MipBaselib::CameraCCDPar3DArma Class Reference

#include <CameraParameters.h>

Inheritance diagram for MipBaselib::CameraCCDPar3DArma:

List of all members.

Public Member Functions
	CameraCCDPar3DArma ()
	Skew NOTE I do not need an explicit parameter for skew since it is equal to _calibMatrix(0,1).
	CameraCCDPar3DArma (const Decimal f, const Decimal mx, const Decimal my, const Decimal w=-1.0, const Decimal h=-1.0, const Decimal sk=0.0, const Position2DArma &pp=Position2DArma(), const Roto3DHomoArma &rcfw=Roto3DHomoArma(IDENTITY_ARMA_MATRIX))
	Constructor with inputs. Complete information.
	CameraCCDPar3DArma (const Decimal &alphax, const Decimal &alphay, const Decimal w=-1.0, const Decimal h=-1.0, const Decimal sk=-1.0, const Position2DArma &pp=Position2DArma(), const Roto3DHomoArma &rcfw=Roto3DHomoArma(IDENTITY_ARMA_MATRIX))
	Constructor with inputs. Already computed [mx my] pre-calculation.
	CameraCCDPar3DArma (const CameraCCDPar3DArma &rhs)
	Copy constructor.
CameraCCDPar3DArma &	operator= (const CameraCCDPar3DArma &rhs)
	Assignment operator.
bool	getFocalPixel (Decimal &f)
	Get focal length of the camera in pixels.
bool	getWidthPixel (Decimal &w)
	Get width of the camera in pixels.
bool	getHeightPixel (Decimal &h)
	Get height of the camera in pixels.
bool	getCalibMatrix (arma::Mat< Decimal >::fixed< 3, 3 > &cm)
	Get the calibration matrix of the camera.
arma::Mat< Decimal >::fixed< 3, 3 > *	getCalibMatrixPointer (bool &ret)
	Get the pointer to calibration matrix of the camera.
bool	getCalibInvMatrix (arma::Mat< Decimal >::fixed< 3, 3 > &cm)
	Get the inverse of calibration matrix of the camera in closed form.
bool	getCalibMatrixPointer (arma::Mat< Decimal >::fixed< 3, 3 > *&cm)
	Get the pointer to calibration matrix of the camera.
bool	getCalibInvMatrixPointer (arma::Mat< Decimal >::fixed< 3, 3 > *&cm)
	Get the pointer to the inverse of calibration matrix of the camera.
arma::Mat< Decimal >::fixed< 3, 3 > *	getCalibInvMatrixPointer (bool &ret)
	Get the pointer to the inverse of calibration matrix of the camera.
bool	getMx (Decimal &mx)
	Get the number of pixels per unit distance (in pixels) along x-axis (mx of the calibration matrix).
bool	getMy (Decimal &my)
	Get the number of pixels per unit distance (in pixels) along y-axis (my of the calibration matrix).
bool	getFocalMx (Decimal &fmx)
	Get the focal length multiplied by mx (mx*f), i.e. the item (0,0) of the calibration matrix.
bool	getFocalMy (Decimal &fmy)
	Get the focal length multiplied by my (my*f), i.e. the item (1,1) of the calibration matrix.
bool	getPrincipalPointMxMy (Position2DArma &ppmx)
	Get the principal point multiplied by [mx; my] [ppx*mx; ppy*my], i.e. the item [(0,2); (1,2)] of the calibration matrix.
bool	getPrincipalPointMxX (Decimal &ppmxx)
	Get the principal point multiplied by mx (ppx*mx), i.e. the item (0,2) of the calibration matrix.
bool	getPrincipalPointMyY (Decimal &ppmxy)
	Get the principal point multiplied by my (ppy*my), i.e. the item (1,2) of the calibration matrix.
bool	getSkew (Decimal &s)
