This class represent the physical device which take the pictures. It is not related to a 3D position which is the role of the PointOfView class. The role of the class is to store only intra parameters ( without radial distortion ) More...

#include <CameraPinhole.h>

Inheritance diagram for OpencvSfM::CameraPinhole:

List of all members.

Public Member Functions
	CameraPinhole (cv::Mat intra_params=cv::Mat::eye(3, 3, CV_64F), int img_w=640, int img_h=480, unsigned char wantedEstimation=FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM)
	CameraPinhole (const std::vector< std::vector< cv::Point3f > > &objectPoints, const std::vector< std::vector< cv::Point2f > > &imagePoints, cv::Size imageSize, double aspectRatio=1., int img_w=640, int img_h=480, unsigned char wantedEstimation=FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM)
virtual uchar	getNbMissingParams () const
virtual void	updateIntrinsic (double *values, uchar nbVal, bool add_to_intra)
void	updateIntrinsicMatrix (cv::Mat newParams, unsigned char intraValues=FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM)
virtual std::vector< cv::Vec4d >	convertFromImageTo3Dray (std::vector< cv::Vec3d > points)
virtual std::vector< cv::Vec2d >	pixelToNormImageCoordinates (std::vector< cv::Vec2d > points) const
virtual std::vector< cv::Vec2d >	normImageToPixelCoordinates (std::vector< cv::Vec2d > points) const
virtual cv::Mat	getIntraMatrix () const
virtual double	getFocal () const
virtual void	write (cv::FileStorage &fs) const
Static Public Member Functions
static cv::Ptr< Camera >	read (const cv::FileNode &node)
Protected Attributes
cv::Mat	intra_params_
	store intra parameters( 3*3 matrix ). This matrix contains focal informations, principal point coordinates and skew of axis
cv::Mat	inv_intra_params_
	This is the inverse transformation of intra_params_. Used to speed up calculus...
unsigned char	estimation_needed_

Detailed Description

This class represent the physical device which take the pictures. It is not related to a 3D position which is the role of the PointOfView class. The role of the class is to store only intra parameters ( without radial distortion )

So this class is devoted to the conversion between 3D points ( using camera coordinate ) and 2D points ( using image coordinate ) using the methods convertFromImageTo3Dray or convertFrom3DToImage

Definition at line 24 of file CameraPinhole.h.

Constructor & Destructor Documentation

OpencvSfM::CameraPinhole::CameraPinhole	(	cv::Mat	intra_params = `cv::Mat::eye( 3, 3, CV_64F )`,
		int	img_w = `640`,
		int	img_h = `480`,
		unsigned char	wantedEstimation = `FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM`
	)

Constructor with ( or not ) intra parameters.

Parameters:

intra_params	matrix of intra parameters ( 3*3 )
img_w	width of images the camera produce
img_h	height of images the camera produce
wantedEstimation	values which need an estimation

Definition at line 12 of file CameraPinhole.cpp.

Referenced by read().

OpencvSfM::CameraPinhole::CameraPinhole	(	const std::vector< std::vector< cv::Point3f > > &	objectPoints,
		const std::vector< std::vector< cv::Point2f > > &	imagePoints,
		cv::Size	imageSize,
		double	aspectRatio = `1.`,
		int	img_w = `640`,
		int	img_h = `480`,
		unsigned char	wantedEstimation = `FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM`
	)

Constructor where initial camera matrix is computed from the 3D-2D point correspondences. Currently, the function only supports planar calibration patterns, i.e. patterns where each object point has z-coordinate =0.

Parameters:

objectPoints	The vector of vectors of the object points. See http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera
imagePoints	The vector of vectors of the corresponding image points. See http://opencv.willowgarage.com/documentation/cpp/calib3d_camera_calibration_and_3d_reconstruction.html#cv-calibratecamera
imageSize	The image size in pixels; used to initialize the principal point
aspectRatio	If it is zero or negative, both and are estimated independently. Otherwise
img_w	width of images the camera produce
img_h	height of images the camera produce
wantedEstimation	values which need an estimation

Definition at line 24 of file CameraPinhole.cpp.

Member Function Documentation

vector< Vec4d > OpencvSfM::CameraPinhole::convertFromImageTo3Dray ( std::vector< cv::Vec3d > points ) [virtual]

This method can transform points from image to 3D rays

Implements OpencvSfM::Camera.

Reimplemented in OpencvSfM::CameraPinholeDistor.

Definition at line 112 of file CameraPinhole.cpp.

double OpencvSfM::CameraPinhole::getFocal ( ) const [virtual]

This method retrive the focal from Intrinsic matrix. It's not using pixel reference but using camera reference!

Returns:: focal lenght

Implements OpencvSfM::Camera.

Definition at line 167 of file CameraPinhole.cpp.

virtual cv::Mat OpencvSfM::CameraPinhole::getIntraMatrix ( ) const [inline, virtual]

This method return the intra parameters of the camera

Returns:: Matrix K of intra parameters

Reimplemented from OpencvSfM::Camera.

Definition at line 108 of file CameraPinhole.h.

Referenced by OpencvSfM::CameraPinholeDistor::read().

uchar OpencvSfM::CameraPinhole::getNbMissingParams ( ) const [virtual]

use this function to know which parameters are missing

Returns:: numbers of parameters needed for this camera

Reimplemented from OpencvSfM::Camera.

Reimplemented in OpencvSfM::CameraPinholeDistor.

Definition at line 42 of file CameraPinhole.cpp.

vector< Vec2d > OpencvSfM::CameraPinhole::normImageToPixelCoordinates ( std::vector< cv::Vec2d > points ) const [virtual]

This method can convert 2D points from normalized image coordinates to 2D points in pixel image coordinates

Parameters:

points 2D points in normalized image homogeneous coordinates.

Returns:: 2D points in pixel image coordinates.

Implements OpencvSfM::Camera.

Reimplemented in OpencvSfM::CameraPinholeDistor.

Definition at line 148 of file CameraPinhole.cpp.

vector< Vec2d > OpencvSfM::CameraPinhole::pixelToNormImageCoordinates ( std::vector< cv::Vec2d > points ) const [virtual]

This method can convert 2D points from pixel image coordinates to 2D points in normalized image coordinates

Parameters:

points 2D points in pixel image homogeneous coordinates.

Returns:: 2D points in normalized image homogeneous coordinates.

Implements OpencvSfM::Camera.

Reimplemented in OpencvSfM::CameraPinholeDistor.

Definition at line 118 of file CameraPinhole.cpp.

cv::Ptr< Camera > OpencvSfM::CameraPinhole::read ( const cv::FileNode & node ) [static]

Create a new camera from a YAML file.

Parameters:

node	Previously opened YAML file node

Reimplemented from OpencvSfM::Camera.

Reimplemented in OpencvSfM::CameraPinholeDistor.

Definition at line 199 of file CameraPinhole.cpp.

Referenced by OpencvSfM::PointOfView::read().

void OpencvSfM::CameraPinhole::updateIntrinsic	(	double *	values,
		uchar	nbVal,
		bool	add_to_intra
	)		`[virtual]`

This method modify the intra parameters of the camera

Parameters:

values	array of intra parameters (order corresponds to SBA) K( 0,0 ) -> values[0] K( 2,0 ) -> values[1], K( 2,1 ) -> values[2], K( 1,1 )/K( 0,0 ) -> values[3] K( 1,0 ) -> values[4]
nbVal	nb values into array...
add_to_intra	if true, the vector is the delta to apply to each intra values

Reimplemented from OpencvSfM::Camera.

Reimplemented in OpencvSfM::CameraPinholeDistor.

Definition at line 54 of file CameraPinhole.cpp.

void OpencvSfM::CameraPinhole::updateIntrinsicMatrix	(	cv::Mat	newParams,
		unsigned char	intraValues = `FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM`
	)

this method can be used to update the intra parameters.

Parameters:

newParams	matrix of new parameters ( 3*3 )
intraValues	values which are useful in matrix

Definition at line 81 of file CameraPinhole.cpp.

void OpencvSfM::CameraPinhole::write ( cv::FileStorage & fs ) const [virtual]

Save the camera intra parameters into a YAML file.

Parameters:

fs	Previously opened YAML file node

Implements OpencvSfM::Camera.

Reimplemented in OpencvSfM::CameraPinholeDistor.

Definition at line 219 of file CameraPinhole.cpp.

Member Data Documentation

unsigned char OpencvSfM::CameraPinhole::estimation_needed_ [protected]

This attribut is used to know what we should estimate... Example: if equal to 0, nothing should be estimated... If equal to 3, focal and skew should be estimated ( FOCAL_PARAM + SKEW_PARAM )

Definition at line 34 of file CameraPinhole.h.

Referenced by CameraPinhole(), getNbMissingParams(), OpencvSfM::CameraPinholeDistor::getNbMissingParams(), OpencvSfM::CameraPinholeDistor::updateDistortionParameters(), and write().

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

D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/CameraPinhole.h
D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/CameraPinhole.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation