mrpt::vision::CCamModel Class Reference

This class represent the camera model for Monocular SLAM. More...

#include <mrpt/vision/CCamModel.h>

List of all members.

Public Member Functions
	CCamModel ()
	Defalult Constructor.
	CCamModel (const std::string &file)
	Constructor from a init file.
float	cam_d () const
	Return the pixel dimension (it is supossed that pixel heigth and weigth is equal).
unsigned int	cam_nrows () const
	Return the rows number for a image captured by the camera.
unsigned int	cam_ncols () const
	Return the columns number for a image captured by the camera.
float	cam_cx () const
	Return the 'x' position of the optic center over the image.
float	cam_cy () const
	Return the 'y' position of the optic center over the image.
float	cam_k1 () const
	Return the first parameter of radial distortion.
float	cam_k2 () const
	Return the first parameter of radial distortion.
float	cam_f () const
	Return the focal distance of the camera.
void	jacob_undistor_fm (const math::CVectorFloat &uvd, math::CMatrixFloat &J_undist)
	Jacobian for undistortion the image coordinates.
math::CMatrixFloat	jacob_undistor (float &col, float &row)
	Calculate the image coordinates undistorted.
void	distort_a_point (const math::CVectorFloat &uvu, math::CVectorFloat &uvd)
	Return the pixel position distorted by the camera.
void	undistort_point (float &col, float &row)
	Return the pixel position undistorted by the camera The input values 'col' and 'row' will be replace for the new values (undistorted).
Protected Attributes
vision::TCamera	cam

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Detailed Description

This class represent the camera model for Monocular SLAM.

For the moment only pinhole model is employed and implemented.

Definition at line 56 of file CCamModel.h.

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Constructor & Destructor Documentation

mrpt::vision::CCamModel::CCamModel

(

)

Defalult Constructor.

mrpt::vision::CCamModel::CCamModel

(

const std::string &

file

)

Constructor from a init file.

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Member Function Documentation

float mrpt::vision::CCamModel::cam_cx

(

)

const [inline]

Return the 'x' position of the optic center over the image.

Definition at line 82 of file CCamModel.h.

float mrpt::vision::CCamModel::cam_cy

(

)

const [inline]

Return the 'y' position of the optic center over the image.

Definition at line 86 of file CCamModel.h.

float mrpt::vision::CCamModel::cam_d

(

)

const [inline]

Return the pixel dimension (it is supossed that pixel heigth and weigth is equal).

Definition at line 71 of file CCamModel.h.

float mrpt::vision::CCamModel::cam_f

(

)

const [inline]

Return the focal distance of the camera.

Definition at line 98 of file CCamModel.h.

float mrpt::vision::CCamModel::cam_k1

(

)

const [inline]

Return the first parameter of radial distortion.

Definition at line 90 of file CCamModel.h.

float mrpt::vision::CCamModel::cam_k2

(

)

const [inline]

Return the first parameter of radial distortion.

Definition at line 94 of file CCamModel.h.

unsigned int mrpt::vision::CCamModel::cam_ncols

(

)

const [inline]

Return the columns number for a image captured by the camera.

Definition at line 78 of file CCamModel.h.

unsigned int mrpt::vision::CCamModel::cam_nrows

(

)

const [inline]

Return the rows number for a image captured by the camera.

Definition at line 74 of file CCamModel.h.

void mrpt::vision::CCamModel::distort_a_point	(	const math::CVectorFloat &	uvu,
		math::CVectorFloat &	uvd
	)

Return the pixel position distorted by the camera.

math::CMatrixFloat mrpt::vision::CCamModel::jacob_undistor	(	float &	col,
		float &	row
	)

Calculate the image coordinates undistorted.

void mrpt::vision::CCamModel::jacob_undistor_fm	(	const math::CVectorFloat &	uvd,
		math::CMatrixFloat &	J_undist
	)

Jacobian for undistortion the image coordinates.

void mrpt::vision::CCamModel::undistort_point	(	float &	col,
		float &	row
	)

Return the pixel position undistorted by the camera The input values 'col' and 'row' will be replace for the new values (undistorted).

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Member Data Documentation

vision::TCamera mrpt::vision::CCamModel::cam [protected]

Definition at line 59 of file CCamModel.h.