	Get the skew multiplied by my (s*mx), i.e. the item (0,1) of the calibration matrix.
Decimal	getFocalPixel () const
	Get focal length of the camera in pixels.
Decimal	getWidthPixel () const
	Get width of the camera in pixels.
Decimal	getHeightPixel () const
	Get height of the camera in pixels.
Position2DArma	getPrincipalPointPixel () const
	Get the principal point of the camera in pixels.
Decimal	getPrincipalPointPixelX () const
	Get the principal point of the camera in pixels along x-axis.
Decimal	getPrincipalPointPixelY () const
	Get the principal point of the camera in pixels along y-axis.
arma::Mat< Decimal >::fixed< 3, 3 >	getCalibMatrix () const
	Get the calibration matrix of the camera.
arma::Mat< Decimal >::fixed< 3, 3 >	getCalibInvMatrix () const
	Get the inverse of calibration matrix of the camera in closed form.
arma::Mat< Decimal >::fixed< 3, 3 > *	getCalibMatrixPointer ()
	Get the pointer to calibration matrix of the camera.
arma::Mat< Decimal >::fixed< 3, 3 > *	getCalibInvMatrixPointer ()
	Get the pointer to the inverse of calibration matrix of the camera.
Decimal	getMx ()
	Get the number of pixels per unit distance (in pixels) along x-axis (mx of the calibration matrix).
Decimal	getMy ()
	Get the number of pixels per unit distance (in pixels) along y-axis (my of the calibration matrix).
Decimal	getFocalMx () const
	Get the focal length multiplied by mx (mx*f), i.e. the item (0,0) of the calibration matrix.
Decimal	getFocalMy () const
	Get the focal length multiplied by my (my*f), i.e. the item (1,1) of the calibration matrix.
Position2DArma	getPrincipalPointMx () const
	Get the principal point multiplied by [mx; my] [ppx*mx; ppy*my], i.e. the item [(0,2); (1,2)] of the calibration matrix.
Decimal	getPrincipalPointMxX () const
	Get the principal point multiplied by mx (ppx*mx), i.e. the item (0,2) of the calibration matrix.
Decimal	getPrincipalPointMyY () const
	Get the principal point multiplied by my (ppy*my), i.e. the item (1,2) of the calibration matrix.
Decimal	getSkew () const
	Get the skew, i.e. the item (0,1) of the calibration matrix.
void	setFocalPixel (const Decimal &f, int opt=2)
	set focal length of the camera in pixels
void	setWidthPixel (const Decimal &w)
	Set width of the camera in pixels.
void	setHeightPixel (const Decimal &h)
	Set height of the camera in pixels.
void	setSkew (const Decimal &s, int opt=2)
	Set the skew.
void	setPrincipalPoint (const Position2DArma &pp, int opt=2)
	Set the principal point in pixels.
void	setMx (const Decimal &mx, int opt=2)
	Set mx (number of pixels per unit distance) along x-axis.
void	setMy (const Decimal &my, int opt=2)
	Set my (number of pixels per unit distance) along y-axis.
void	setMxMy (const Decimal &mx, const Decimal &my, int opt=2)
	Set mx and my (number of pixels per unit distance along x and y axis respectevely).
void	updateCalibrationMatrix ()
	It updates the calibration matrix and its inverse with the data stored in this class.
string	getObjectName () const
	Method that gives the name of the class as it will be displayed by the tracer.
string	print (int opt=0)
	Print function.

---

Constructor & Destructor Documentation

CameraCCDPar3DArma::CameraCCDPar3DArma

(

)

Skew NOTE I do not need an explicit parameter for skew since it is equal to _calibMatrix(0,1).

Default constructor

CameraCCDPar3DArma::CameraCCDPar3DArma	(	const Decimal	f,
		const Decimal	mx,
		const Decimal	my,
		const Decimal	w = -1.0,
		const Decimal	h = -1.0,
		const Decimal	sk = 0.0,
		const Position2DArma &	pp = Position2DArma(),
		const Roto3DHomoArma &	rcfw = Roto3DHomoArma(IDENTITY_ARMA_MATRIX)
	)

Constructor with inputs. Complete information.

Parameters:

[in]	f	Focal length
[in]	mx	Number of pixels per unit distance in image coordinates (width direction)
[in]	my	Number of pixels per unit distance in image coordinates (height direction)
[in]	w	[Optional] Width of the camera. -1 as default
[in]	h	[Optional] Height of the camera. -1 as default
[in]	s	[Optional] Skew parameter. 0 as default
[in]	&pp	[Optional] Position of the principal point. [0 0] as default
[in]	&rcfw	[Optional] Rotation matrix in homogeneous coordinate from world to camera reference frame

CameraCCDPar3DArma::CameraCCDPar3DArma	(	const Decimal &	alphax,
		const Decimal &	alphay,
		const Decimal	w = -1.0,
		const Decimal	h = -1.0,
		const Decimal	sk = -1.0,
		const Position2DArma &	pp = Position2DArma(),
		const Roto3DHomoArma &	rcfw = Roto3DHomoArma(IDENTITY_ARMA_MATRIX)
	)

Constructor with inputs. Already computed [mx my] pre-calculation.

Parameters:

[in]	alphax	Focal length multiplied by mx, number of pixels per unit distance along x-axis
[in]	alphay	Focal length multiplied by my, number of pixels per unit distance along y-axis
[in]	w	[Optional] Width of the camera. -1 as default
[in]	h	[Optional] Height of the camera. -1 as default
[in]	sk	[Optional] Skew parameter. 0 as default
[in]	&pp	[Optional] Position of the principal point in pixels, scaled via [mX mY]. [0 0] as default
[in]	&rcfw	[Optional] Rotation matrix in homogeneous coordinate from world to camera reference frame. Identity matrix as default

CameraCCDPar3DArma::CameraCCDPar3DArma

(

const CameraCCDPar3DArma &

rhs

)

Copy constructor.

---

Member Function Documentation

CameraCCDPar3DArma & CameraCCDPar3DArma::operator=

(

const CameraCCDPar3DArma &

rhs

)

Assignment operator.

bool CameraCCDPar3DArma::getFocalPixel

(

Decimal &

f

)

Get focal length of the camera in pixels.

Parameters:

[out]

f

Focal length (in pixels) to be set

Returns:

True if a valid focal length was set; false otherwise

bool CameraCCDPar3DArma::getWidthPixel

(

Decimal &

w

)

Get width of the camera in pixels.

Parameters:

[out]

w

Width of the camera (in pixels) to be set

Returns:

True if a valid width was set; false otherwise

bool CameraCCDPar3DArma::getHeightPixel

(

Decimal &

h

)

Get height of the camera in pixels.

Parameters:

[out]

h

Height of the camera (in pixels) to be set

Returns:

True if a valid height was set; false otherwise

bool CameraCCDPar3DArma::getCalibMatrix

(

arma::Mat< Decimal >::fixed< 3, 3 > &

cm

)

Get the calibration matrix of the camera.

Parameters:

[out]

cm

Calibration matrix to be set

Returns:

True if a valid calibration matrix was set; false otherwise

arma::Mat< Decimal >::fixed< 3, 3 > * CameraCCDPar3DArma::getCalibMatrixPointer

(

bool &

ret

)

Get the pointer to calibration matrix of the camera.

Parameters:

[out]

ret

True if a valid calibration matrix was set; false otherwise

Returns:

Pointer of calibration matrix to be set

bool CameraCCDPar3DArma::getCalibInvMatrix

(

arma::Mat< Decimal >::fixed< 3, 3 > &

cm

)

Get the inverse of calibration matrix of the camera in closed form.

Parameters:

[out]

cm

Inverse of calibration matrix to be set

Returns:

True if a valid inverse calibration matrix was set; false otherwise

bool CameraCCDPar3DArma::getCalibMatrixPointer

(

arma::Mat< Decimal >::fixed< 3, 3 > *&

cm

)

Get the pointer to calibration matrix of the camera.

Parameters:

[out]

cm

Pointer to calibration matrix to be set

Returns:

True if a valid calibration matrix was set; false otherwise

bool CameraCCDPar3DArma::getCalibInvMatrixPointer

(

arma::Mat< Decimal >::fixed< 3, 3 > *&

cm

)

Get the pointer to the inverse of calibration matrix of the camera.

Parameters:

[out]

cm

Pointer of inverse of calibration matrix to be set

Returns:

True if a valid inverse calibration matrix was set; false otherwise

arma::Mat< Decimal >::fixed< 3, 3 > * CameraCCDPar3DArma::getCalibInvMatrixPointer

(

bool &

ret

)

Get the pointer to the inverse of calibration matrix of the camera.

Parameters:

[out]

ret

True if a valid inverse calibration matrix was set; false otherwise

Returns:

Pointer of inverse of calibration matrix to be set

bool CameraCCDPar3DArma::getMx

(

Decimal &

mx

)

Get the number of pixels per unit distance (in pixels) along x-axis (mx of the calibration matrix).

Parameters:

[out]

mx

Number of pixels per unit distance (in pixels) along x-axis (mx of the calibration matrix)

Returns:

True if a valid mx was set; false otherwise

bool CameraCCDPar3DArma::getMy

(

Decimal &

my

)

Get the number of pixels per unit distance (in pixels) along y-axis (my of the calibration matrix).

Parameters:

[out]

my

Number of pixels per unit distance (in pixels) along y-axis (my of the calibration matrix)

Returns:

True if a valid my was set; false otherwise

bool CameraCCDPar3DArma::getFocalMx

(

Decimal &

fmx

)

Get the focal length multiplied by mx (mx*f), i.e. the item (0,0) of the calibration matrix.

Parameters:

[out]

fmx

Focal length multiplied by mx (mx*f), i.e. the item (0,0) of the calibration matrix

Returns:

True if a valid my was set; false otherwise

bool CameraCCDPar3DArma::getFocalMy

(

Decimal &

fmy

)

Get the focal length multiplied by my (my*f), i.e. the item (1,1) of the calibration matrix.

Parameters:

[out]

fmy

Focal length multiplied by my (my*f), i.e. the item (1,1) of the calibration matrix

Returns:

True if a valid my was set; false otherwise

bool CameraCCDPar3DArma::getPrincipalPointMxMy

(

Position2DArma &

ppmx

)

Get the principal point multiplied by [mx; my] [ppx*mx; ppy*my], i.e. the item [(0,2); (1,2)] of the calibration matrix.

Parameters:

[out]

ppmx

Principal point multiplied by [mx; my] [ppx*mx; ppy*my], i.e. the item [(0,2); (1,2)] of the calibration matrix

Returns:

True if a valid my was set; false otherwise

bool CameraCCDPar3DArma::getPrincipalPointMxX

(

Decimal &

ppmxx

)

Get the principal point multiplied by mx (ppx*mx), i.e. the item (0,2) of the calibration matrix.

Parameters:

[out]

ppmxx

Principal point multiplied by mx (ppx*mx), i.e. the item (0,2) of the calibration matrix

Returns:

True if a valid my was set; false otherwise

bool CameraCCDPar3DArma::getPrincipalPointMyY

(

Decimal &

ppmxy

)

Get the principal point multiplied by my (ppy*my), i.e. the item (1,2) of the calibration matrix.

Parameters:

[out]

ppmxy

Principal point multiplied by my (ppy*my), i.e. the item (1,2) of the calibration matrix

Returns:

True if a valid my was set; false otherwise

bool CameraCCDPar3DArma::getSkew

(

Decimal &

s

)

Get the skew multiplied by my (s*mx), i.e. the item (0,1) of the calibration matrix.

Parameters:

[out]

s

Skew multiplied by my (s*mx), i.e. the item (0,1) of the calibration matrix

Returns:

True if a valid my was set; false otherwise

Decimal CameraCCDPar3DArma::getFocalPixel

(

)

const

Get focal length of the camera in pixels.

Returns:

Focal length (in pixels) to be set

Decimal CameraCCDPar3DArma::getWidthPixel

(

)

const

Get width of the camera in pixels.

Returns:

Width of the camera (in pixels) to be set

Decimal CameraCCDPar3DArma::getHeightPixel

(

)

const

Get height of the camera in pixels.

Returns:

Height of the camera (in pixels) to be set

Position2DArma CameraCCDPar3DArma::getPrincipalPointPixel

(

)

const

Get the principal point of the camera in pixels.

