Parameters of the camera. More...

#include <cameraparameters.h>

Public Member Functions
	CameraParameters ()

	CameraParameters (const CameraParameters &CI)

	CameraParameters (cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size)

void	clear ()

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

bool	isValid () const

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

CameraParameters &	operator= (const CameraParameters &CI)

void	readFromXMLFile (std::string filePath)

void	resize (cv::Size size)

void	saveToFile (std::string path, bool inXML=true)

void	setParams (cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size)

Static Public Member Functions
static cv::Point3f	getCameraLocation (const cv::Mat &Rvec, const 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

cv::Mat	ExtrinsicMatrix

Static Private Member Functions
static void	argConvGLcpara2 (double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert)

static int	arParamDecompMat (double source[3][4], double cpara[3][4], double trans[3][4])

static double	dot (double a1, double a2, double a3, double b1, double b2, double b3)

static double	norm (double a, double b, double c)

Friends
ARUCO_EXPORT friend std::ostream &	operator<< (std::ostream &str, const CameraParameters &cp)

ARUCO_EXPORT friend std::istream &	operator>> (std::istream &str, CameraParameters &cp)

Detailed Description

Parameters of the camera.

Definition at line 29 of file cameraparameters.h.

Constructor & Destructor Documentation

◆ CameraParameters() [1/3]

aruco::CameraParameters::CameraParameters ( )

Empty constructor

Definition at line 27 of file cameraparameters.cpp.

◆ CameraParameters() [2/3]

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

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 39 of file cameraparameters.cpp.

◆ CameraParameters() [3/3]

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

Copy constructor

Definition at line 45 of file cameraparameters.cpp.

Member Function Documentation

◆ argConvGLcpara2()

void aruco::CameraParameters::argConvGLcpara2	(	double	cparam[3][4],
		int	width,
		int	height,
		double	gnear,
		double	gfar,
		double	m[16],
		bool	invert
	)

staticprivate

Definition at line 295 of file cameraparameters.cpp.

◆ arParamDecompMat()

int aruco::CameraParameters::arParamDecompMat	(	double	source[3][4],
		double	cpara[3][4],
		double	trans[3][4]
	)

staticprivate

Definition at line 361 of file cameraparameters.cpp.

◆ clear()

void aruco::CameraParameters::clear ( )

Makes this invalid

Definition at line 63 of file cameraparameters.cpp.

◆ dot()

double aruco::CameraParameters::dot	(	double	a1,
		double	a2,
		double	a3,
		double	b1,
		double	b2,
		double	b3
	)

staticprivate

Definition at line 285 of file cameraparameters.cpp.

◆ getCameraLocation()

cv::Point3f aruco::CameraParameters::getCameraLocation	(	const cv::Mat &	Rvec,
		const cv::Mat &	Tvec
	)

static

Returns the location of the camera in the reference system of the marker.

Rvec and Tvec are the transform from the marker to the camera as calculated in other parts of the library NOT TESTED

Definition at line 106 of file cameraparameters.cpp.

◆ getRTMatrix()

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 472 of file cameraparameters.cpp.

◆ glGetProjectionMatrix()

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

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 248 of file cameraparameters.cpp.

◆ isValid()

bool aruco::CameraParameters::isValid ( ) const

inline

Indicates whether this object is valid

Definition at line 63 of file cameraparameters.h.

◆ norm()

double aruco::CameraParameters::norm	(	double	a,
		double	b,
		double	c
	)

staticprivate

Definition at line 275 of file cameraparameters.cpp.

◆ OgreGetProjectionMatrix()

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

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 442 of file cameraparameters.cpp.

◆ operator=()

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

Assign operator

Definition at line 55 of file cameraparameters.cpp.

◆ readFromXMLFile()

void aruco::CameraParameters::readFromXMLFile ( std::string filePath )

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

Definition at line 189 of file cameraparameters.cpp.

◆ resize()

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

Adjust the parameters to the size of the image indicated

Definition at line 166 of file cameraparameters.cpp.

◆ saveToFile()

void aruco::CameraParameters::saveToFile	(	std::string	path,
		bool	inXML = `true`
	)

Saves this to a file

Definition at line 128 of file cameraparameters.cpp.

◆ setParams()

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

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 71 of file cameraparameters.cpp.

Friends And Related Function Documentation

◆ operator<<

ARUCO_EXPORT friend std::ostream& operator<<	(	std::ostream &	str,
		const CameraParameters &	cp
	)

friend

Definition at line 528 of file cameraparameters.cpp.

◆ operator>>

ARUCO_EXPORT friend std::istream& operator>>	(	std::istream &	str,
		CameraParameters &	cp
	)

friend

Definition at line 541 of file cameraparameters.cpp.

Member Data Documentation

◆ CameraMatrix

cv::Mat aruco::CameraParameters::CameraMatrix

Definition at line 33 of file cameraparameters.h.

◆ CamSize

cv::Size aruco::CameraParameters::CamSize

Definition at line 37 of file cameraparameters.h.

◆ Distorsion

cv::Mat aruco::CameraParameters::Distorsion

Definition at line 35 of file cameraparameters.h.

◆ ExtrinsicMatrix

cv::Mat aruco::CameraParameters::ExtrinsicMatrix

Definition at line 40 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

Friends

Detailed Description

Constructor & Destructor Documentation

◆ CameraParameters() [1/3]

◆ CameraParameters() [2/3]

◆ CameraParameters() [3/3]

Member Function Documentation

◆ argConvGLcpara2()

◆ arParamDecompMat()

◆ clear()

◆ dot()

◆ getCameraLocation()

◆ getRTMatrix()

◆ glGetProjectionMatrix()

◆ isValid()

◆ norm()

◆ OgreGetProjectionMatrix()

◆ operator=()

◆ readFromXMLFile()

◆ resize()

◆ saveToFile()

◆ setParams()

Friends And Related Function Documentation

◆ operator<<

◆ operator>>

Member Data Documentation

◆ CameraMatrix

◆ CamSize

◆ Distorsion

◆ ExtrinsicMatrix