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Visual Servoing Platform
version 3.3.0
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#include <vpCameraParameters.h>
Public Types | |
enum | vpCameraParametersProjType { perspectiveProjWithoutDistortion, perspectiveProjWithDistortion } |
Public Member Functions | |
vpCameraParameters () | |
vpCameraParameters (const vpCameraParameters &c) | |
vpCameraParameters (double px, double py, double u0, double v0) | |
vpCameraParameters (double px, double py, double u0, double v0, double kud, double kdu) | |
vpCameraParameters & | operator= (const vpCameraParameters &c) |
bool | operator== (const vpCameraParameters &c) const |
bool | operator!= (const vpCameraParameters &c) const |
virtual | ~vpCameraParameters () |
void | init () |
void | init (const vpCameraParameters &c) |
void | initFromCalibrationMatrix (const vpMatrix &_K) |
void | initFromFov (const unsigned int &w, const unsigned int &h, const double &hfov, const double &vfov) |
void | initPersProjWithoutDistortion (double px, double py, double u0, double v0) |
void | initPersProjWithDistortion (double px, double py, double u0, double v0, double kud, double kdu) |
bool | isFovComputed () const |
void | computeFov (const unsigned int &w, const unsigned int &h) |
double | getHorizontalFovAngle () const |
double | getVerticalFovAngle () const |
std::vector< vpColVector > | getFovNormals () const |
double | get_px () const |
double | get_px_inverse () const |
double | get_py_inverse () const |
double | get_py () const |
double | get_u0 () const |
double | get_v0 () const |
double | get_kud () const |
double | get_kdu () const |
vpCameraParametersProjType | get_projModel () const |
vpMatrix | get_K () const |
vpMatrix | get_K_inverse () const |
void | printParameters () |
Friends | |
class | vpMeterPixelConversion |
class | vpPixelMeterConversion |
VISP_EXPORT std::ostream & | operator<< (std::ostream &os, const vpCameraParameters &cam) |
Generic class defining intrinsic camera parameters.
Let us define the pinhole camera model implemented in ViSP. In this model [Marchand16a], a scene view is formed by projecting 3D points into the image plane using a perspective transformation.
where:
When , the previous equation is equivalent to the following:
Real lenses usually have some radial distortion. So, the above model is extended as:
where is the first order radial distorsion. Higher order distorsion coefficients are not considered in ViSP.
Now in ViSP we consider also the inverse transformation, where from pixel coordinates we want to compute their normalized coordinates in the image plane. Previous equations could be written like:
Considering radial distortion, the above model is extended as:
Finally, in ViSP the main intrinsic camera parameters are the ratio between the focal length and the size of a pixel, and
the coordinates of the principal point in pixel. The lens distortion can also be considered by two additional parameters
.
From a practical point of view, two kinds of camera modelisation are implemented in this class:
1. Camera parameters for a perspective projection without distortion model
In this modelisation, only parameters are considered.
Initialization of such a model can be done using:
2. Camera parameters for a perspective projection with distortion model
In this modelisation, all the parameters are considered. Initialization of such a model can be done using:
The selection of the camera model (without or with distorsion) is done during vpCameraParameters initialisation.
Here an example of camera initialisation, for a model without distortion. A complete example is given in initPersProjWithoutDistortion().
Here an example of camera initialisation, for a model with distortion. A complete example is given in initPersProjWithDistortion().
The code below shows how to know the currently used projection model:
An XML parser for camera parameters is also provided in vpXmlParserCamera.
Definition at line 232 of file vpCameraParameters.h.
Enumerator | |
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perspectiveProjWithoutDistortion | Perspective projection without distortion model |
perspectiveProjWithDistortion | Perspective projection with distortion model |
Definition at line 238 of file vpCameraParameters.h.
vpCameraParameters::vpCameraParameters | ( | ) |
Default constructor. By default, a perspective projection without distortion model is set.
Definition at line 71 of file vpCameraParameters.cpp.
vpCameraParameters::vpCameraParameters | ( | const vpCameraParameters & | c | ) |
Copy constructor
Definition at line 83 of file vpCameraParameters.cpp.
vpCameraParameters::vpCameraParameters | ( | double | cam_px, |
double | cam_py, | ||
double | cam_u0, | ||
double | cam_v0 | ||
) |
Constructor for perspective projection without distortion model
cam_px,cam_py | : pixel size |
cam_u0,cam_v0 | : principal points |
Definition at line 99 of file vpCameraParameters.cpp.
vpCameraParameters::vpCameraParameters | ( | double | cam_px, |
double | cam_py, | ||
double | cam_u0, | ||
double | cam_v0, | ||
double | cam_kud, | ||
double | cam_kdu | ||
) |
Constructor for perspective projection with distortion model
cam_px,cam_py | : pixel size |
cam_u0,cam_v0 | : principal points |
cam_kud | : undistorted to distorted radial distortion |
cam_kdu | : distorted to undistorted radial distortion |
Definition at line 117 of file vpCameraParameters.cpp.
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void vpCameraParameters::computeFov | ( | const unsigned int & | w, |
const unsigned int & | h | ||
) |
Compute angles and normals of the FOV.
w | : Width of the image |
h | : Height of the image. |
Definition at line 431 of file vpCameraParameters.cpp.
Referenced by vpMbTracker::computeProjectionErrorImpl(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbKltTracker::reinit(), and vpMbKltTracker::setPose().
vpMatrix vpCameraParameters::get_K | ( | ) | const |
Return the camera matrix given by:
Definition at line 491 of file vpCameraParameters.cpp.
