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slip::PinholeFaugerasCamera< Type > Class Template Reference
Group of Containers | Camera containers

Define a PinholeFaugerasCamera class. More...

#include <PinholeFaugerasCamera.hpp>

Inheritance diagram for slip::PinholeFaugerasCamera< Type >:
Inheritance graph

Public Member Functions

Constructors & Destructors
 PinholeFaugerasCamera ()
 Default constructor of PinholeFaugerasCamera. More...
 
 PinholeFaugerasCamera (const self &rhs)
 Constructs a copy of the PinholeFaugerasCamera rhs. More...
 
Assignment operators and methods
self & operator= (const self &rhs)
 Assign a PinholeFaugerasCamera. More...
 
Computation methods
void compute (const slip::Matrix< Type > &P)
 Computes the parameters of the pinhole camera model. 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...
 
Accessor/Mutator operators
slip::Matrix< Type > & calibration_matrix () const
 Get calibration matrix. More...
 
void calibration_matrix (const slip::Matrix< Type > &calibration_matrix)
 Set the calibration matrix. More...
 
slip::Matrix< Type > & d_calibration_matrix () const
 Get back d_calibration matrix. More...
 
void d_calibration_matrix (const slip::Matrix< Type > &d_calibration_matrix)
 Set the d_calibration matrix. 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...
 
Decomposition methods
virtual int decompose (slip::Matrix< Type > &K, slip::Matrix< Type > &R, slip::Vector3d< Type > &c, slip::DECOMP_TYPE flag)
 Decomposes a pinhole camera matrix. More...
 

Public Attributes

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

Friends

class boost::serialization::access
 

Detailed Description

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

Define a PinholeFaugerasCamera class.

Author
Benoit Tremblais <tremblais_AT_sic.univ-poitiers.fr>
Gomit Guilaume <guillaume.gomit_AT_univ-poitiers.fr>
Version
0.0.2
Date
2014/04/02
Since
1.2.0
Parameters
TypeType of the coordinates of the PinholeFaugerasCamera
Remarks
O.D. Faugeras and G. Toscani. "Camera Calibration for 3D Computer Vision". In Proceedings International Workshop on Machine Vision and Machine Intelligence, Tokyo, Japan, February 1987.

Definition at line 99 of file PinholeFaugerasCamera.hpp.

Constructor & Destructor Documentation

template<typename Type >
slip::PinholeFaugerasCamera< Type >::PinholeFaugerasCamera ( )
inline

Default constructor of PinholeFaugerasCamera.

Definition at line 130 of file PinholeFaugerasCamera.hpp.

template<typename Type >
slip::PinholeFaugerasCamera< Type >::PinholeFaugerasCamera ( const self &  rhs)
inline

Constructs a copy of the PinholeFaugerasCamera rhs.

Parameters
rhsan other PinholeFaugerasCamera

Definition at line 138 of file PinholeFaugerasCamera.hpp.

Member Function Documentation

template<typename Type >
slip::Point3d<Type> slip::PinholeCamera< Type >::backprojection ( const slip::Point2d< Type > &  p2,
const Type &  z 
)
inlinevirtualinherited

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

Parameters
pPoint2d.
zDepth coordinate.
Returns
Point3d

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

Parameters
pPoint2d.
zDepth coordinate.
Returns
Point3d

Implements slip::CameraModel< Type >.

Definition at line 391 of file PinholeCamera.hpp.

template<typename Type >
slip::Matrix<Type>& slip::PinholeCamera< Type >::calibration_matrix ( ) const
inlineinherited

Get calibration matrix.

Definition at line 257 of file PinholeCamera.hpp.

template<typename Type >
void slip::PinholeCamera< Type >::calibration_matrix ( const slip::Matrix< Type > &  calibration_matrix)
inlineinherited

Set the calibration matrix.

Parameters
calibration_matrixCalibration matrix.

Definition at line 274 of file PinholeCamera.hpp.

template<typename Type >
void slip::PinholeFaugerasCamera< Type >::compute ( const slip::Matrix< Type > &  P)
inlinevirtual

Computes the parameters of the pinhole camera model.

Parameters
PMatrix containing the input data.
sStructure containing different parameter settings.
Remarks
Format: $(x,y)$ are the image coordinates, $(X,Y,Z)$ are the world coordinates.

\[ \begin{array}{ccccc} \cdots & \cdots & \cdots & \cdots & \cdots \\ x_{i} & y_{i} & X_{i} & Y_{i} & Z_{i} \\ \cdots & \cdots & \cdots & \cdots & \cdots \\ \end{array} \]

Reimplemented from slip::PinholeCamera< Type >.

Definition at line 184 of file PinholeFaugerasCamera.hpp.

template<typename Type >
slip::Matrix<Type>& slip::PinholeCamera< Type >::d_calibration_matrix ( ) const
inlineinherited

Get back d_calibration matrix.

Definition at line 265 of file PinholeCamera.hpp.

template<typename Type >
void slip::PinholeCamera< Type >::d_calibration_matrix ( const slip::Matrix< Type > &  d_calibration_matrix)
inlineinherited

Set the d_calibration matrix.

Parameters
d_calibration_matrixBack-calibration matrix.

Definition at line 286 of file PinholeCamera.hpp.

template<typename Type >
virtual int slip::PinholeCamera< Type >::decompose ( slip::Matrix< Type > &  K,
slip::Matrix< Type > &  R,
slip::Vector3d< Type > &  c,
slip::DECOMP_TYPE  flag 
)
inlinevirtualinherited

Decomposes a pinhole camera matrix.

Parameters
KMatrix containing the internal parameters
RMatrix containing the external parameters
cVector3d containing the camera centre
flagFlag of type DECOMP_TYPE, can be 'RQ' or 'direct'
Returns
1 if success an -1 if singular matrix
Precondition
K.rows()==K.cols()==3
R.rows()==R.cols()==3

Definition at line 466 of file PinholeCamera.hpp.

template<typename Type >
self& slip::PinholeFaugerasCamera< Type >::operator= ( const self &  rhs)
inline

Assign a PinholeFaugerasCamera.

Assign elements of PinholeFaugerasCamera in rhs

Parameters
rhsPinholeFaugerasCamera to get the values from.
Returns
self.

Definition at line 153 of file PinholeFaugerasCamera.hpp.

template<typename Type >
slip::Point2d<Type> slip::PinholeCamera< Type >::projection ( const slip::Point3d< Type > &  p)
inlinevirtualinherited

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

Parameters
pPoint3d.
Returns
Point2d
Remarks
Projection: $(x,y)$ are the image coordinates, $(X,Y,Z)$ are the world coordinates.

\[ \left( \begin{array}{c} s_x x \\ s_y y \\ s \end{array} \right) = \left( \begin{array}{cccc} m_{11} & m_{12} & m_{13} & m_{14} \\ m_{21} & m_{22} & m_{23} & m_{24} \\ m_{31} & m_{32} & m_{33} & m_{34} \\ \end{array} \right) \left( \begin{array}{c} X \\ Y \\ Z \\ 1\\ \end{array} \right) \]

Implements slip::CameraModel< Type >.

Definition at line 322 of file PinholeCamera.hpp.

template<typename Type >
void slip::PinholeCamera< Type >::read ( const std::string &  file)
inlinevirtualinherited

Read a calibration matrix from an ASCII file.

Parameters
fileFile path name.
Remarks
Format:

\[ \begin{array}{cccc} m_{11} & m_{12} & m_{13} & m_{14} \\ m_{21} & m_{22} & m_{23} & m_{24} \\ m_{31} & m_{32} & m_{33} & m_{34} \\ \end{array} \]

Implements slip::CameraModel< Type >.

Definition at line 193 of file PinholeCamera.hpp.

template<typename Type >
void slip::PinholeCamera< Type >::write ( const std::string &  file)
inlinevirtualinherited

Write a calibration matrix to an ASCII file.

Parameters
fileFile path name.
Remarks
Format:

\[ \begin{array}{cccc} m_{11} & m_{12} & m_{13} & m_{14} \\ m_{21} & m_{22} & m_{23} & m_{24} \\ m_{31} & m_{32} & m_{33} & m_{34} \\ \end{array} \]

Implements slip::CameraModel< Type >.

Definition at line 212 of file PinholeCamera.hpp.

Friends And Related Function Documentation

template<typename Type >
friend class boost::serialization::access
friend

Definition at line 191 of file PinholeFaugerasCamera.hpp.

Member Data Documentation

template<typename Type >
slip::Matrix<Type>* slip::PinholeCamera< Type >::calibration_matrix_
inherited

Definition at line 490 of file PinholeCamera.hpp.

template<typename Type >
slip::Matrix<Type>* slip::PinholeCamera< Type >::d_calibration_matrix_
inherited

Definition at line 491 of file PinholeCamera.hpp.

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