#include <mrpt/vision/CCamModel.h>
Public Member Functions | |
CCamModel () | |
Defalult Constructor. | |
CCamModel (const std::string &file) | |
Constructor from a init file. | |
float | cam_d () const |
Return the pixel dimension (it is supossed that pixel heigth and weigth is equal). | |
unsigned int | cam_nrows () const |
Return the rows number for a image captured by the camera. | |
unsigned int | cam_ncols () const |
Return the columns number for a image captured by the camera. | |
float | cam_cx () const |
Return the 'x' position of the optic center over the image. | |
float | cam_cy () const |
Return the 'y' position of the optic center over the image. | |
float | cam_k1 () const |
Return the first parameter of radial distortion. | |
float | cam_k2 () const |
Return the first parameter of radial distortion. | |
float | cam_f () const |
Return the focal distance of the camera. | |
void | jacob_undistor_fm (const math::CVectorFloat &uvd, math::CMatrixFloat &J_undist) |
Jacobian for undistortion the image coordinates. | |
math::CMatrixFloat | jacob_undistor (float &col, float &row) |
Calculate the image coordinates undistorted. | |
void | distort_a_point (const math::CVectorFloat &uvu, math::CVectorFloat &uvd) |
Return the pixel position distorted by the camera. | |
void | undistort_point (float &col, float &row) |
Return the pixel position undistorted by the camera The input values 'col' and 'row' will be replace for the new values (undistorted). | |
Protected Attributes | |
vision::TCamera | cam |
For the moment only pinhole model is employed and implemented.
Definition at line 56 of file CCamModel.h.
mrpt::vision::CCamModel::CCamModel | ( | ) |
Defalult Constructor.
mrpt::vision::CCamModel::CCamModel | ( | const std::string & | file | ) |
Constructor from a init file.
float mrpt::vision::CCamModel::cam_cx | ( | ) | const [inline] |
Return the 'x' position of the optic center over the image.
Definition at line 82 of file CCamModel.h.
float mrpt::vision::CCamModel::cam_cy | ( | ) | const [inline] |
Return the 'y' position of the optic center over the image.
Definition at line 86 of file CCamModel.h.
float mrpt::vision::CCamModel::cam_d | ( | ) | const [inline] |
Return the pixel dimension (it is supossed that pixel heigth and weigth is equal).
Definition at line 71 of file CCamModel.h.
float mrpt::vision::CCamModel::cam_f | ( | ) | const [inline] |
float mrpt::vision::CCamModel::cam_k1 | ( | ) | const [inline] |
float mrpt::vision::CCamModel::cam_k2 | ( | ) | const [inline] |
unsigned int mrpt::vision::CCamModel::cam_ncols | ( | ) | const [inline] |
Return the columns number for a image captured by the camera.
Definition at line 78 of file CCamModel.h.
unsigned int mrpt::vision::CCamModel::cam_nrows | ( | ) | const [inline] |
Return the rows number for a image captured by the camera.
Definition at line 74 of file CCamModel.h.
void mrpt::vision::CCamModel::distort_a_point | ( | const math::CVectorFloat & | uvu, | |
math::CVectorFloat & | uvd | |||
) |
Return the pixel position distorted by the camera.
math::CMatrixFloat mrpt::vision::CCamModel::jacob_undistor | ( | float & | col, | |
float & | row | |||
) |
Calculate the image coordinates undistorted.
void mrpt::vision::CCamModel::jacob_undistor_fm | ( | const math::CVectorFloat & | uvd, | |
math::CMatrixFloat & | J_undist | |||
) |
Jacobian for undistortion the image coordinates.
void mrpt::vision::CCamModel::undistort_point | ( | float & | col, | |
float & | row | |||
) |
Return the pixel position undistorted by the camera The input values 'col' and 'row' will be replace for the new values (undistorted).
vision::TCamera mrpt::vision::CCamModel::cam [protected] |
Definition at line 59 of file CCamModel.h.
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