Referenced by vpMbKltTracker::setPose().
vpMatrix vpCameraParameters::get_K_inverse | ( | ) | const |
Return the inverted camera matrix given by:
Definition at line 513 of file vpCameraParameters.cpp.
Referenced by vpMbKltTracker::setPose().
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Definition at line 334 of file vpCameraParameters.h.
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Definition at line 333 of file vpCameraParameters.h.
Referenced by vpImageTools::undistort().
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Definition at line 336 of file vpCameraParameters.h.
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Definition at line 327 of file vpCameraParameters.h.
Referenced by vpMbEdgeTracker::computeVVSFirstPhase(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpSimulatorAfma6::initDisplay(), vpSimulatorAfma6::setCameraParameters(), vpSimulator::setExternalCameraParameters(), vpSimulator::setInternalCameraParameters(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().
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Definition at line 328 of file vpCameraParameters.h.
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Definition at line 330 of file vpCameraParameters.h.
Referenced by vpSimulatorAfma6::initDisplay(), vpSimulatorAfma6::setCameraParameters(), vpSimulator::setExternalCameraParameters(), vpSimulator::setInternalCameraParameters(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().
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Definition at line 329 of file vpCameraParameters.h.
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Definition at line 331 of file vpCameraParameters.h.
Referenced by vpImageTools::undistort(), and vpAROgre::updateCameraProjection().
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Definition at line 332 of file vpCameraParameters.h.
Referenced by vpImageTools::undistort(), and vpAROgre::updateCameraProjection().
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Get the list of the normals corresponding to planes describing the field of view.
Definition at line 318 of file vpCameraParameters.h.
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Get the horizontal angle in radian of the field of view.
Definition at line 281 of file vpCameraParameters.h.
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Get the vertical angle in radian of the field of view.
Definition at line 297 of file vpCameraParameters.h.
void vpCameraParameters::init | ( | ) |
basic initialization with the default parameters
Definition at line 130 of file vpCameraParameters.cpp.
void vpCameraParameters::init | ( | const vpCameraParameters & | c | ) |
initialization from another vpCameraParameters object
Definition at line 281 of file vpCameraParameters.cpp.
void vpCameraParameters::initFromCalibrationMatrix | ( | const vpMatrix & | _K | ) |
initialise the camera from a calibration matrix. Using a calibration matrix leads to a camera without distortion
The K matrix in parameters must be like:
_K | : the 3by3 calibration matrix |
Definition at line 297 of file vpCameraParameters.cpp.
void vpCameraParameters::initFromFov | ( | const unsigned int & | w, |
const unsigned int & | h, | ||
const double & | hfov, | ||
const double & | vfov | ||
) |
Initialize the camera model without distorsion from the image dimension and the camera field of view.
w | : Image width. |
h | : Image height. |
hfov | : Camera horizontal field of view angle expressed in radians. |
vfov | : Camera vertical field of view angle expressed in radians. |
The following sample code shows how to use this function:
It produces the following output:
Definition at line 341 of file vpCameraParameters.cpp.
void vpCameraParameters::initPersProjWithDistortion | ( | double | cam_px, |
double | cam_py, | ||
double | cam_u0, | ||
double | cam_v0, | ||
double | cam_kud, | ||
double | cam_kdu | ||
) |
Initialization with specific parameters using perpective projection with distortion model.
cam_px,cam_py | : the ratio between the focal length and the size of a pixel. |
cam_u0,cam_v0 | : principal points coordinates in pixels. |
cam_kud | : undistorted to distorted radial distortion. |
cam_kdu | : distorted to undistorted radial distortion. |
The following sample code shows how to use this function:
It produces the following output:
Definition at line 247 of file vpCameraParameters.cpp.
Referenced by vpKinect::start().
void vpCameraParameters::initPersProjWithoutDistortion | ( | double | cam_px, |
double | cam_py, | ||
double | cam_u0, | ||
double | cam_v0 | ||
) |
Initialization with specific parameters using perpective projection without distortion model.
cam_px,cam_py | : the ratio between the focal length and the size of a pixel. |
cam_u0,cam_v0 | : principal point coordinates in pixels. |
The following sample code shows how to use this function:
It produces the following output:
Definition at line 181 of file vpCameraParameters.cpp.
Referenced by VispDetector::detectAprilTag:px:py:, vpSimulatorAfma6::getCameraParameters(), and vpSimulatorAfma6::initDisplay().
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Specify if the fov has been computed.
Definition at line 270 of file vpCameraParameters.h.
bool vpCameraParameters::operator!= | ( | const vpCameraParameters & | c | ) | const |
False if the two objects are absolutely identical.
Definition at line 421 of file vpCameraParameters.cpp.
vpCameraParameters & vpCameraParameters::operator= | ( | const vpCameraParameters & | cam | ) |
copy operator
Definition at line 359 of file vpCameraParameters.cpp.
bool vpCameraParameters::operator== | ( | const vpCameraParameters & | c | ) | const |
True if the two objects are absolutely identical.
Definition at line 385 of file vpCameraParameters.cpp.
void vpCameraParameters::printParameters | ( | ) |
Print the camera parameters on the standard output
Definition at line 530 of file vpCameraParameters.cpp.
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Print on the output stream os the camera parameters.
os | : Output stream. |
cam | : Camera parameters. |
Definition at line 559 of file vpCameraParameters.cpp.
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Definition at line 234 of file vpCameraParameters.h.
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Definition at line 235 of file vpCameraParameters.h.