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 intra parameters and radial distortion. More...

#include <CameraPinholeDistor.h>

Inheritance diagram for OpencvSfM::CameraPinholeDistor:

List of all members.

Public Member Functions
	CameraPinholeDistor (cv::Mat intra_params=cv::Mat::eye(3, 3, CV_64F), cv::Vec6d radial_dist=cv::Vec6d(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), unsigned char nbRadialParam=6, cv::Vec2d tangential_dist=cv::Vec2d(0.0, 0.0), int img_w=640, int img_h=480, unsigned char wantedEstimation=FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM\|RADIAL_PARAM\|TANGEANT_PARAM)
	CameraPinholeDistor (const std::vector< std::vector< cv::Point3f > > &objectPoints, const std::vector< std::vector< cv::Point2f > > &imagePoints, cv::Size imageSize, double aspectRatio=1., cv::Vec6d radial_dist=cv::Vec6d(0.0, 0.0, 0.0, 0.0, 0.0, 0.0), unsigned char nbRadialParam=6, cv::Vec2d tangential_dist=cv::Vec2d(0.0, 0.0), int img_w=640, int img_h=480, unsigned char wantedEstimation=FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM\|RADIAL_PARAM\|TANGEANT_PARAM)
virtual uchar	getNbMissingParams () const
virtual void	updateIntrinsic (double *values, uchar nbVal, bool add_to_intra)
void	updateDistortionParameters (const cv::Vec6d &radial_dist, unsigned char nbRadialParam, const cv::Vec2d &tangential_dist, unsigned char wantedEstimation=RADIAL_PARAM\|TANGEANT_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 void	write (cv::FileStorage &fs) const
Static Public Member Functions
static cv::Ptr< Camera >	read (const cv::FileNode &node)
Protected Attributes
cv::Vec< double, 6 >	radial_dist_
	used to store radial dist parameters ( /f$k_1/f$ to /f$k_6/f$ )
unsigned char	nb_radial_params_
	number of radial dist parameters ( 0, 2, 3 or 6 )
cv::Vec< double, 2 >	tangential_dist_
	used to store tangential dist parameters ( /f$p_1/f$ and /f$p_2/f$ )
unsigned char	nb_tangent_params_
	N umbers of tangeancial distorition parameters (0, 1 or 2)
cv::Mat	distortionVector
	vector of distortion coefficients ( k_1, k_2, p_1, p_2[ , k_3[ , k_4, k_5, k_6 ]] ) of 4, 5 or 8 elements

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 intra parameters and 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 CameraPinholeDistor.h.

Constructor & Destructor Documentation

OpencvSfM::CameraPinholeDistor::CameraPinholeDistor	(	cv::Mat	intra_params = `cv::Mat::eye( 3, 3, CV_64F )`,
		cv::Vec6d	radial_dist = `cv::Vec6d( 0.0,0.0,0.0,0.0,0.0,0.0 )`,
		unsigned char	nbRadialParam = `6`,
		cv::Vec2d	tangential_dist = `cv::Vec2d( 0.0,0.0 )`,
		int	img_w = `640`,
		int	img_h = `480`,
		unsigned char	wantedEstimation = `FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM\|RADIAL_PARAM\|TANGEANT_PARAM`
	)

Constructor with ( or not ) intra parameters.

Parameters:

intra_params	matrix of intra parameters ( 3*3 )
radial_dist	radial dist parameters ( /f$k_1/f$ to /f$k_6/f$ )
nbRadialParam	number of radial dist parameters ( 0, 2, 3 or 6 )
tangential_dist	tangential dist parameters ( /f$p_1/f$ and /f$p_2/f$ )
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 CameraPinholeDistor.cpp.

Referenced by read().

OpencvSfM::CameraPinholeDistor::CameraPinholeDistor	(	const std::vector< std::vector< cv::Point3f > > &	objectPoints,
		const std::vector< std::vector< cv::Point2f > > &	imagePoints,
		cv::Size	imageSize,
		double	aspectRatio = `1.`,
		cv::Vec6d	radial_dist = `cv::Vec6d( 0.0,0.0,0.0,0.0,0.0,0.0 )`,
		unsigned char	nbRadialParam = `6`,
		cv::Vec2d	tangential_dist = `cv::Vec2d( 0.0,0.0 )`,
		int	img_w = `640`,
		int	img_h = `480`,
		unsigned char	wantedEstimation = `FOCAL_PARAM\|SKEW_PARAM\|PRINCIPAL_POINT_PARAM\|RADIAL_PARAM\|TANGEANT_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
radial_dist	radial dist parameters ( /f$k_1/f$ to /f$k_6/f$ )
nbRadialParam	number of radial dist parameters ( 0, 2, 3 or 6 )
tangential_dist	tangential dist parameters ( /f$p_1/f$ and /f$p_2/f$ )
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 21 of file CameraPinholeDistor.cpp.

Member Function Documentation

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

This method can transform points from image to 3D rays

Reimplemented from OpencvSfM::CameraPinhole.

Definition at line 87 of file CameraPinholeDistor.cpp.

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

use this function to know which parameters are missing

Returns:: numbers of parameters needed for this camera

Reimplemented from OpencvSfM::CameraPinhole.

Definition at line 38 of file CameraPinholeDistor.cpp.

vector< Vec2d > OpencvSfM::CameraPinholeDistor::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.

Reimplemented from OpencvSfM::CameraPinhole.

Definition at line 103 of file CameraPinholeDistor.cpp.

vector< Vec2d > OpencvSfM::CameraPinholeDistor::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.

Reimplemented from OpencvSfM::CameraPinhole.

Definition at line 94 of file CameraPinholeDistor.cpp.

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

Create a new camera from a YAML file.

Parameters:

node	Previously opened YAML file node

Reimplemented from OpencvSfM::CameraPinhole.

Definition at line 145 of file CameraPinholeDistor.cpp.

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

void OpencvSfM::CameraPinholeDistor::updateDistortionParameters	(	const cv::Vec6d &	radial_dist,
		unsigned char	nbRadialParam,
		const cv::Vec2d &	tangential_dist,
		unsigned char	wantedEstimation = `RADIAL_PARAM\|TANGEANT_PARAM`
	)

this method can be used to update the intra parameters.

Parameters:

radial_dist	values of the new radial distortions parameters
nbRadialParam	number of radial dist parameters ( 0, 2, 3 or 6 )
tangential_dist	values of the new tangential distortions parameters
wantedEstimation	values which need an estimation

Definition at line 54 of file CameraPinholeDistor.cpp.

Referenced by CameraPinholeDistor().

void OpencvSfM::CameraPinholeDistor::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::CameraPinhole.

Definition at line 48 of file CameraPinholeDistor.cpp.

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

Save the camera intra parameters into a YAML file.

Parameters:

fs	Previously opened YAML file node

Reimplemented from OpencvSfM::CameraPinhole.

Definition at line 178 of file CameraPinholeDistor.cpp.

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

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation