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.
void	CalcExteriorOrientation (std::vector< CvPoint3D64f > &pw, std::vector< PointDouble > &pi, CvMat rodriques, CvMat tra)
	Calculate exterior orientation.
void	CalcExteriorOrientation (std::vector< PointDouble > &pw, std::vector< PointDouble > &pi, CvMat rodriques, CvMat tra)
	Calculate exterior orientation.
void	CalcExteriorOrientation (std::vector< PointDouble > &pw, std::vector< PointDouble > &pi, Pose *pose)
	Calculate exterior orientation.
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.
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.
void	Calibrate (ProjPoints &pp)
	Calibrate using the collected ProjPoints.
	Camera ()
	Constructor.
	Camera (ros::NodeHandle &n, std::string cam_info_topic)
void	Distort (CvPoint2D32f &point)
	Applys the lens distortion for one point on an image plane.
void	Distort (std::vector< PointDouble > &points)
	Applys the lens distortion for points on image plane.
void	Distort (PointDouble &point)
	Applys the lens distortion for points on image plane.
double	GetFovX ()
	Get x-direction FOV in radians.
double	GetFovY ()
	Get y-direction FOV in radians.
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.
void	ProjectPoint (const CvPoint3D64f pw, const Pose *pose, CvPoint2D64f &pi) const
	Project one point.
void	ProjectPoint (const CvPoint3D32f pw, const Pose *pose, CvPoint2D32f &pi) const
	Project one point.
void	ProjectPoints (std::vector< CvPoint3D64f > &pw, Pose *pose, std::vector< CvPoint2D64f > &pi) const
	Project points.
void	ProjectPoints (const CvMat object_points, const CvMat rotation_vector, const CvMat translation_vector, CvMat image_points) const
	Project points.
void	ProjectPoints (const CvMat object_points, double gl[16], CvMat image_points) const
	Project points.
void	ProjectPoints (const CvMat object_points, const Pose pose, CvMat *image_points) const
	Project points.
bool	SaveCalib (const char *calibfile, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Save the current calibration information to a file.
bool	Serialize (Serialization *ser)
	One of the two methods to make this class serializable by Serialization class.
std::string	SerializeId ()
	One of the two methods to make this class serializable by Serialization class.
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.
void	SetOpenglProjectionMatrix (double proj_matrix[16], const int width, const int height)
	Invert operation for GetOpenglProjectionMatrix.
void	SetRes (int _x_res, int _y_res)
	If we have no calibration file we can still adjust the default calibration to current resolution.
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.
void	Undistort (PointDouble &point)
	Unapplys the lens distortion for one point on an image plane.
void	Undistort (CvPoint2D32f &point)
	Unapplys the lens distortion for one point on an image plane.
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 83 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 719 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 714 of file Camera.cpp.

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

Calibrate using the collected ProjPoints.

Examples:: SampleCamCalib.cpp.

Definition at line 339 of file Camera.cpp.

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

Definition at line 228 of file Camera.cpp.

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

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

Definition at line 599 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 571 of file Camera.cpp.

double alvar::Camera::GetFovX ( ) [inline]

Get x-direction FOV in radians.

Definition at line 150 of file Camera.h.

double alvar::Camera::GetFovY ( ) [inline]

Get y-direction FOV in radians.

Definition at line 154 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
     0                2*K[1][1]/height  2*K[1][2]/height-1    0
     0                0                 -(f+n)/(f-n)          -2*f*n/(f-n)
     0                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 382 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 802 of file Camera.cpp.

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

Project one point.

Definition at line 812 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 753 of file Camera.cpp.

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

Project points.

Definition at line 771 of file Camera.cpp.

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

Project points.

Definition at line 760 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 324 of file Camera.cpp.

bool alvar::Camera::SaveCalibOpenCV ( const char * calibfile ) [private]

Definition at line 305 of file Camera.cpp.

bool alvar::Camera::SaveCalibXML ( const char * calibfile ) [private]

Definition at line 293 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 137 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 110 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).