraModel.cpp.

void rtabmap::CameraModel::reproject	(	float	x,
		float	y,
		float	z,
		float &	u,
		float &	v
	)		const

Definition at line 748 of file CameraModel.cpp.

void rtabmap::CameraModel::reproject	(	float	x,
		float	y,
		float	z,
		int &	u,
		int &	v
	)		const

Definition at line 755 of file CameraModel.cpp.

CameraModel rtabmap::CameraModel::roi

(

const cv::Rect &

roi

)

const

Definition at line 613 of file CameraModel.cpp.

bool rtabmap::CameraModel::save

(

const std::string &

directory

)

const

Definition at line 368 of file CameraModel.cpp.

CameraModel rtabmap::CameraModel::scaled

(

double

scale

)

const

Definition at line 576 of file CameraModel.cpp.

std::vector< unsigned char > rtabmap::CameraModel::serialize

(

)

const

Definition at line 458 of file CameraModel.cpp.

void rtabmap::CameraModel::setImageSize

(

const cv::Size &

size

)

Definition at line 188 of file CameraModel.cpp.

void rtabmap::CameraModel::setLocalTransform ( const Transform &  transform )

inline

Definition at line 115 of file CameraModel.h.

void rtabmap::CameraModel::setName ( const std::string &  name )

inline

Definition at line 99 of file CameraModel.h.

double rtabmap::CameraModel::Tx ( ) const

inline

Definition at line 106 of file CameraModel.h.

double rtabmap::CameraModel::verticalFOV

(

)

const

Definition at line 657 of file CameraModel.cpp.

Member Data Documentation

cv::Mat rtabmap::CameraModel::D_

private

Definition at line 153 of file CameraModel.h.

cv::Size rtabmap::CameraModel::imageSize_

private

Definition at line 151 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::K_

private

Definition at line 152 of file CameraModel.h.

Transform rtabmap::CameraModel::localTransform_

private

Definition at line 158 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::mapX_

private

Definition at line 156 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::mapY_

private

Definition at line 157 of file CameraModel.h.

std::string rtabmap::CameraModel::name_

private

Definition at line 150 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::P_

private

Definition at line 155 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::R_

private

Definition at line 154 of file CameraModel.h.

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

• CameraModel.h
• CameraModel.cpp