msceqf::PinholeCamera Class Reference

This class represnt the base class for any pinhole camera type. More...

#include <camera.hpp>

Inheritance diagram for msceqf::PinholeCamera:

Public Member Functions
void	undistort (std::vector< Eigen::Vector2f > &uv, const bool &normalize=false)
	Undistort given distorted point in Eigen format (std::vector<Eigen::Vector2f>)
virtual void	undistort (std::vector< cv::Point2f > &uv_cv, const bool &normalize=false)=0
	Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)
virtual void	undistortImage (const cv::Mat &image, cv::Mat &image_undistorted)=0
	Undistort given image in openCV format (cv::Mat)
void	normalize (std::vector< Eigen::Vector2f > &uv)
	Normalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
void	normalize (std::vector< cv::Point2f > &uv)
	Normalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
void	normalize (Eigen::Vector2f &uv)
	Normalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
void	normalize (cv::Point2f &uv)
	Normalize multiple features uv coordinates in OpenCV format (cv::Point2f)
void	denormalize (std::vector< Eigen::Vector2f > &uv)
	Denormalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)
void	denormalize (std::vector< cv::Point2f > &uv)
	Denormalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)
void	denormalize (Eigen::Vector2f &uv)
	Denormalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)
void	denormalize (cv::Point2f &uv)
	Denormalize multiple features uv coordinates in OpenCV format (cv::Point2f)
void	setIntrinsics (const Vector4 &intrinsics)
	Set the value of the intrinsic parameters.
const Vector4 &	intrinsics () const
	Get camera intrinsics parameter (fx, fy, cx, cy) as a 4 vector.
const VectorX &	distortionCoefficients () const
	Get camera distortion coefficients (k1, k2, p1, p2, ...) as a vector.

Protected Member Functions
	PinholeCamera (const VectorX &distortion_coefficients, const Vector4 instrinsics, const uint &width, const uint &height)
	PinholeCamera ()=delete
	Rule of Five.
	PinholeCamera (const PinholeCamera &)=delete
	PinholeCamera (PinholeCamera &&)=delete
PinholeCamera &	operator= (const PinholeCamera &)=delete
PinholeCamera &	operator= (PinholeCamera &&)=delete

Protected Attributes
VectorX	distortion_coefficients_
	Vector of distortion coefficients (k1, k2, p1, p2, ...)
Vector4	intrinsics_
	Vector of intrinsic paramater (fx, fy, cx, cy)
uint	width_
	Image width.
uint	height_
	Image height.

Detailed Description

This class represnt the base class for any pinhole camera type.

Member Function Documentation

denormalize() [1/4]

void msceqf::PinholeCamera::denormalize

(

cv::Point2f &

uv

)

Denormalize multiple features uv coordinates in OpenCV format (cv::Point2f)

Parameters

uv	uv coordinates

denormalize() [2/4]

void msceqf::PinholeCamera::denormalize

(

Eigen::Vector2f &

uv

)

Denormalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)

Parameters

uv	uv coordinates

denormalize() [3/4]

void msceqf::PinholeCamera::denormalize

(

std::vector< cv::Point2f > &

uv

)

Denormalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)

Parameters

uv	uv coordinates

denormalize() [4/4]

void msceqf::PinholeCamera::denormalize

(

std::vector< Eigen::Vector2f > &

uv

)

Denormalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)

Parameters

uv	uv coordinates

distortionCoefficients()

const VectorX & msceqf::PinholeCamera::distortionCoefficients

(

)

const

Get camera distortion coefficients (k1, k2, p1, p2, ...) as a vector.

Returns

Vector of distortion coefficients (k1, k2, p1, p2, ...)

intrinsics()

const Vector4 & msceqf::PinholeCamera::intrinsics

(

)

const

Get camera intrinsics parameter (fx, fy, cx, cy) as a 4 vector.

Returns

R4 vector representing the camera intrinsic parameters (fx, fy, cx, cy)

normalize() [1/4]

void msceqf::PinholeCamera::normalize

(

cv::Point2f &

uv

)

Normalize multiple features uv coordinates in OpenCV format (cv::Point2f)

Parameters

uv	uv coordinates

normalize() [2/4]

void msceqf::PinholeCamera::normalize

(

Eigen::Vector2f &

uv

)

Normalize a single feature uv coordinates in Eigen format (Eigen::Vector2f)

Parameters

uv	uv coordinates

normalize() [3/4]

void msceqf::PinholeCamera::normalize

(

std::vector< cv::Point2f > &

uv

)

Normalize multiple features uv coordinates in OpenCV format (std::vector<cv::Point2f>)

Parameters

uv	uv coordinates

normalize() [4/4]

void msceqf::PinholeCamera::normalize

(

std::vector< Eigen::Vector2f > &

uv

)

Normalize multiple features uv coordinates in Eigen format (std::vector<Eigen::Vector2f>)

Parameters

uv	uv coordinates

setIntrinsics()

void msceqf::PinholeCamera::setIntrinsics

(

const Vector4 &

intrinsics

)

Set the value of the intrinsic parameters.

Parameters

intrinsics

R4 vector representing the camera intrinsic parameters (fx, fy, cx, cy)

undistort() [1/2]

virtual void msceqf::PinholeCamera::undistort ( std::vector< cv::Point2f > & uv_cv, const bool & normalize = false )

pure virtual

Undistort given distorted point in OpenCV format (std::vector<cv::Point2f>)

Parameters

uv_cv	uv coordinates
normalize	flag to decide wether normalize coordinates or not

Implemented in msceqf::EquidistantCamera, and msceqf::RadtanCamera.

undistort() [2/2]

void msceqf::PinholeCamera::undistort	(	std::vector< Eigen::Vector2f > &	uv,
		const bool &	normalize = false )

Undistort given distorted point in Eigen format (std::vector<Eigen::Vector2f>)

Parameters

uv	uv coordinates
normalize	Flag to decide wether normalize coordinates or not

undistortImage()

virtual void msceqf::PinholeCamera::undistortImage ( const cv::Mat & image, cv::Mat & image_undistorted )

pure virtual

Undistort given image in openCV format (cv::Mat)

Parameters

image	Image to be undistorted
image_undistorted	Undistorted image

Implemented in msceqf::EquidistantCamera, and msceqf::RadtanCamera.

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

• include/vision/camera.hpp