Simple Camera class for calculating distortions, orientation or projections with pre-calibrated camera. More...

#include <Camera.h>

Inheritance diagram for alvar::Camera:

Public Member Functions
void	CalcExteriorOrientation (std::vector< CvPoint3D64f > &pw, std::vector< CvPoint2D64f > &pi, Pose *pose)
	Calculate exterior orientation. More...

void	CalcExteriorOrientation (std::vector< CvPoint3D64f > &pw, std::vector< PointDouble > &pi, CvMat rodriques, CvMat tra)
	Calculate exterior orientation. More...

void	CalcExteriorOrientation (std::vector< PointDouble > &pw, std::vector< PointDouble > &pi, CvMat rodriques, CvMat tra)
	Calculate exterior orientation. More...

void	CalcExteriorOrientation (std::vector< PointDouble > &pw, std::vector< PointDouble > &pi, Pose *pose)
	Calculate exterior orientation. More...

bool	CalcExteriorOrientation (const CvMat object_points, CvMat image_points, Pose *pose)
	Update existing pose based on new observations. Use (CV_32FC3 and CV_32FC2) for matrices. More...

bool	CalcExteriorOrientation (const CvMat object_points, CvMat image_points, CvMat rodriques, CvMat tra)
	Update existing pose (in rodriques&tra) based on new observations. Use (CV_32FC3 and CV_32FC2) for matrices. More...

void	Calibrate (ProjPoints &pp)
	Calibrate using the collected ProjPoints. More...

	Camera ()
	Constructor. More...

	Camera (ros::NodeHandle &n, std::string cam_info_topic)

void	Distort (CvPoint2D32f &point)
	Applys the lens distortion for one point on an image plane. More...

void	Distort (std::vector< PointDouble > &points)
	Applys the lens distortion for points on image plane. More...

void	Distort (PointDouble &point)
	Applys the lens distortion for points on image plane. More...

double	GetFovX ()
	Get x-direction FOV in radians. More...

double	GetFovY ()
	Get y-direction FOV in radians. More...

void	GetOpenglProjectionMatrix (double proj_matrix[16], const int width, const int height, const float far_clip=1000.0f, const float near_clip=0.1f)
	Get OpenGL matrix Generates the OpenGL projection matrix based on OpenCV intrinsic camera matrix K. More...

void	ProjectPoint (const CvPoint3D64f pw, const Pose *pose, CvPoint2D64f &pi) const
	Project one point. More...

void	ProjectPoint (const CvPoint3D32f pw, const Pose *pose, CvPoint2D32f &pi) const
	Project one point. More...

void	ProjectPoints (std::vector< CvPoint3D64f > &pw, Pose *pose, std::vector< CvPoint2D64f > &pi) const
	Project points. More...

void	ProjectPoints (const CvMat object_points, const CvMat rotation_vector, const CvMat translation_vector, CvMat image_points) const
	Project points. More...

void	ProjectPoints (const CvMat object_points, double gl[16], CvMat image_points) const
	Project points. More...

void	ProjectPoints (const CvMat object_points, const Pose pose, CvMat *image_points) const
	Project points. More...

bool	SaveCalib (const char *calibfile, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Save the current calibration information to a file. More...

bool	Serialize (Serialization *ser)
	One of the two methods to make this class serializable by Serialization class. More...

std::string	SerializeId ()
	One of the two methods to make this class serializable by Serialization class. More...

bool	SetCalib (const char *calibfile, int _x_res, int _y_res, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Set the calibration file and the current resolution for which the calibration is adjusted to. More...

void	SetCameraInfo (const sensor_msgs::CameraInfo &camInfo)

void	SetOpenglProjectionMatrix (double proj_matrix[16], const int width, const int height)
	Invert operation for GetOpenglProjectionMatrix. More...

void	SetRes (int _x_res, int _y_res)
	If we have no calibration file we can still adjust the default calibration to current resolution. More...

void	SetSimpleCalib (int _x_res, int _y_res, double f_fac=1.)

void	Undistort (std::vector< PointDouble > &points)
	Unapplys the lens distortion for points on image plane. More...

void	Undistort (PointDouble &point)
	Unapplys the lens distortion for one point on an image plane. More...

void	Undistort (CvPoint2D32f &point)
	Unapplys the lens distortion for one point on an image plane. More...

Public Attributes
CvMat	calib_D

double	calib_D_data [4]

CvMat	calib_K

double	calib_K_data [3][3]

int	calib_x_res

int	calib_y_res

bool	getCamInfo_

int	x_res

int	y_res

Protected Member Functions
void	camInfoCallback (const sensor_msgs::CameraInfoConstPtr &)

Protected Attributes
sensor_msgs::CameraInfo	cam_info_

std::string	cameraInfoTopic_

ros::NodeHandle	n_

ros::Subscriber	sub_

Private Member Functions
bool	LoadCalibOpenCV (const char *calibfile)

bool	LoadCalibXML (const char *calibfile)

bool	SaveCalibOpenCV (const char *calibfile)

bool	SaveCalibXML (const char *calibfile)

Detailed Description

Simple Camera class for calculating distortions, orientation or projections with pre-calibrated camera.

Examples:: SampleCamCalib.cpp, SampleMarkerDetector.cpp, SampleMarkerHide.cpp, SampleMultiMarker.cpp, SampleMultiMarkerBundle.cpp, and SampleTrack.cpp.

Definition at line 82 of file Camera.h.

Constructor & Destructor Documentation

alvar::Camera::Camera ( )

Constructor.

Definition at line 106 of file Camera.cpp.

alvar::Camera::Camera	(	ros::NodeHandle &	n,
		std::string	cam_info_topic
	)

Definition at line 123 of file Camera.cpp.

Member Function Documentation

void alvar::Camera::CalcExteriorOrientation	(	std::vector< CvPoint3D64f > &	pw,
		std::vector< CvPoint2D64f > &	pi,
		Pose *	pose
	)

Calculate exterior orientation.

Examples:: SampleCamCalib.cpp.

void alvar::Camera::CalcExteriorOrientation	(	std::vector< CvPoint3D64f > &	pw,
		std::vector< PointDouble > &	pi,
		CvMat *	rodriques,
		CvMat *	tra
	)

Calculate exterior orientation.

void alvar::Camera::CalcExteriorOrientation	(	std::vector< PointDouble > &	pw,
		std::vector< PointDouble > &	pi,
		CvMat *	rodriques,
		CvMat *	tra
	)

Calculate exterior orientation.

void alvar::Camera::CalcExteriorOrientation	(	std::vector< PointDouble > &	pw,
		std::vector< PointDouble > &	pi,
		Pose *	pose
	)

Calculate exterior orientation.

bool alvar::Camera::CalcExteriorOrientation	(	const CvMat *	object_points,
		CvMat *	image_points,
		Pose *	pose
	)

Update existing pose based on new observations. Use (CV_32FC3 and CV_32FC2) for matrices.

Definition at line 731 of file Camera.cpp.

bool alvar::Camera::CalcExteriorOrientation	(	const CvMat *	object_points,
		CvMat *	image_points,
		CvMat *	rodriques,
		CvMat *	tra
	)

Update existing pose (in rodriques&tra) based on new observations. Use (CV_32FC3 and CV_32FC2) for matrices.

Definition at line 726 of file Camera.cpp.

void alvar::Camera::Calibrate ( ProjPoints & pp )

Calibrate using the collected ProjPoints.

Examples:: SampleCamCalib.cpp.

Definition at line 351 of file Camera.cpp.

void alvar::Camera::camInfoCallback ( const sensor_msgs::CameraInfoConstPtr & cam_info )

protected

Definition at line 260 of file Camera.cpp.

void alvar::Camera::Distort ( CvPoint2D32f & point )

Applys the lens distortion for one point on an image plane.

Definition at line 611 of file Camera.cpp.

void alvar::Camera::Distort ( std::vector< PointDouble > & points )

Applys the lens distortion for points on image plane.

void alvar::Camera::Distort ( PointDouble & point )

Applys the lens distortion for points on image plane.

Definition at line 583 of file Camera.cpp.

double alvar::Camera::GetFovX ( )

inline

Get x-direction FOV in radians.

Definition at line 152 of file Camera.h.

double alvar::Camera::GetFovY ( )

inline

Get y-direction FOV in radians.

Definition at line 156 of file Camera.h.

void alvar::Camera::GetOpenglProjectionMatrix	(	double	proj_matrix[16],
		const int	width,
		const int	height,
		const float	far_clip = `1000.0f`,
		const float	near_clip = `0.1f`
	)

Get OpenGL matrix Generates the OpenGL projection matrix based on OpenCV intrinsic camera matrix K.

2*K[0][0]/width  2*K[0][1]/width   -(2*K[0][2]/width+1)  0
              2*K[1][1]/height  2*K[1][2]/height-1    0
              0                 -(f+n)/(f-n)          -2*f*n/(f-n)
              0                 -1                    0

Note, that the sign of the element [2][0] is changed. It should be

2*K[0][2]/width+1

The sign change is due to the fact that with OpenCV and OpenGL projection matrices both y and z should be mirrored. With other matrix elements the sign changes eliminate each other, but with principal point in x-direction we need to make the change by hand.

Examples:: SampleMarkerDetector.cpp, SampleMarkerHide.cpp, SampleMarkerlessDetector.cpp, and SamplePointcloud.cpp.

Definition at line 394 of file Camera.cpp.

bool alvar::Camera::LoadCalibOpenCV ( const char * calibfile )

private

Definition at line 188 of file Camera.cpp.

bool alvar::Camera::LoadCalibXML ( const char * calibfile )

private

Definition at line 176 of file Camera.cpp.

void alvar::Camera::ProjectPoint	(	const CvPoint3D64f	pw,
		const Pose *	pose,
		CvPoint2D64f &	pi
	)		const

Project one point.

Definition at line 814 of file Camera.cpp.

void alvar::Camera::ProjectPoint	(	const CvPoint3D32f	pw,
		const Pose *	pose,
		CvPoint2D32f &	pi
	)		const

Project one point.

Definition at line 824 of file Camera.cpp.

void alvar::Camera::ProjectPoints	(	std::vector< CvPoint3D64f > &	pw,
		Pose *	pose,
		std::vector< CvPoint2D64f > &	pi
	)		const

Project points.

Examples:: SampleCamCalib.cpp.

void alvar::Camera::ProjectPoints	(	const CvMat *	object_points,
		const CvMat *	rotation_vector,
		const CvMat *	translation_vector,
		CvMat *	image_points
	)		const

Project points.

Definition at line 765 of file Camera.cpp.

void alvar::Camera::ProjectPoints	(	const CvMat *	object_points,
		double	gl[16],
		CvMat *	image_points
	)		const

Project points.

Definition at line 783 of file Camera.cpp.

void alvar::Camera::ProjectPoints	(	const CvMat *	object_points,
		const Pose *	pose,
		CvMat *	image_points
	)		const

Project points.

Definition at line 772 of file Camera.cpp.

bool alvar::Camera::SaveCalib	(	const char *	calibfile,
		FILE_FORMAT	format = `FILE_FORMAT_DEFAULT`
	)

Save the current calibration information to a file.

Parameters

calibfile	File to save.
format	FILE_FORMAT_OPENCV (default) or FILE_FORMAT_XML (see doc/Camera.xsd).

Examples:: SampleCamCalib.cpp.

Definition at line 336 of file Camera.cpp.

bool alvar::Camera::SaveCalibOpenCV ( const char * calibfile )

private

Definition at line 317 of file Camera.cpp.

bool alvar::Camera::SaveCalibXML ( const char * calibfile )

private

Definition at line 305 of file Camera.cpp.

bool alvar::Camera::Serialize ( Serialization * ser )

inline

One of the two methods to make this class serializable by Serialization class.

You can serialize the Camera class using filename or any std::iostream as follows:

alvar::Camera cam;
cam.SetCalib("calib.xml", 320, 240);
Serialization sero("calib1.xml");
sero<<cam;

alvar::Camera cam;
Serialization seri("calib1.xml");
seri>>cam;
cam.SetRes(320, 240);

std::stringstream ss;
Serialization sero(ss);
sero<<cam;
std::cout<<ss.str()<<std::endl;
// ...
Serialization seri(ss);
seri>>cam;

Definition at line 136 of file Camera.h.

std::string alvar::Camera::SerializeId ( )

inline

One of the two methods to make this class serializable by Serialization class.

Definition at line 109 of file Camera.h.

bool alvar::Camera::SetCalib	(	const char *	calibfile,
		int	_x_res,
		int	_y_res,
		FILE_FORMAT	format = `FILE_FORMAT_DEFAULT`
	)

Set the calibration file and the current resolution for which the calibration is adjusted to.

Parameters

calibfile	File to load.
_x_res	Width of images captured from the real camera.
_y_res	Height of images captured from the real camera.
format	FILE_FORMAT_OPENCV (default) or FILE_FORMAT_XML (see doc/Camera.xsd).

Examples:: SampleMarkerDetector.cpp, SampleMarkerHide.cpp, SampleMultiMarker.cpp, SampleMultiMarkerBundle.cpp, SamplePointcloud.cpp, and SampleTrack.cpp.

Definition at line 270 of file Camera.cpp.

void alvar::Camera::SetCameraInfo ( const sensor_msgs::CameraInfo & camInfo )

Sets the intrinsic calibration

Definition at line 228 of file Camera.cpp.

void alvar::Camera::SetOpenglProjectionMatrix	(	double	proj_matrix[16],
		const int	width,
		const int	height
	)

Invert operation for GetOpenglProjectionMatrix.

Definition at line 414 of file Camera.cpp.

void alvar::Camera::SetRes	(	int	_x_res,
		int	_y_res
	)

If we have no calibration file we can still adjust the default calibration to current resolution.

Examples:: SampleCamCalib.cpp, SampleMarkerDetector.cpp, SampleMarkerHide.cpp, SampleMultiMarker.cpp, SampleMultiMarkerBundle.cpp, SamplePointcloud.cpp, and SampleTrack.cpp.

Definition at line 374 of file Camera.cpp.

void alvar::Camera::SetSimpleCalib	(	int	_x_res,
		int	_y_res,
		double	f_fac = `1.`
	)

Definition at line 163 of file Camera.cpp.

void alvar::Camera::Undistort ( std::vector< PointDouble > & points )

Unapplys the lens distortion for points on image plane.

void alvar::Camera::Undistort ( PointDouble & point )

Unapplys the lens distortion for one point on an image plane.

Definition at line 428 of file Camera.cpp.

void alvar::Camera::Undistort ( CvPoint2D32f & point )

Unapplys the lens distortion for one point on an image plane.

Definition at line 491 of file Camera.cpp.

Member Data Documentation

CvMat alvar::Camera::calib_D

Definition at line 87 of file Camera.h.

double alvar::Camera::calib_D_data[4]

Definition at line 87 of file Camera.h.

CvMat alvar::Camera::calib_K

Definition at line 86 of file Camera.h.

double alvar::Camera::calib_K_data[3][3]

Definition at line 86 of file Camera.h.

int alvar::Camera::calib_x_res

Definition at line 88 of file Camera.h.

int alvar::Camera::calib_y_res

Definition at line 89 of file Camera.h.

sensor_msgs::CameraInfo alvar::Camera::cam_info_

protected

Definition at line 96 of file Camera.h.

std::string alvar::Camera::cameraInfoTopic_

protected

Definition at line 95 of file Camera.h.

bool alvar::Camera::getCamInfo_

Definition at line 92 of file Camera.h.

ros::NodeHandle alvar::Camera::n_

protected

Definition at line 99 of file Camera.h.

ros::Subscriber alvar::Camera::sub_

protected

Definition at line 98 of file Camera.h.

int alvar::Camera::x_res

Definition at line 90 of file Camera.h.

int alvar::Camera::y_res

Definition at line 91 of file Camera.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation