Define a DistortionCamera class. More...

#include <DistortionCamera.hpp>

Inheritance diagram for slip::DistortionCamera< Type >:

Public Member Functions
Constructors & Destructors
	DistortionCamera ()
	Default constructor of DistortionCamera. More...

	DistortionCamera (slip::DistStruct< Type > *dist_struct)
	Constructor of DistortionCamera. More...

	DistortionCamera (const self &rhs)
	Constructs a copy of the DistortionCamera rhs. More...

	~DistortionCamera ()
	Destructor of the DistortionCamera. More...

input/output methods
void	read (const std::string &file)
	Read a calibration matrix from an ASCII file. More...

void	write (const std::string &file)
	Write a calibration matrix to an ASCII file. More...

Assignment operators and methods
self &	operator= (const self &rhs)
	Assign a DistortionCamera. More...

Projection methods
slip::Point2d< Type >	projection (const slip::Point3d< Type > &p)
	Computes the projection of a 3d world point onto the image plane. More...

slip::Point3d< Type >	backprojection (const slip::Point2d< Type > &p2, const Type &z)
	Computes the 3d world point corresponding to the backprojection of an image point. More...

Computation methods
void	compute (const slip::Matrix< Type > &P)
	Computes the parameters of the distortion camera model. More...

void	undistort (const slip::Matrix< Type > &P, slip::Matrix< Type > &Q)
	undistorts a vector list using the parameters of the distortion camera model More...

void	distort (const slip::Point2d< Type > &p, slip::Point2d< Type > &pd)
	Distorts a image point using the parameters of the distortion camera model. More...

Public Attributes
slip::Matrix< Type > *	calibration_matrix_

slip::DistStruct< Type > *	calibration_distortions_

slip::Vector< Type > *	calibration_vector_

Friends
class	boost::serialization::access

i/o operators
std::ostream &	operator<< (std::ostream &out, const self &c)
	Write the PinholeCamera to the ouput stream. More...

Detailed Description

template<typename Type>
class slip::DistortionCamera< Type >

Define a DistortionCamera class.

Author: Markus Jehle jehle.nosp@m._mar.nosp@m.kus@y.nosp@m.ahoo.nosp@m..de; Benoit Tremblais tremblais_AT_sic.univ-poitiers.fr; Guillaume Gomit guillaume.gomit_AT_univ-poitiers.fr

Version: 0.0.1

Date: 2013/02/13

Since: 1.2.0

Parameters

Type	Type of the coordinates of the DistortionCamera

Definition at line 147 of file DistortionCamera.hpp.

Constructor & Destructor Documentation

template<typename Type >

slip::DistortionCamera< Type >::DistortionCamera ( )

inline

Default constructor of DistortionCamera.

Definition at line 177 of file DistortionCamera.hpp.

template<typename Type >

slip::DistortionCamera< Type >::DistortionCamera ( slip::DistStruct< Type > * dist_struct )

inline

Constructor of DistortionCamera.

Parameters

dist_struct slip::DistStruct<Type> pointer

Definition at line 187 of file DistortionCamera.hpp.

template<typename Type >

slip::DistortionCamera< Type >::DistortionCamera ( const self & rhs )

inline

Constructs a copy of the DistortionCamera rhs.

Parameters

rhs	An other DistorsionCamera.

Definition at line 197 of file DistortionCamera.hpp.

template<typename Type >

slip::DistortionCamera< Type >::~DistortionCamera ( )

inline

Destructor of the DistortionCamera.

Definition at line 207 of file DistortionCamera.hpp.

Member Function Documentation

template<typename Type >

slip::Point3d<Type> slip::DistortionCamera< Type >::backprojection	(	const slip::Point2d< Type > &	p2,
		const Type &	z
	)

inlinevirtual

Computes the 3d world point corresponding to the backprojection of an image point.

Parameters

p	Point2d.
z	Depth coordinate.

Returns: Point3d

Implements slip::CameraModel< Type >.

Definition at line 343 of file DistortionCamera.hpp.

template<typename Type >

void slip::DistortionCamera< Type >::compute ( const slip::Matrix< Type > & P )

inlinevirtual

Computes the parameters of the distortion camera model.

Parameters

P	Matrix containing the input data. are the image coordinates, are the world coordinates. $\begin{array}{ccccc} \cdots & \cdots & \cdots & \cdots & \cdots \\ x_{i} & y_{i} & X_{i} & Y_{i} & Z_{i} \\ \cdots & \cdots & \cdots & \cdots & \cdots\\ \end{array}$

Implements slip::CameraModel< Type >.

Definition at line 382 of file DistortionCamera.hpp.

template<typename Type >

void slip::DistortionCamera< Type >::distort	(	const slip::Point2d< Type > &	p,
		slip::Point2d< Type > &	pd
	)

inline

Distorts a image point using the parameters of the distortion camera model.

Parameters

p	input point.
pd	output distort point.

Definition at line 523 of file DistortionCamera.hpp.

template<typename Type >

self& slip::DistortionCamera< Type >::operator= ( const self & rhs )

inline

Assign a DistortionCamera.

Assign elements of DistortionCamera in other

Parameters

other DistortionCamera to get the values from.

Returns: self.

Definition at line 271 of file DistortionCamera.hpp.

template<typename Type >

slip::Point2d<Type> slip::DistortionCamera< Type >::projection ( const slip::Point3d< Type > & p )

inlinevirtual

Computes the projection of a 3d world point onto the image plane.

Parameters

p Point3d.

Returns: Point2d

Implements slip::CameraModel< Type >.

Definition at line 308 of file DistortionCamera.hpp.

template<typename Type >

void slip::DistortionCamera< Type >::read ( const std::string & file )

inlinevirtual

Read a calibration matrix from an ASCII file.

Parameters

file	File path name.

Remarks: File format: m11 m12 m13 m14 m21 m22 m23 m24 m31 m32 m33 m34 alpha_u alpha_v u0 v0 R1 R2 R3 d1 d2 p1 p2

Implements slip::CameraModel< Type >.

Definition at line 240 of file DistortionCamera.hpp.

template<typename Type >

void slip::DistortionCamera< Type >::undistort	(	const slip::Matrix< Type > &	P,
		slip::Matrix< Type > &	Q
	)

inline

undistorts a vector list using the parameters of the distortion camera model

Parameters

P	Matrix containing the input data.
Q	Matrix containing the output data.

Remarks: Format: are the image coordinates, are the world coordinates.
$\begin{array}{ccccc} \cdots & \cdots & \cdots & \cdots & \cdots \\ x_i & y_i & X_i & Y_i & Z_i \\ \cdots & \cdots & \cdots & \cdots & \cdots \\ \end{array}$

Precondition: P.rows()==Q.rows(); P.cols()==Q.cols()

Definition at line 498 of file DistortionCamera.hpp.

template<typename Type >

void slip::DistortionCamera< Type >::write ( const std::string & file )

inlinevirtual

Write a calibration matrix to an ASCII file.

Parameters

file	File path name.

Remarks: Format: m11 m12 m13 m14 m21 m22 m23 m24 m31 m32 m33 m34 alpha_u alpha_v u0 v0 R1 R2 R3 d1 d2 p1 p2

Implements slip::CameraModel< Type >.

Definition at line 252 of file DistortionCamera.hpp.

Friends And Related Function Documentation

template<typename Type >

friend class boost::serialization::access

friend

Definition at line 555 of file DistortionCamera.hpp.

template<typename Type >

std::ostream& operator<<	(	std::ostream &	out,
		const self &	c
	)

friend

Write the PinholeCamera to the ouput stream.

Parameters

out	output stream.
c	PinholeCamera to write to the output stream.

Definition at line 582 of file DistortionCamera.hpp.

Member Data Documentation

template<typename Type >

slip::DistStruct<Type>* slip::DistortionCamera< Type >::calibration_distortions_

Definition at line 551 of file DistortionCamera.hpp.

template<typename Type >

slip::Matrix<Type>* slip::DistortionCamera< Type >::calibration_matrix_

Definition at line 550 of file DistortionCamera.hpp.

template<typename Type >

slip::Vector<Type>* slip::DistortionCamera< Type >::calibration_vector_

Definition at line 552 of file DistortionCamera.hpp.

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

src/Container/DistortionCamera.hpp

Public Member Functions

Public Attributes

Friends

Detailed Description

template<typename Type> class slip::DistortionCamera< Type >

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename Type>
class slip::DistortionCamera< Type >