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=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
bool	inFrame (int u, int v) const
void	initRectificationMap ()
bool	isRectificationMapInitialized ()
bool	isValidForProjection () const
bool	isValidForRectification () const
bool	isValidForReprojection () 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
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
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_

Detailed Description

Definition at line 38 of file CameraModel.h.

Constructor & Destructor Documentation

rtabmap::CameraModel::CameraModel

(

)

Definition at line 39 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 44 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 66 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 109 of file CameraModel.cpp.

virtual rtabmap::CameraModel::~CameraModel ( )

inlinevirtual

Definition at line 75 of file CameraModel.h.

Member Function Documentation

double rtabmap::CameraModel::cx ( ) const

inline

Definition at line 97 of file CameraModel.h.

double rtabmap::CameraModel::cy ( ) const

inline

Definition at line 98 of file CameraModel.h.

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

inline

Definition at line 104 of file CameraModel.h.

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

inline

Definition at line 102 of file CameraModel.h.

double rtabmap::CameraModel::fx ( ) const

inline

Definition at line 95 of file CameraModel.h.

double rtabmap::CameraModel::fy ( ) const

inline

Definition at line 96 of file CameraModel.h.

double rtabmap::CameraModel::horizontalFOV

(

)

const

Definition at line 519 of file CameraModel.cpp.

int rtabmap::CameraModel::imageHeight ( ) const

inline

Definition at line 114 of file CameraModel.h.

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

inline

Definition at line 112 of file CameraModel.h.

int rtabmap::CameraModel::imageWidth ( ) const

inline

Definition at line 113 of file CameraModel.h.

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

Definition at line 638 of file CameraModel.cpp.

void rtabmap::CameraModel::initRectificationMap

(

)

Definition at line 154 of file CameraModel.cpp.

bool rtabmap::CameraModel::isRectificationMapInitialized ( )

inline

Definition at line 78 of file CameraModel.h.

bool rtabmap::CameraModel::isValidForProjection ( ) const

inline

Definition at line 80 of file CameraModel.h.

bool rtabmap::CameraModel::isValidForRectification ( ) const

inline

Definition at line 82 of file CameraModel.h.

bool rtabmap::CameraModel::isValidForReprojection ( ) const

inline

Definition at line 81 of file CameraModel.h.

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

inline

Definition at line 103 of file CameraModel.h.

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

inline

Definition at line 101 of file CameraModel.h.

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

Definition at line 212 of file CameraModel.cpp.

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

inline

Definition at line 109 of file CameraModel.h.

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

inline

Definition at line 93 of file CameraModel.h.

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

inline

Definition at line 106 of file CameraModel.h.

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

Definition at line 608 of file CameraModel.cpp.

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

inline

Definition at line 105 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::rectifyDepth

(

const cv::Mat &

raw

)

const

Definition at line 554 of file CameraModel.cpp.

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

Definition at line 537 of file CameraModel.cpp.

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

Definition at line 623 of file CameraModel.cpp.

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

Definition at line 630 of file CameraModel.cpp.

CameraModel rtabmap::CameraModel::roi

(

const cv::Rect &

roi

)

const

Definition at line 489 of file CameraModel.cpp.

bool rtabmap::CameraModel::save

(

const std::string &

directory

)

const

Definition at line 362 of file CameraModel.cpp.

CameraModel rtabmap::CameraModel::scaled

(

double

scale

)

const

Definition at line 452 of file CameraModel.cpp.

void rtabmap::CameraModel::setImageSize

(

const cv::Size &

size

)

Definition at line 186 of file CameraModel.cpp.

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

inline

Definition at line 108 of file CameraModel.h.

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

inline

Definition at line 92 of file CameraModel.h.

double rtabmap::CameraModel::Tx ( ) const

inline

Definition at line 99 of file CameraModel.h.

double rtabmap::CameraModel::verticalFOV

(

)

const

Definition at line 528 of file CameraModel.cpp.

Member Data Documentation

cv::Mat rtabmap::CameraModel::D_

private

Definition at line 140 of file CameraModel.h.

cv::Size rtabmap::CameraModel::imageSize_

private

Definition at line 138 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::K_

private

Definition at line 139 of file CameraModel.h.

Transform rtabmap::CameraModel::localTransform_

private

Definition at line 145 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::mapX_

private

Definition at line 143 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::mapY_

private

Definition at line 144 of file CameraModel.h.

std::string rtabmap::CameraModel::name_

private

Definition at line 137 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::P_

private

Definition at line 142 of file CameraModel.h.

cv::Mat rtabmap::CameraModel::R_

private

Definition at line 141 of file CameraModel.h.

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

• CameraModel.h
• CameraModel.cpp