Returns:

Principal point of the camera (in pixels) to be set

Decimal CameraCCDPar3DArma::getPrincipalPointPixelX

(

)

const

Get the principal point of the camera in pixels along x-axis.

Returns:

Principal point of the camera (in pixels) to be set along x-axis

Decimal CameraCCDPar3DArma::getPrincipalPointPixelY

(

)

const

Get the principal point of the camera in pixels along y-axis.

Returns:

Principal point of the camera (in pixels) to be set along y-axis

arma::Mat< Decimal >::fixed< 3, 3 > CameraCCDPar3DArma::getCalibMatrix

(

)

const

Get the calibration matrix of the camera.

Returns:

Calibration matrix to be set

arma::Mat< Decimal >::fixed< 3, 3 > CameraCCDPar3DArma::getCalibInvMatrix

(

)

const

Get the inverse of calibration matrix of the camera in closed form.

Returns:

Inverse of calibration matrix to be set

arma::Mat< Decimal >::fixed< 3, 3 > * CameraCCDPar3DArma::getCalibMatrixPointer

(

)

Get the pointer to calibration matrix of the camera.

Returns:

Pointer to calibration matrix to be set

arma::Mat< Decimal >::fixed< 3, 3 > * CameraCCDPar3DArma::getCalibInvMatrixPointer

(

)

Get the pointer to the inverse of calibration matrix of the camera.

Returns:

Pointer of inverse of calibration matrix to be set

Decimal CameraCCDPar3DArma::getMx

(

)

Get the number of pixels per unit distance (in pixels) along x-axis (mx of the calibration matrix).

Returns:

Number of pixels per unit distance (in pixels) along x-axis (mx of the calibration matrix)

Decimal CameraCCDPar3DArma::getMy

(

)

Get the number of pixels per unit distance (in pixels) along y-axis (my of the calibration matrix).

Returns:

Number of pixels per unit distance (in pixels) along y-axis (my of the calibration matrix)

Decimal CameraCCDPar3DArma::getFocalMx

(

)

const

Get the focal length multiplied by mx (mx*f), i.e. the item (0,0) of the calibration matrix.

Returns:

Focal length multiplied by mx (mx*f), i.e. the item (0,0) of the calibration matrix

Decimal CameraCCDPar3DArma::getFocalMy

(

)

const

Get the focal length multiplied by my (my*f), i.e. the item (1,1) of the calibration matrix.

Returns:

Focal length multiplied by my (my*f), i.e. the item (1,1) of the calibration matrix

Position2DArma CameraCCDPar3DArma::getPrincipalPointMx

(

)

const

Get the principal point multiplied by [mx; my] [ppx*mx; ppy*my], i.e. the item [(0,2); (1,2)] of the calibration matrix.

Returns:

Principal point multiplied by [mx; my] [ppx*mx; ppy*my], i.e. the item [(0,2); (1,2)] of the calibration matrix

Decimal CameraCCDPar3DArma::getPrincipalPointMxX

(

)

const

Get the principal point multiplied by mx (ppx*mx), i.e. the item (0,2) of the calibration matrix.

Returns:

Principal point multiplied by mx (ppx*mx), i.e. the item (0,2) of the calibration matrix

Decimal CameraCCDPar3DArma::getPrincipalPointMyY

(

)

const

Get the principal point multiplied by my (ppy*my), i.e. the item (1,2) of the calibration matrix.

Returns:

Principal point multiplied by my (ppy*my), i.e. the item (1,2) of the calibration matrix

Decimal CameraCCDPar3DArma::getSkew

(

)

const

Get the skew, i.e. the item (0,1) of the calibration matrix.

Returns:

Skew, i.e. the item (0,1) of the calibration matrix

void CameraCCDPar3DArma::setFocalPixel	(	const Decimal &	f,
		int	opt = 2
	)

set focal length of the camera in pixels

Parameters:

[in]	f	Focal length (in pixels) to be set
[in]	opt	(optional) Choose if one wants to update data with the given input. 0 no update, 1 update for updating mx and my; 2 for updating calibration matrix ( if a previous valid one is known); 3 if all inner data (mx my skew princPoint) are known -> updating calibration matrix and its inverse (also if a previous calibration matrix is not known)

void CameraCCDPar3DArma::setWidthPixel

(

const Decimal &

w

)

Set width of the camera in pixels.

Parameters:

[in]

w

Width of the camera (in pixels) to be set

void CameraCCDPar3DArma::setHeightPixel

(

const Decimal &

h

)

Set height of the camera in pixels.

Parameters:

[in]

h

Height of the camera (in pixels) to be set : Only the data affected by input are updated

void CameraCCDPar3DArma::setSkew	(	const Decimal &	s,
		int	opt = 2
	)

Set the skew.

Parameters:

[in]	s	Skew (in pixels) to be set
[in]	opt	(optional) Choose if one wants to update data with the given input. 0 no update, 1 update for updating mx and my; 2 for updating calibration matrix ( if a previous valid one is known); 3 if all inner data (mx my f princPoint) are known -> updating calibration matrix and its inverse (also if a previous calibration matrix is not known)

void CameraCCDPar3DArma::setPrincipalPoint	(	const Position2DArma &	pp,
		int	opt = 2
	)

Set the principal point in pixels.

Parameters:

[in]	pp	Principal point (in pixels) to be set
[in]	opt	(optional) Choose if one wants to update data with the given input. 0 no update, 1 update for updating mx and my; 2 for updating calibration matrix ( if a previous valid one is known); 3 if all inner data (mx my skew f) are known -> updating calibration matrix and its inverse (also if a previous calibration matrix is not known)

void CameraCCDPar3DArma::setMx	(	const Decimal &	mx,
		int	opt = 2
	)

Set mx (number of pixels per unit distance) along x-axis.

Parameters:

[in]	mx	Distorsion (number of pixels per unit distance) along x-axis
[in]	opt	(optional) Choose if one wants to update data with the given input. 0 no update, 1 update for updating mx and my; 2 for updating calibration matrix ( if a previous valid one is known); 3 if all inner data (princPoint my skew f) are known -> updating calibration matrix and its inverse (also if a previous calibration matrix is not known)

void CameraCCDPar3DArma::setMy	(	const Decimal &	my,
		int	opt = 2
	)

Set my (number of pixels per unit distance) along y-axis.

Parameters:

[in]	my	Distorsion (number of pixels per unit distance) along y-axis
[in]	opt	(optional) Choose if one wants to update data with the given input. 0 no update, 1 update for updating mx and my; 2 for updating calibration matrix ( if a previous valid one is known); 3 if all inner data (princPoint mx skew f) are known -> updating calibration matrix and its inverse (also if a previous calibration matrix is not known)

void CameraCCDPar3DArma::setMxMy	(	const Decimal &	mx,
		const Decimal &	my,
		int	opt = 2
	)

Set mx and my (number of pixels per unit distance along x and y axis respectevely).

Parameters:

[in]	mx	Distorsion (number of pixels per unit distance) along x-axis
[in]	my	Distorsion (number of pixels per unit distance) along y-axis
[in]	opt	(optional) Choose if one wants to update data with the given input. 0 no update, 1 update for updating mx and my; 2 for updating calibration matrix ( if a previous valid one is known)

void CameraCCDPar3DArma::updateCalibrationMatrix

(

)

It updates the calibration matrix and its inverse with the data stored in this class.

This method is useful if one updated internal data with set data without updating calibration matrix (and its inverse)

string MipBaselib::CameraCCDPar3DArma::getObjectName

(

)

const [inline, virtual]

Method that gives the name of the class as it will be displayed by the tracer.

Returns:

a string, which is the name of the current class

Note:

pure virtual, has to be redefined for each child class

Implements MIPObject.

string CameraCCDPar3DArma::print

(

int

opt = 0

)

Print function.

Parameters:

[in]

opt

[optional] opt. 0 for printing all data (also possible non valid one); 1 for printing only valid data

---

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

• baselib/sensors/CameraParameters.h
• baselib/sensors/CameraParameters.cpp