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mrpt::vision::CCamModel Class Reference

This class represent the camera model for Monocular SLAM. More...

#include <mrpt/vision/CCamModel.h>

List of all members.

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


Detailed Description

This class represent the camera model for Monocular SLAM.

For the moment only pinhole model is employed and implemented.

Definition at line 56 of file CCamModel.h.


Constructor & Destructor Documentation

mrpt::vision::CCamModel::CCamModel (  ) 

Defalult Constructor.

mrpt::vision::CCamModel::CCamModel ( const std::string &  file  ) 

Constructor from a init file.


Member Function Documentation

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]

Return the focal distance of the camera.

Definition at line 98 of file CCamModel.h.

float mrpt::vision::CCamModel::cam_k1 (  )  const [inline]

Return the first parameter of radial distortion.

Definition at line 90 of file CCamModel.h.

float mrpt::vision::CCamModel::cam_k2 (  )  const [inline]

Return the first parameter of radial distortion.

Definition at line 94 of file CCamModel.h.

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).


Member Data Documentation

Definition at line 59 of file CCamModel.h.




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