this is the base class of all pinhole cameras, which is the common camera type. this class implement the common pinhole camera module, which include classic 3x3 camera intrinsic matrix, and distortion module the detailed information of this camera module can be found in OpenCV document "Camera Calibration and 3D Reconstruction" part More...

#include <CameraObject.h>

Inheritance diagram for PinholeCamera:

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Collaboration diagram for PinholeCamera:

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Public Types
using	Ptr = std::shared_ptr< PinholeCamera >
	the shared pointer of PinholeCamera class

Public Types inherited from CameraObject
using	Ptr = std::shared_ptr< CameraObject >
	shared pointer

Public Types inherited from DataFlowObject
using	Ptr = std::shared_ptr< DataFlowObject >
	the shared pointer type of DataFlowObject

Public Member Functions
	PinholeCamera (const cv::Mat1d &CameraMatrix=cv::Mat1d(), const cv::Mat1d &DistCoeff=cv::Mat1d())
	Construct a new Pinhole Camera object. More...

virtual	~PinholeCamera ()
	Destroy the Pinhole Camera object.

virtual bool	undistort (const cv::Mat &src, cv::Mat &dst) override
	Transforms an image to compensate for lens distortion. this is a pure virtual function, the real undistort algorithm should be implemented. More...

std::tuple< cv::Mat1d, cv::Mat1d >	getCameraParameters ()
	Get the Camera Parameters. More...

bool	updateCameraMatrix (const cv::Mat1d &CameraMatrix)
	set the new camera intrinsic matrix More...

bool	updateDistCoeff (const cv::Mat1d &DistCoeff)

virtual std::string	type_name () override
	get the typename. More...

virtual bool	save (JsonNode &fs) override
	save data and settings to file More...

virtual bool	load (JsonNode &fs) override
	load data and settings from file More...

Public Member Functions inherited from CameraObject
	CameraObject ()
	Construct a new Camera Object object. More...

	CameraObject (std::string CameraName)
	Construct a new Camera Object object. More...

virtual	~CameraObject ()
	Destroy the Camera Object object.

std::string	getCameraName ()
	Get the Camera Name. More...

virtual bool	undistort (const cv::Mat &src, cv::Mat &dst)=0
	Transforms an image to compensate for lens distortion. this is a pure virtual function, the real undistort algorithm should be implemented. More...

virtual bool	open ()
	open the camera with the preloaded parameter More...

bool	save (JsonNode &fs) override
	save data and settings to file More...

bool	load (JsonNode &fs) override
	load data and settings from file More...

virtual std::string	type_name () override
	get the typename. More...

Public Member Functions inherited from DataFlowObject
	DataFlowObject ()
	Construct a new Data Flow Object object.

virtual	~DataFlowObject ()
	Destroy the Data Flow Object object.

Public Member Functions inherited from MVSObject
	MVSObject ()
	Construct a new MVSObject object.

virtual	~MVSObject ()
	Destroy the MVSObject object.

virtual bool	save (JsonNode &fs)=0
	save data and settings to file More...

virtual bool	load (JsonNode &fs)=0
	load data and settings from file More...

virtual std::string	type_name ()
	get the typename. More...

Static Public Member Functions
static Ptr	Create (const cv::Mat1d &CameraMatrix=cv::Mat1d(), const cv::Mat1d &DistCoeff=cv::Mat1d())
	Creates PinholeCamera object. More...

Static Public Member Functions inherited from DataFlowObject
static void	cvMat2Sophus (const cv::Mat1d &Mat, Sophus::SE3d &Pose)
	create shared pointer of DataFlowObject, do NOT use this method directly, use the Create() method in derived class. More...

static void	Sophus2cvMat (const Sophus::SE3d &pose, cv::Mat1d &Mat)

static cv::Mat1d	Rt2T (const cv::Mat1d &R, const cv::Mat1d &t)

static std::tuple< cv::Mat1d, cv::Mat1d >	T2Rt (const cv::Mat1d &T)

Protected Attributes
cv::Mat1d	CameraMatrix
	Camera Intrinsic Matrix.

cv::Mat1d	DistCoeff
	Camera Distortion Parameters.

Protected Attributes inherited from CameraObject
std::string	CameraName

cv::Size2i	ImageSize

Additional Inherited Members
Protected Member Functions inherited from MVSObject
bool	isDirExist (std::string path)
	check if the directory is exist. More...

bool	mkdir (std::string path)
	create directory in given path. More...

Detailed Description

this is the base class of all pinhole cameras, which is the common camera type. this class implement the common pinhole camera module, which include classic 3x3 camera intrinsic matrix, and distortion module the detailed information of this camera module can be found in OpenCV document "Camera Calibration and 3D Reconstruction" part

Constructor & Destructor Documentation

◆ PinholeCamera()

PinholeCamera::PinholeCamera	(	const cv::Mat1d &	CameraMatrix = `cv::Mat1d()`,
		const cv::Mat1d &	DistCoeff = `cv::Mat1d()`
	)

Construct a new Pinhole Camera object.

Parameters

CameraName	the unique name of Camera
CameraMatrix	the 3x3 camera intrinsic matrix
DistCoeff	the camera distortion parameters

Member Function Documentation

◆ Create()

PinholeCamera::Ptr PinholeCamera::Create	(	const cv::Mat1d &	CameraMatrix = `cv::Mat1d()`,
		const cv::Mat1d &	DistCoeff = `cv::Mat1d()`
	)

static

Creates PinholeCamera object.

Parameters

CameraName	the unique name of Camera
CameraMatrix	the 3x3 camera intrinsic matrix
DistCoeff	the camera distortion parameters

Returns: Ptr the shared pointer of PinholeCamera class

◆ getCameraParameters()

std::tuple< cv::Mat1d, cv::Mat1d > PinholeCamera::getCameraParameters ( )

Get the Camera Parameters.

Returns: std::tuple<cv::Mat1d, cv::Mat1d> Camera intrinsic matrix and distortion parameters

◆ load()

bool PinholeCamera::load ( JsonNode & fs )

overridevirtual

load data and settings from file

this method will load data such as keypoints, descriptors, translation matrices in DataFlowObject and its sub-classes from the given JsonNode instance. or will load parameters and settings in WorkFlowObject and its sub-classes to the given JsonNode instance, and automatically initialize the WorkFlow with these parameters

Parameters

fs	the json handler

Returns: true load successfully; false load failed or initialization falied.

Reimplemented from CameraObject.

Reimplemented in PinholeImageReader.

◆ save()

bool PinholeCamera::save ( JsonNode & fs )

overridevirtual

save data and settings to file

this method will save data such as keypoints, descriptors, translation matrices in DataFlowObject and its sub-classes to the given JsonNode instance, or will save parameters and settings in WorkFlowObject and its sub-classes to the given JsonNode instance.

Parameters

fs	the json handler

Returns: true save successfully; false save failed

Reimplemented from CameraObject.

Reimplemented in PinholeImageReader.

◆ type_name()

std::string PinholeCamera::type_name ( )

overridevirtual

get the typename.

Returns

Reimplemented from CameraObject.

Reimplemented in PinholeImageReader.

◆ undistort()

bool PinholeCamera::undistort	(	const cv::Mat &	src,
		cv::Mat &	dst
	)

overridevirtual

Transforms an image to compensate for lens distortion. this is a pure virtual function, the real undistort algorithm should be implemented.

Parameters

src	Input (distorted) image.
dst	Output (corrected) image that has the same size and type as src.

Returns: true successfully undistort; false undistort failed

Implements CameraObject.

◆ updateCameraMatrix()

bool PinholeCamera::updateCameraMatrix ( const cv::Mat1d & CameraMatrix )

set the new camera intrinsic matrix

Parameters

CameraMatrix new camera intrinsic matrix

Returns: true update; false update failed

◆ updateDistCoeff()

bool PinholeCamera::updateDistCoeff ( const cv::Mat1d & DistCoeff )

Parameters

DistCoeff set the new camera distortion parameters

Returns: true; false

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

C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/common/CameraObject.h
C:/Users/ZhouZishun/Documents/Workspace/EasyMVS/core/common/CameraObject.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PinholeCamera()

Member Function Documentation

◆ Create()

◆ getCameraParameters()

◆ load()

◆ save()

◆ type_name()

◆ undistort()

◆ updateCameraMatrix()

◆ updateDistCoeff()