Public Member Functions | Static Public Member Functions | Public Attributes | Static Private Member Functions
aruco::CameraParameters Class Reference

Parameters of the camera. More...

#include <cameraparameters.h>

List of all members.

Public Member Functions

 CameraParameters ()
 CameraParameters (cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) throw (cv::Exception)
 CameraParameters (const CameraParameters &CI)
void glGetProjectionMatrix (cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar, bool invert=false) throw (cv::Exception)
bool isValid () const
void OgreGetProjectionMatrix (cv::Size orgImgSize, cv::Size size, double proj_matrix[16], double gnear, double gfar, bool invert=false) throw (cv::Exception)
CameraParametersoperator= (const CameraParameters &CI)
void readFromFile (string path) throw (cv::Exception)
void readFromXMLFile (string filePath) throw (cv::Exception)
void resize (cv::Size size) throw (cv::Exception)
void saveToFile (string path, bool inXML=true) throw (cv::Exception)
void setParams (cv::Mat cameraMatrix, cv::Mat distorsionCoeff, cv::Size size) throw (cv::Exception)

Static Public Member Functions

static cv::Point3f getCameraLocation (cv::Mat Rvec, 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

Static Private Member Functions

static void argConvGLcpara2 (double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert) throw (cv::Exception)
static int arParamDecompMat (double source[3][4], double cpara[3][4], double trans[3][4]) throw (cv::Exception)
static double dot (double a1, double a2, double a3, double b1, double b2, double b3)
static double norm (double a, double b, double c)

Detailed Description

Parameters of the camera.

Definition at line 38 of file cameraparameters.h.


Constructor & Destructor Documentation

Empty constructor

Definition at line 37 of file cameraparameters.cpp.

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

Creates the object from the info passed

Parameters:
cameraMatrix3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
distorsionCoeff4x1 matrix (k1,k2,p1,p2)
sizeimage size

Definition at line 47 of file cameraparameters.cpp.

Copy constructor

Definition at line 52 of file cameraparameters.cpp.


Member Function Documentation

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

Definition at line 273 of file cameraparameters.cpp.

int aruco::CameraParameters::arParamDecompMat ( double  source[3][4],
double  cpara[3][4],
double  trans[3][4] 
) throw (cv::Exception) [static, private]

Definition at line 331 of file cameraparameters.cpp.

double aruco::CameraParameters::dot ( double  a1,
double  a2,
double  a3,
double  b1,
double  b2,
double  b3 
) [static, private]

Definition at line 266 of file cameraparameters.cpp.

cv::Point3f aruco::CameraParameters::getCameraLocation ( cv::Mat  Rvec,
cv::Mat  Tvec 
) [static]

Returns the location of the camera in the reference system given by the rotation and translation vectors passed NOT TESTED

Definition at line 87 of file cameraparameters.cpp.

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 424 of file cameraparameters.cpp.

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

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:
orgImgSizesize of the original image
sizeof the image/window where to render (can be different from the real camera image). Please not that it must be related to CamMatrix
proj_matrixoutput 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 235 of file cameraparameters.cpp.

bool aruco::CameraParameters::isValid ( ) const [inline]

Indicates whether this object is valid

Definition at line 68 of file cameraparameters.h.

double aruco::CameraParameters::norm ( double  a,
double  b,
double  c 
) [static, private]

Definition at line 259 of file cameraparameters.cpp.

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

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 396 of file cameraparameters.cpp.

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

Assign operator

Definition at line 60 of file cameraparameters.cpp.

void aruco::CameraParameters::readFromFile ( string  path) throw (cv::Exception)

Reads the camera parameters from a file generated using saveToFile.

Reads the camera parameters from file

Definition at line 106 of file cameraparameters.cpp.

void aruco::CameraParameters::readFromXMLFile ( string  filePath) throw (cv::Exception)

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

Definition at line 196 of file cameraparameters.cpp.

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

Adjust the parameters to the size of the image indicated

Definition at line 175 of file cameraparameters.cpp.

void aruco::CameraParameters::saveToFile ( string  path,
bool  inXML = true 
) throw (cv::Exception)

Saves this to a file

Definition at line 146 of file cameraparameters.cpp.

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

Sets the parameters

Parameters:
cameraMatrix3x3 matrix (fx 0 cx, 0 fy cy, 0 0 1)
distorsionCoeff4x1 matrix (k1,k2,p1,p2)
sizeimage size

Definition at line 68 of file cameraparameters.cpp.


Member Data Documentation

Definition at line 41 of file cameraparameters.h.

Definition at line 45 of file cameraparameters.h.

Definition at line 43 of file cameraparameters.h.


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


asr_aruco_marker_recognition
Author(s): Allgeyer Tobias, Mei├čner Pascal, Qattan Mohamad
autogenerated on Thu Jun 6 2019 21:14:12