image_geometry::PinholeCameraModel Class Reference

Simplifies interpreting images geometrically using the parameters from sensor_msgs/CameraInfo. More...

#include <pinhole_camera_model.h>

Classes
struct	Cache
Public Member Functions
uint32_t	binningX () const
	Returns the number of columns in each bin.
uint32_t	binningY () const
	Returns the number of rows in each bin.
double	cx () const
	Returns the x coordinate of the optical center.
double	cy () const
	Returns the y coordinate of the optical center.
const cv::Mat_< double > &	distortionCoeffs () const
	Returns the distortion coefficients.
bool	fromCameraInfo (const sensor_msgs::CameraInfoConstPtr &msg)
	Set the camera parameters from the sensor_msgs/CameraInfo message.
bool	fromCameraInfo (const sensor_msgs::CameraInfo &msg)
	Set the camera parameters from the sensor_msgs/CameraInfo message.
const cv::Mat_< double > &	fullIntrinsicMatrix () const
	Returns the original camera matrix for full resolution.
const cv::Mat_< double > &	fullProjectionMatrix () const
	Returns the projection matrix for full resolution.
cv::Size	fullResolution () const
	The resolution at which the camera was calibrated.
double	fx () const
	Returns the focal length (pixels) in x direction of the rectified image.
double	fy () const
	Returns the focal length (pixels) in y direction of the rectified image.
double	getDeltaU (double deltaX, double Z) const
	Compute delta u, given Z and delta X in Cartesian space.
double	getDeltaV (double deltaY, double Z) const
	Compute delta v, given Z and delta Y in Cartesian space.
double	getDeltaX (double deltaU, double Z) const
	Compute delta X, given Z in Cartesian space and delta u in pixels.
double	getDeltaY (double deltaV, double Z) const
	Compute delta Y, given Z in Cartesian space and delta v in pixels.
uint32_t	height () const ROS_DEPRECATED
	Returns the image height.
const cv::Mat_< double > &	intrinsicMatrix () const
	Returns the original camera matrix.
	PinholeCameraModel (const PinholeCameraModel &other)
	PinholeCameraModel ()
cv::Point2d	project3dToPixel (const cv::Point3d &xyz) const
	Project a 3d point to rectified pixel coordinates.
void	project3dToPixel (const cv::Point3d &xyz, cv::Point2d &uv_rect) const ROS_DEPRECATED
const cv::Mat_< double > &	projectionMatrix () const
	Returns the projection matrix.
cv::Point3d	projectPixelTo3dRay (const cv::Point2d &uv_rect) const
	Project a rectified pixel to a 3d ray.
void	projectPixelTo3dRay (const cv::Point2d &uv_rect, cv::Point3d &ray) const ROS_DEPRECATED
cv::Rect	rawRoi () const
	The current raw ROI, as used for capture by the camera driver.
cv::Rect	rectifiedRoi () const
	The current rectified ROI, which best fits the raw ROI.
void	rectifyImage (const cv::Mat &raw, cv::Mat &rectified, int interpolation=CV_INTER_LINEAR) const
	Rectify a raw camera image.
cv::Point2d	rectifyPoint (const cv::Point2d &uv_raw) const
	Compute the rectified image coordinates of a pixel in the raw image.
void	rectifyPoint (const cv::Point2d &uv_raw, cv::Point2d &uv_rect) const ROS_DEPRECATED
cv::Rect	rectifyRoi (const cv::Rect &roi_raw) const
	Compute the rectified ROI best fitting a raw ROI.
cv::Size	reducedResolution () const
	The resolution of the current rectified image.
const cv::Mat_< double > &	rotationMatrix () const
	Returns the rotation matrix.
ros::Time	stamp () const
	Get the time stamp associated with this camera model.
std::string	tfFrame () const
	Get the name of the camera coordinate frame in tf.
cv::Rect	toFullResolution (const cv::Rect &roi_reduced) const
cv::Point2d	toFullResolution (const cv::Point2d &uv_reduced) const
cv::Rect	toReducedResolution (const cv::Rect &roi_full) const
cv::Point2d	toReducedResolution (const cv::Point2d &uv_full) const
double	Tx () const
	Returns the x-translation term of the projection matrix.
double	Ty () const
	Returns the y-translation term of the projection matrix.
void	unrectifyImage (const cv::Mat &rectified, cv::Mat &raw, int interpolation=CV_INTER_LINEAR) const
	Apply camera distortion to a rectified image.
cv::Point2d	unrectifyPoint (const cv::Point2d &uv_rect) const
	Compute the raw image coordinates of a pixel in the rectified image.
void	unrectifyPoint (const cv::Point2d &uv_rect, cv::Point2d &uv_raw) const ROS_DEPRECATED
cv::Rect	unrectifyRoi (const cv::Rect &roi_rect) const
	Compute the raw ROI best fitting a rectified ROI.
uint32_t	width () const ROS_DEPRECATED
	Returns the image width.
Protected Member Functions
bool	initialized () const
void	initRectificationMaps () const
Protected Attributes
boost::shared_ptr< Cache >	cache_
sensor_msgs::CameraInfo	cam_info_
cv::Mat_< double >	D_
cv::Mat_< double >	K_
cv::Mat_< double >	K_full_
cv::Mat_< double >	P_
cv::Mat_< double >	P_full_
cv::Mat_< double >	R_
Friends
class	StereoCameraModel

Detailed Description

Simplifies interpreting images geometrically using the parameters from sensor_msgs/CameraInfo.

Definition at line 18 of file pinhole_camera_model.h.

Constructor & Destructor Documentation

image_geometry::PinholeCameraModel::PinholeCameraModel ( )

Definition at line 30 of file pinhole_camera_model.cpp.

image_geometry::PinholeCameraModel::PinholeCameraModel ( const PinholeCameraModel & other )

Definition at line 34 of file pinhole_camera_model.cpp.

Member Function Documentation

uint32_t image_geometry::PinholeCameraModel::binningX ( ) const [inline]

Returns the number of columns in each bin.

Definition at line 312 of file pinhole_camera_model.h.

uint32_t image_geometry::PinholeCameraModel::binningY ( ) const [inline]

Returns the number of rows in each bin.

Definition at line 313 of file pinhole_camera_model.h.

double image_geometry::PinholeCameraModel::cx ( ) const [inline]

Returns the x coordinate of the optical center.

Definition at line 305 of file pinhole_camera_model.h.

double image_geometry::PinholeCameraModel::cy ( ) const [inline]

Returns the y coordinate of the optical center.

Definition at line 306 of file pinhole_camera_model.h.

const cv::Mat_< double > & image_geometry::PinholeCameraModel::distortionCoeffs ( ) const [inline]

Returns the distortion coefficients.

Definition at line 297 of file pinhole_camera_model.h.

bool image_geometry::PinholeCameraModel::fromCameraInfo ( const sensor_msgs::CameraInfoConstPtr & msg )

Set the camera parameters from the sensor_msgs/CameraInfo message.

Definition at line 159 of file pinhole_camera_model.cpp.

bool image_geometry::PinholeCameraModel::fromCameraInfo ( const sensor_msgs::CameraInfo & msg )

Set the camera parameters from the sensor_msgs/CameraInfo message.

Todo:: Calculate and use rectified ROI

Todo:: Adjust P by rectified ROI instead

Definition at line 62 of file pinhole_camera_model.cpp.

const cv::Mat_< double > & image_geometry::PinholeCameraModel::fullIntrinsicMatrix ( ) const [inline]

Returns the original camera matrix for full resolution.

Definition at line 300 of file pinhole_camera_model.h.

const cv::Mat_< double > & image_geometry::PinholeCameraModel::fullProjectionMatrix ( ) const [inline]

Returns the projection matrix for full resolution.

Definition at line 301 of file pinhole_camera_model.h.

cv::Size image_geometry::PinholeCameraModel::fullResolution ( ) const

The resolution at which the camera was calibrated.

The maximum resolution at which the camera can be used with the current calibration; normally this is the same as the imager resolution.

Definition at line 169 of file pinhole_camera_model.cpp.

double image_geometry::PinholeCameraModel::fx ( ) const [inline]

Returns the focal length (pixels) in x direction of the rectified image.

Definition at line 303 of file pinhole_camera_model.h.

double image_geometry::PinholeCameraModel::fy ( ) const [inline]

Returns the focal length (pixels) in y direction of the rectified image.

Definition at line 304 of file pinhole_camera_model.h.

double image_geometry::PinholeCameraModel::getDeltaU	(	double	deltaX,
		double	Z
	)			const `[inline]`

Compute delta u, given Z and delta X in Cartesian space.

For given Z, this is the inverse of getDeltaX().

Parameters:

	deltaX	Delta X, in Cartesian space
	Z	Z (depth), in Cartesian space

Definition at line 315 of file pinhole_camera_model.h.

double image_geometry::PinholeCameraModel::getDeltaV	(	double	deltaY,
		double	Z
	)			const `[inline]`

Compute delta v, given Z and delta Y in Cartesian space.

For given Z, this is the inverse of getDeltaY().

Parameters:

	deltaY	Delta Y, in Cartesian space
	Z	Z (depth), in Cartesian space

Definition at line 321 of file pinhole_camera_model.h.

double image_geometry::PinholeCameraModel::getDeltaX	(	double	deltaU,
		double	Z
	)			const `[inline]`

Compute delta X, given Z in Cartesian space and delta u in pixels.

