CameraModel.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef CAMERAMODEL_H_
29 #define CAMERAMODEL_H_
30 
31 #include <opencv2/opencv.hpp>
32 
33 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
34 #include "rtabmap/core/Transform.h"
35 
36 namespace rtabmap {
37 
38 class RTABMAP_CORE_EXPORT CameraModel
39 {
40 public:
45  static Transform opticalRotation() {return Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);}
46 
47 public:
48  CameraModel();
49  // K is the camera intrinsic 3x3 CV_64FC1
50  // D is the distortion coefficients 1x5 CV_64FC1
51  // R is the rectification matrix 3x3 CV_64FC1 (computed from stereo or Identity)
52  // P is the projection matrix 3x4 CV_64FC1 (computed from stereo or equal to [K [0 0 1]'])
54  const std::string & name,
55  const cv::Size & imageSize,
56  const cv::Mat & K,
57  const cv::Mat & D,
58  const cv::Mat & R,
59  const cv::Mat & P,
60  const Transform & localTransform = opticalRotation());
61 
62  // minimal
64  double fx,
65  double fy,
66  double cx,
67  double cy,
68  const Transform & localTransform = opticalRotation(),
69  double Tx = 0.0f,
70  const cv::Size & imageSize = cv::Size(0,0));
71  // minimal to be saved
73  const std::string & name,
74  double fx,
75  double fy,
76  double cx,
77  double cy,
78  const Transform & localTransform = opticalRotation(),
79  double Tx = 0.0f,
80  const cv::Size & imageSize = cv::Size(0,0));
81 
82  virtual ~CameraModel() {}
83 
84  bool initRectificationMap();
85  bool isRectificationMapInitialized() const {return !mapX_.empty() && !mapY_.empty();}
86 
87  bool isValidForProjection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}
88  bool isValidForReprojection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0 && imageWidth()>0 && imageHeight()>0;}
90  {
91  return imageSize_.width>0 &&
92  imageSize_.height>0 &&
93  !K_.empty() &&
94  !D_.empty() &&
95  !R_.empty() &&
96  !P_.empty();
97  }
98 
99  void setName(const std::string & name) {name_=name;}
100  const std::string & name() const {return name_;}
101 
102  double fx() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(0,0):P_.at<double>(0,0);}
103  double fy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,1):P_.at<double>(1,1);}
104  double cx() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(0,2):P_.at<double>(0,2);}
105  double cy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,2):P_.at<double>(1,2);}
106  double Tx() const {return P_.empty()?0.0:P_.at<double>(0,3);}
107 
108  cv::Mat K_raw() const {return K_;} //intrinsic camera matrix (before rectification)
109  cv::Mat D_raw() const {return D_;} //intrinsic distorsion matrix (before rectification)
110  cv::Mat K() const {return !P_.empty()?P_.colRange(0,3):K_;} // if P exists, return rectified version
111  cv::Mat D() const {return P_.empty()&&!D_.empty()?D_:cv::Mat::zeros(1,5,CV_64FC1);} // if P exists, return rectified version
112  cv::Mat R() const {return R_;} //rectification matrix
113  cv::Mat P() const {return P_;} //projection matrix
114 
115  void setLocalTransform(const Transform & transform) {localTransform_ = transform;}
116  const Transform & localTransform() const {return localTransform_;}
117 
118  void setImageSize(const cv::Size & size);
119  const cv::Size & imageSize() const {return imageSize_;}
120  int imageWidth() const {return imageSize_.width;}
121  int imageHeight() const {return imageSize_.height;}
122 
123  double fovX() const; // in radians
124  double fovY() const; // in radians
125  double horizontalFOV() const; // in degrees
126  double verticalFOV() const; // in degrees
127  bool isFisheye() const {return D_.cols == 6;}
128 
129  bool load(const std::string & filePath);
130  bool load(const std::string & directory, const std::string & cameraName);
131  bool save(const std::string & directory) const;
132  std::vector<unsigned char> serialize() const;
133  unsigned int deserialize(const std::vector<unsigned char>& data);
134  unsigned int deserialize(const unsigned char * data, unsigned int dataSize);
135 
136  CameraModel scaled(double scale) const;
137  CameraModel roi(const cv::Rect & roi) const;
138 
139  // For depth images, your should use cv::INTER_NEAREST
140  cv::Mat rectifyImage(const cv::Mat & raw, int interpolation = cv::INTER_LINEAR) const;
141  cv::Mat rectifyDepth(const cv::Mat & raw) const;
142 
143  // Project 2D pixel to 3D (in /camera_link frame)
144  void project(float u, float v, float depth, float & x, float & y, float & z) const;
145  // Reproject 3D point (in /camera_link frame) to pixel
146  void reproject(float x, float y, float z, float & u, float & v) const;
147  void reproject(float x, float y, float z, int & u, int & v) const;
148  bool inFrame(int u, int v) const;
149 
150 private:
151  std::string name_;
152  cv::Size imageSize_;
153  cv::Mat K_;
154  cv::Mat D_;
155  cv::Mat R_;
156  cv::Mat P_;
157  cv::Mat mapX_;
158  cv::Mat mapY_;
160 };
161 
162 RTABMAP_CORE_EXPORT std::ostream& operator<<(std::ostream& os, const CameraModel& model);
163 
164 } /* namespace rtabmap */
165 #endif /* CAMERAMODEL_H_ */
rtabmap::CameraModel::fx
double fx() const
Definition: CameraModel.h:102
rtabmap::CameraModel::cx
double cx() const
Definition: CameraModel.h:104
rtabmap::CameraModel::imageWidth
int imageWidth() const
Definition: CameraModel.h:120
save
save
name
rtabmap::CameraModel::D_raw
cv::Mat D_raw() const
Definition: CameraModel.h:109
rtabmap::CameraModel::~CameraModel
virtual ~CameraModel()
Definition: CameraModel.h:82
cy
const double cy
rtabmap::CameraModel::setName
void setName(const std::string &name)
Definition: CameraModel.h:99
fx
const double fx
rtabmap::CameraModel::cy
double cy() const
Definition: CameraModel.h:105
rtabmap::CameraModel
Definition: CameraModel.h:38
rtabmap::CameraModel::P
cv::Mat P() const
Definition: CameraModel.h:113
rtabmap::CameraModel::D_
cv::Mat D_
Definition: CameraModel.h:154
name_
std::string name_
Transform.h
glm::project
GLM_FUNC_DECL detail::tvec3< T, P > project(detail::tvec3< T, P > const &obj, detail::tmat4x4< T, P > const &model, detail::tmat4x4< T, P > const &proj, detail::tvec4< U, P > const &viewport)
rtabmap::CameraModel::K
cv::Mat K() const
Definition: CameraModel.h:110
rtabmap::CameraModel::D
cv::Mat D() const
Definition: CameraModel.h:111
rtabmap::CameraModel::localTransform_
Transform localTransform_
Definition: CameraModel.h:159
rtabmap::CameraModel::Tx
double Tx() const
Definition: CameraModel.h:106
rtabmap::CameraModel::setLocalTransform
void setLocalTransform(const Transform &transform)
Definition: CameraModel.h:115
rtabmap::CameraModel::K_raw
cv::Mat K_raw() const
Definition: CameraModel.h:108
eigen_extensions::deserialize
void deserialize(std::istream &strm, Eigen::Matrix< S, T, U > *mat)
Definition: eigen_extensions.h:78
rtabmap::CameraModel::R
cv::Mat R() const
Definition: CameraModel.h:112
rtabmap::CameraModel::isValidForProjection
bool isValidForProjection() const
Definition: CameraModel.h:87
eigen_extensions::serialize
void serialize(const Eigen::Matrix< S, T, U > &mat, std::ostream &strm)
Definition: eigen_extensions.h:66
rtabmap::CameraModel::mapX_
cv::Mat mapX_
Definition: CameraModel.h:157
rtabmap::CameraModel::fy
double fy() const
Definition: CameraModel.h:103
rtabmap::CameraModel::mapY_
cv::Mat mapY_
Definition: CameraModel.h:158
rtabmap::CameraModel::opticalRotation
static Transform opticalRotation()
Definition: CameraModel.h:45
rtabmap::CameraModel::isValidForReprojection
bool isValidForReprojection() const
Definition: CameraModel.h:88
rtabmap::CameraModel::name
const std::string & name() const
Definition: CameraModel.h:100
rtabmap::CameraModel::isValidForRectification
bool isValidForRectification() const
Definition: CameraModel.h:89
rtabmap::Transform
Definition: Transform.h:41
rtabmap::CameraModel::imageSize_
cv::Size imageSize_
Definition: CameraModel.h:152
rtabmap::CameraModel::P_
cv::Mat P_
Definition: CameraModel.h:156
PointMatcherSupport::Parametrizable
rtabmap::CameraModel::imageSize
const cv::Size & imageSize() const
Definition: CameraModel.h:119
rtabmap::CameraModel::imageHeight
int imageHeight() const
Definition: CameraModel.h:121
rtabmap::CameraModel::R_
cv::Mat R_
Definition: CameraModel.h:155
rtabmap::CameraModel::K_
cv::Mat K_
Definition: CameraModel.h:153
transform
EIGEN_DONT_INLINE void transform(const Quaternion< Scalar > &t, Data &data)
cx
const double cx
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::CameraModel::isFisheye
bool isFisheye() const
Definition: CameraModel.h:127
rtabmap::CameraModel::localTransform
const Transform & localTransform() const
Definition: CameraModel.h:116
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Definition: CameraModel.cpp:801
trace.model
model
Definition: trace.py:4
load
NearestNeighbourSearch< T >::Matrix load(const char *fileName)
rtabmap::CameraModel::isRectificationMapInitialized
bool isRectificationMapInitialized() const
Definition: CameraModel.h:85
fy
const double fy
rtabmap::CameraModel::name_
std::string name_
Definition: CameraModel.h:151


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07