For given Z, this is the inverse of getDeltaU().

Parameters:

	deltaU	Delta u, in pixels
	Z	Z (depth), in Cartesian space

Definition at line 327 of file pinhole_camera_model.h.

double image_geometry::PinholeCameraModel::getDeltaY	(	double	deltaV,
		double	Z
	)			const `[inline]`

Compute delta Y, given Z in Cartesian space and delta v in pixels.

For given Z, this is the inverse of getDeltaV().

Parameters:

	deltaV	Delta v, in pixels
	Z	Z (depth), in Cartesian space

Definition at line 333 of file pinhole_camera_model.h.

uint32_t image_geometry::PinholeCameraModel::height ( ) const [inline]

Returns the image height.

Definition at line 309 of file pinhole_camera_model.h.

bool image_geometry::PinholeCameraModel::initialized ( ) const [inline, protected]

Definition at line 277 of file pinhole_camera_model.h.

void image_geometry::PinholeCameraModel::initRectificationMaps ( ) const [protected]

Todo:: For large binning settings, can drop extra rows/cols at bottom/right boundary. Make sure we're handling that 100% correctly.

Todo:: Should binned resolution, K, P be part of public API?

Todo:: Use rectified ROI

Definition at line 417 of file pinhole_camera_model.cpp.

const cv::Mat_< double > & image_geometry::PinholeCameraModel::intrinsicMatrix ( ) const [inline]

Returns the original camera matrix.

Definition at line 296 of file pinhole_camera_model.h.

cv::Point2d image_geometry::PinholeCameraModel::project3dToPixel ( const cv::Point3d & xyz ) const

Project a 3d point to rectified pixel coordinates.

This is the inverse of projectPixelTo3dRay().

Parameters:

xyz

3d point in the camera coordinate frame

Returns:: (u,v) in rectified pixel coordinates

Definition at line 238 of file pinhole_camera_model.cpp.

void image_geometry::PinholeCameraModel::project3dToPixel	(	const cv::Point3d &	xyz,
		cv::Point2d &	uv_rect
	)			const

Todo:: Hide or group deprecated overloads in Doxygen

Definition at line 164 of file pinhole_camera_model.cpp.

const cv::Mat_< double > & image_geometry::PinholeCameraModel::projectionMatrix ( ) const [inline]

Returns the projection matrix.

Definition at line 299 of file pinhole_camera_model.h.

cv::Point3d image_geometry::PinholeCameraModel::projectPixelTo3dRay ( const cv::Point2d & uv_rect ) const

Project a rectified pixel to a 3d ray.

Returns the unit vector in the camera coordinate frame in the direction of rectified pixel (u,v) in the image plane. This is the inverse of project3dToPixel().

In 1.4.x, the vector has z = 1.0. Previously, this function returned a unit vector.

Parameters:

uv_rect

Rectified pixel coordinates

Returns:: 3d ray passing through (u,v)

Definition at line 257 of file pinhole_camera_model.cpp.

void image_geometry::PinholeCameraModel::projectPixelTo3dRay	(	const cv::Point2d &	uv_rect,
		cv::Point3d &	ray
	)			const

Definition at line 252 of file pinhole_camera_model.cpp.

cv::Rect image_geometry::PinholeCameraModel::rawRoi ( ) const

The current raw ROI, as used for capture by the camera driver.

Definition at line 215 of file pinhole_camera_model.cpp.

cv::Rect image_geometry::PinholeCameraModel::rectifiedRoi ( ) const

The current rectified ROI, which best fits the raw ROI.

Definition at line 223 of file pinhole_camera_model.cpp.

void image_geometry::PinholeCameraModel::rectifyImage	(	const cv::Mat &	raw,
		cv::Mat &	rectified,
		int	interpolation = `CV_INTER_LINEAR`
	)			const

Rectify a raw camera image.

Definition at line 268 of file pinhole_camera_model.cpp.

cv::Point2d image_geometry::PinholeCameraModel::rectifyPoint ( const cv::Point2d & uv_raw ) const

Compute the rectified image coordinates of a pixel in the raw image.

Todo:: cv::undistortPoints requires the point data to be float, should allow double

Definition at line 305 of file pinhole_camera_model.cpp.

void image_geometry::PinholeCameraModel::rectifyPoint	(	const cv::Point2d &	uv_raw,
		cv::Point2d &	uv_rect
	)			const

Definition at line 300 of file pinhole_camera_model.cpp.

cv::Rect image_geometry::PinholeCameraModel::rectifyRoi ( const cv::Rect & roi_raw ) const

Compute the rectified ROI best fitting a raw ROI.

Todo:: Actually implement "best fit" as described by REP 104.

Definition at line 375 of file pinhole_camera_model.cpp.

cv::Size image_geometry::PinholeCameraModel::reducedResolution ( ) const

The resolution of the current rectified image.

The size of the rectified image associated with the latest CameraInfo, as reduced by binning/ROI and affected by distortion. If binning and ROI are not in use, this is the same as fullResolution().

Definition at line 175 of file pinhole_camera_model.cpp.

const cv::Mat_< double > & image_geometry::PinholeCameraModel::rotationMatrix ( ) const [inline]

Returns the rotation matrix.

Definition at line 298 of file pinhole_camera_model.h.

ros::Time image_geometry::PinholeCameraModel::stamp ( ) const [inline]

Get the time stamp associated with this camera model.

Definition at line 290 of file pinhole_camera_model.h.

std::string image_geometry::PinholeCameraModel::tfFrame ( ) const [inline]

Get the name of the camera coordinate frame in tf.

Definition at line 284 of file pinhole_camera_model.h.

cv::Rect image_geometry::PinholeCameraModel::toFullResolution ( const cv::Rect & roi_reduced ) const

Definition at line 190 of file pinhole_camera_model.cpp.

cv::Point2d image_geometry::PinholeCameraModel::toFullResolution ( const cv::Point2d & uv_reduced ) const

Definition at line 183 of file pinhole_camera_model.cpp.

cv::Rect image_geometry::PinholeCameraModel::toReducedResolution ( const cv::Rect & roi_full ) const

Definition at line 206 of file pinhole_camera_model.cpp.

cv::Point2d image_geometry::PinholeCameraModel::toReducedResolution ( const cv::Point2d & uv_full ) const

Definition at line 199 of file pinhole_camera_model.cpp.

double image_geometry::PinholeCameraModel::Tx ( ) const [inline]

Returns the x-translation term of the projection matrix.

Definition at line 307 of file pinhole_camera_model.h.

double image_geometry::PinholeCameraModel::Ty ( ) const [inline]

Returns the y-translation term of the projection matrix.

Definition at line 308 of file pinhole_camera_model.h.

void image_geometry::PinholeCameraModel::unrectifyImage	(	const cv::Mat &	rectified,
		cv::Mat &	raw,
		int	interpolation = `CV_INTER_LINEAR`
	)			const

Apply camera distortion to a rectified image.

Todo:: Implement unrectifyImage()

Definition at line 286 of file pinhole_camera_model.cpp.

cv::Point2d image_geometry::PinholeCameraModel::unrectifyPoint ( const cv::Point2d & uv_rect ) const

Compute the raw image coordinates of a pixel in the rectified image.

Todo:: Make this just call projectPixelTo3dRay followed by cv::projectPoints. But cv::projectPoints requires 32-bit float, which is annoying.

Definition at line 328 of file pinhole_camera_model.cpp.

void image_geometry::PinholeCameraModel::unrectifyPoint	(	const cv::Point2d &	uv_rect,
		cv::Point2d &	uv_raw
	)			const

Definition at line 323 of file pinhole_camera_model.cpp.

cv::Rect image_geometry::PinholeCameraModel::unrectifyRoi ( const cv::Rect & roi_rect ) const

Compute the raw ROI best fitting a rectified ROI.

Todo:: Actually implement "best fit" as described by REP 104.

Definition at line 396 of file pinhole_camera_model.cpp.

uint32_t image_geometry::PinholeCameraModel::width ( ) const [inline]

Returns the image width.

Definition at line 310 of file pinhole_camera_model.h.

Friends And Related Function Documentation

friend class StereoCameraModel [friend]

Definition at line 279 of file pinhole_camera_model.h.

Member Data Documentation

boost::shared_ptr<Cache> image_geometry::PinholeCameraModel::cache_ [protected]

Definition at line 272 of file pinhole_camera_model.h.

sensor_msgs::CameraInfo image_geometry::PinholeCameraModel::cam_info_ [protected]

Definition at line 266 of file pinhole_camera_model.h.

cv::Mat_<double> image_geometry::PinholeCameraModel::D_ [protected]

Definition at line 267 of file pinhole_camera_model.h.

cv::Mat_<double> image_geometry::PinholeCameraModel::K_ [protected]

Definition at line 268 of file pinhole_camera_model.h.

cv::Mat_<double> image_geometry::PinholeCameraModel::K_full_ [protected]

Definition at line 269 of file pinhole_camera_model.h.

cv::Mat_<double> image_geometry::PinholeCameraModel::P_ [protected]

Definition at line 268 of file pinhole_camera_model.h.

cv::Mat_<double> image_geometry::PinholeCameraModel::P_full_ [protected]

Definition at line 269 of file pinhole_camera_model.h.

cv::Mat_<double> image_geometry::PinholeCameraModel::R_ [protected]

Definition at line 267 of file pinhole_camera_model.h.

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

image_geometry::PinholeCameraModel Class Reference

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation