Visual Servoing Platform  version 3.4.0
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vpCameraParameters Class Reference
core: Core module » Camera model

#include <vpCameraParameters.h>

Public Types

enum  vpCameraParametersProjType { perspectiveProjWithoutDistortion, perspectiveProjWithDistortion, ProjWithKannalaBrandtDistortion }
 

Public Member Functions

 vpCameraParameters ()
 
 vpCameraParameters (const vpCameraParameters &c)
 
 vpCameraParameters (double px, double py, double u0, double v0)
 
 vpCameraParameters (double px, double py, double u0, double v0, double kud, double kdu)
 
 vpCameraParameters (double px, double py, double u0, double v0, const std::vector< double > &distortion_coefficients)
 
vpCameraParameters & operator= (const vpCameraParameters &c)
 
bool operator== (const vpCameraParameters &c) const
 
bool operator!= (const vpCameraParameters &c) const
 
virtual ~vpCameraParameters ()
 
void init ()
 
void init (const vpCameraParameters &c)
 
void initFromCalibrationMatrix (const vpMatrix &_K)
 
void initFromFov (const unsigned int &w, const unsigned int &h, const double &hfov, const double &vfov)
 
void initPersProjWithoutDistortion (double px, double py, double u0, double v0)
 
void initPersProjWithDistortion (double px, double py, double u0, double v0, double kud, double kdu)
 
void initProjWithKannalaBrandtDistortion (double px, double py, double u0, double v0, const std::vector< double > &distortion_coefficients)
 
bool isFovComputed () const
 
void computeFov (const unsigned int &w, const unsigned int &h)
 
double getHorizontalFovAngle () const
 
double getVerticalFovAngle () const
 
std::vector< vpColVector > getFovNormals () const
 
double get_px () const
 
double get_px_inverse () const
 
double get_py_inverse () const
 
double get_py () const
 
double get_u0 () const
 
double get_v0 () const
 
double get_kud () const
 
double get_kdu () const
 
std::vector< double > getKannalaBrandtDistortionCoefficients () const
 
vpCameraParametersProjType get_projModel () const
 
vpMatrix get_K () const
 
vpMatrix get_K_inverse () const
 
void printParameters ()
 

Friends

class vpMeterPixelConversion
 
class vpPixelMeterConversion
 
VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpCameraParameters &cam)
 

Detailed Description

Generic class defining intrinsic camera parameters.

Two camera models are implemented in ViSP.

I. Pinhole camera model

In this model [31], a scene view is formed by projecting 3D points into the image plane using a perspective transformation.

\[ \left[ \begin{array}{c} u \\ v \\ 1 \end{array}\right] = \left[ \begin{array}{ccc} p_x & 0 & u_0 \\ 0 & p_y & v_0 \\ 0 & 0 & 1 \end{array}\right] \left[ \begin{array}{c} x \\ y \\ 1 \end{array}\right] \]

where:

  • $(X_c,Y_c,Z_c)$ are the coordinates of a 3D point in the camera frame
  • $(x,y)$ are the coordinates of the projection of the 3D point in the image plane
  • $(u,v)$ are the coordinates in pixels of the projected 3D point
  • $(u_0,v_0)$ are the coordinates of the principal point (the intersection of the optical axes with the image plane) that is usually near the image center
  • $p_x$ (resp $p_y$) is the ratio between the focal length of the lens $f$ in meters and the size of the pixel $l_x$ in meters: $p_x=f/l_x$ (resp, $l_y$ being the height of a pixel, $p_y=f/l_y$).

When $Z_c \neq 0$, the previous equation is equivalent to the following:

\[ \begin{array}{lcl} x &=& X_c / Z_c \\ y &=& Y_c / Z_c \\ u &=& u_0 + x \; p_x \\ v &=& v_0 + y \; p_y \end{array} \]

Real lenses usually have some radial distortion. So, the above model is extended as:

\[ \begin{array}{lcl} x &=& X_c / Z_c \\ y &=& Y_c / Z_c \\ x^{'} &=& x (1 + k_{ud} r^2) \\ y^{'} &=& y (1 + k_{ud} r^2) \\ r^2 &=& x^2 + y^2 \\ u &=& u_0 + x^{'} \; p_x \\ v &=& v_0 + y^{'} \; p_y \end{array} \]

where $k_{ud}$ is the first order radial distorsion. Higher order distorsion coefficients are not considered in ViSP.

Now in ViSP we consider also the inverse transformation, where from pixel coordinates we want to compute their normalized coordinates in the image plane. Previous equations could be written like:

\[ \begin{array}{lcl} x &=& (u - u_0) / p_x \\ y &=& (v - v_0) / p_y \end{array} \]

Considering radial distortion, the above model is extended as:

\[ \begin{array}{lcl} (u-u_0)^{'} &=& (u-u_0) (1 + k_{du} r^2) \\ (v-v_0)^{'} &=& (v-v_0) (1 + k_{du} r^2) \\ r^2 &=& ((u-u_0)/p_x)^2 + ((v-v_0)/p_y)^2 \\ x &=& (u - u_0)^{'} / p_x \\ y &=& (v - v_0)^{'} / p_y \end{array} \]

Finally, in ViSP the main intrinsic camera parameters are $(p_x, p_y)$ the ratio between the focal length and the size of a pixel, and $(u_0, v_0)$ the coordinates of the principal point in pixel. The lens distortion can also be considered by two additional parameters $(k_{ud}, k_{du})$.

Note
The Tutorial: Camera intrinsic calibration shows how to calibrate a camera to estimate the parameters corresponding to the model implemented in this class.
Note also that Tutorial: Bridge over OpenCV gives the correspondance between ViSP and OpenCV camera modelization.
The conversion from pixel coordinates $(u,v)$ in the normalized space $(x,y)$ is implemented in vpPixelMeterConversion, whereas the conversion from normalized coordinates into pixel is implemented in vpMeterPixelConversion.

From a practical point of view, two kinds of camera modelisation are implemented in this class:

1. Camera parameters for a perspective projection without distortion model

In this modelisation, only $u_0,v_0,p_x,p_y$ parameters are considered.

Initialization of such a model can be done using:

2. Camera parameters for a perspective projection with distortion model

In this modelisation, all the parameters $u_0,v_0,p_x,p_y,k_{ud},k_{du}$ are considered. Initialization of such a model can be done using:

The selection of the camera model (without or with distorsion) is done during vpCameraParameters initialisation.

Here an example of camera initialisation, for a model without distortion. A complete example is given in initPersProjWithoutDistortion().

double px = 600; double py = 600; double u0 = 320; double v0 = 240;
// Create a camera parameter container
vpCameraParameters cam;
// Camera initialization with a perspective projection without distortion
// model
cam.initPersProjWithoutDistortion(px,py,u0,v0);
// It is also possible to print the current camera parameters
std::cout << cam << std::endl;

Here an example of camera initialisation, for a model with distortion. A complete example is given in initPersProjWithDistortion().

double px = 600; double py = 600;
double u0 = 320; double v0 = 240;
double kud = -0.19; double kdu = 0.20;
// Create a camera parameter container
vpCameraParameters cam;
// Camera initialization with a perspective projection without distortion
model cam.initPersProjWithDistortion(px,py,u0,v0,kud,kdu);

The code below shows how to know the currently used projection model:

vpCameraParameters cam;
...
vpCameraParameters::vpCameraParametersProjType projModel;
projModel = cam.get_projModel(); // Get the projection model type

An XML parser for camera parameters is also provided in vpXmlParserCamera.

II. Kannala-Brandt camera model

This model [21] deals with fish-eye lenses designed to cover the whole hemispherical field in front of the camera and the angle of view is very large. In this case, the inherent distortion of a fish-eye lens should not be considered only as a derivation from the pinhole model.

The following projection in the general form is adapted:

\[ \begin{array}{lcl} r(\theta) &=& k_1 \theta + k_2 \theta^3 + k_3 \theta^5 + k_4 \theta^7 + k_5 \theta^9 \end{array} \]

where:

  • $\theta$ is the angle in rad between a point in the real world and the optical axis.
  • $r$ is the distance between the image point and the principal point.

In ViSP, we only consider radially symmetric distortions (caused by fisheye lenses).

Examples:
AROgre.cpp, AROgreBasic.cpp, grabRealSense2_T265.cpp, HelloWorldOgre.cpp, HelloWorldOgreAdvanced.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, photometricVisualServoingWithoutVpServo.cpp, poseVirtualVS.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBebop2.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFlirPtuIBVS.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, servoPtu46Point2DArtVelocity.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuCylinder.cpp, servoSimuCylinder2DCamVelocityDisplay.cpp, servoSimuCylinder2DCamVelocityDisplaySecondaryTask.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocityDisplay.cpp, servoSimuSphere2DCamVelocityDisplaySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity-jointAvoidance-basic.cpp, servoViper850Point2DArtVelocity-jointAvoidance-gpa.cpp, servoViper850Point2DArtVelocity-jointAvoidance-large.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testAfma6.cpp, testAprilTag.cpp, testDisplays.cpp, testFeatureSegment.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageDraw.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, testMomentAlpha.cpp, testRealSense2_D435_align.cpp, testRealSense2_D435_opencv.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_odometry.cpp, testRealSense2_T265_undistort.cpp, testRobotAfma6.cpp, testRobotAfma6Pose.cpp, testRobotViper850.cpp, testRobotViper850Pose.cpp, testTrackDot.cpp, testUndistortImage.cpp, testViper650.cpp, testViper850.cpp, testVirtuoseWithGlove.cpp, trackMeLine.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-bridge-opencv.cpp, tutorial-chessboard-pose.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-franka-acquire-calib-data.cpp, tutorial-homography-from-points.cpp, tutorial-ibvs-4pts-display.cpp, tutorial-ibvs-4pts-image-tracking.cpp, tutorial-ibvs-4pts-ogre-tracking.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, tutorial-ibvs-4pts-wireframe-robot-afma6.cpp, tutorial-ibvs-4pts-wireframe-robot-viper.cpp, tutorial-image-simulator.cpp, tutorial-matching-keypoint-homography.cpp, tutorial-matching-surf-homography-deprecated.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-blender.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-mb-generic-tracker-rgbd.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker-stereo.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, tutorial-mb-tracker.cpp, tutorial-pose-from-points-image.cpp, tutorial-pose-from-points-live.cpp, tutorial-pose-from-points-realsense-T265.cpp, tutorial-pose-from-qrcode-image.cpp, tutorial-undistort.cpp, and wireframeSimulator.cpp.

Definition at line 258 of file vpCameraParameters.h.

Member Enumeration Documentation

enum vpCameraParameters::vpCameraParametersProjType
Enumerator
perspectiveProjWithoutDistortion 

Perspective projection without distortion model

perspectiveProjWithDistortion 

Perspective projection with distortion model

ProjWithKannalaBrandtDistortion 

Projection with Kannala-Brandt distortion model

Definition at line 264 of file vpCameraParameters.h.

Constructor & Destructor Documentation

vpCameraParameters::vpCameraParameters ( )

Default constructor. By default, a perspective projection without distortion model is set.

See also
init()

Definition at line 72 of file vpCameraParameters.cpp.

References init().

vpCameraParameters::vpCameraParameters ( const vpCameraParameters &  c)

Copy constructor

Definition at line 84 of file vpCameraParameters.cpp.

References init().

vpCameraParameters::vpCameraParameters ( double  cam_px,
double  cam_py,
double  cam_u0,
double  cam_v0 
)

Constructor for perspective projection without distortion model

Parameters
cam_px,cam_py: pixel size
cam_u0,cam_v0: principal points

Definition at line 100 of file vpCameraParameters.cpp.

References initPersProjWithoutDistortion().

vpCameraParameters::vpCameraParameters ( double  cam_px,
double  cam_py,
double  cam_u0,
double  cam_v0,
double  cam_kud,
double  cam_kdu 
)

Constructor for perspective projection with distortion model

Parameters
cam_px,cam_py: pixel size
cam_u0,cam_v0: principal points
cam_kud: undistorted to distorted radial distortion
cam_kdu: distorted to undistorted radial distortion

Definition at line 118 of file vpCameraParameters.cpp.

References initPersProjWithDistortion().

vpCameraParameters::vpCameraParameters ( double  cam_px,
double  cam_py,
double  cam_u0,
double  cam_v0,
const std::vector< double > &  coefficients 
)

Constructor for projection with Kannala-Brandt distortion model

Parameters
cam_px,cam_py: pixel size
cam_u0,cam_v0: principal points
coefficients: distorsion model coefficients

Definition at line 136 of file vpCameraParameters.cpp.

References initProjWithKannalaBrandtDistortion().

vpCameraParameters::~vpCameraParameters ( )
virtual

destructor

nothing much to destroy...

Definition at line 317 of file vpCameraParameters.cpp.

Member Function Documentation

void vpCameraParameters::computeFov ( const unsigned int &  w,
const unsigned int &  h 
)

Compute angles and normals of the FOV.

Parameters
w: Width of the image
h: Height of the image.

Definition at line 477 of file vpCameraParameters.cpp.

References vpColVector::normalize().

Referenced by vpMbTracker::computeProjectionErrorImpl(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbDepthDenseTracker::getModelForDisplay(), vpMbDepthNormalTracker::getModelForDisplay(), vpMbtDistanceLine::getModelForDisplay(), vpMbKltTracker::getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), initFromFov(), vpMbtDistanceLine::initMovingEdge(), vpMbtPolygon::isVisible(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), vpMbGenericTracker::track(), and vpMbtDistanceLine::updateMovingEdge().

vpMatrix vpCameraParameters::get_K ( ) const

Return the camera matrix $K$ given by:

$ K = \left[\begin{array}{ccc} p_x & 0 & u_0 \\ 0 & p_y & v_0 \\ 0 & 0 & 1 \end{array} \right] $

See also
get_K_inverse()

Definition at line 537 of file vpCameraParameters.cpp.

Referenced by vpMbEdgeTracker::downScale(), vpPose::poseFromRectangle(), and vpMbEdgeTracker::upScale().

vpMatrix vpCameraParameters::get_K_inverse ( ) const

Return the inverted camera matrix $K^{-1}$ given by:

$ K^{-1} = \left[\begin{array}{ccc} 1/p_x & 0 & -u_0/p_x \\ 0 & 1/p_y & -v_0/p_y \\ 0 & 0 & 1 \end{array} \right] $

See also
get_K()

Definition at line 559 of file vpCameraParameters.cpp.

double vpCameraParameters::get_kdu ( ) const
inline

Definition at line 364 of file vpCameraParameters.h.

Referenced by vpCalibration::computeStdDeviation_dist().

double vpCameraParameters::get_kud ( ) const
inline
Examples:
tutorial-bridge-opencv.cpp.

Definition at line 363 of file vpCameraParameters.h.

Referenced by vpCalibration::computeStdDeviation_dist(), vpCalibration::displayGrid(), vpImageTools::initUndistortMap(), and vpImageTools::undistort().

vpCameraParametersProjType vpCameraParameters::get_projModel ( ) const
inline

Definition at line 367 of file vpCameraParameters.h.

Referenced by vpImageTools::initUndistortMap().

double vpCameraParameters::get_px ( ) const
inline
Examples:
mbot-apriltag-2D-half-vs.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, testKeyPoint-2.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-bridge-opencv.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-matching-keypoint-homography.cpp, and tutorial-matching-surf-homography-deprecated.cpp.

Definition at line 357 of file vpCameraParameters.h.

Referenced by vpFeatureLuminance::buildFrom(), vpHomography::collineation2homography(), vpCalibration::computeCalibration(), vpCalibration::computeCalibrationMulti(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpKeyPoint::computePose(), vpCalibration::computeStdDeviation(), vpCalibration::computeStdDeviation_dist(), vpMbEdgeKltTracker::computeVVS(), vpMbEdgeTracker::computeVVSFirstPhase(), vpMbKltTracker::computeVVSInit(), vpMbEdgeTracker::computeVVSInit(), vpPixelMeterConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpCalibration::displayGrid(), vpMomentObject::fromImage(), vpHomography::homography2collineation(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpImageTools::initUndistortMap(), vpSimulatorAfma6::setCameraParameters(), vpSimulatorViper850::setCameraParameters(), vpSimulator::setExternalCameraParameters(), vpWireFrameSimulator::setExternalCameraParameters(), vpSimulator::setInternalCameraParameters(), vpWireFrameSimulator::setInternalCameraParameters(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().

double vpCameraParameters::get_px_inverse ( ) const
inline

Definition at line 358 of file vpCameraParameters.h.

Referenced by vpHomography::collineation2homography(), and vpHomography::homography2collineation().

double vpCameraParameters::get_py ( ) const
inline
Examples:
servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, testKeyPoint-2.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-bridge-opencv.cpp, tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 360 of file vpCameraParameters.h.

Referenced by vpFeatureLuminance::buildFrom(), vpHomography::collineation2homography(), vpCalibration::computeCalibration(), vpCalibration::computeCalibrationMulti(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpKeyPoint::computePose(), vpCalibration::computeStdDeviation(), vpCalibration::computeStdDeviation_dist(), vpPixelMeterConversion::convertEllipse(), vpMeterPixelConversion::convertEllipse(), vpCalibration::displayGrid(), vpMomentObject::fromImage(), vpHomography::homography2collineation(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpImageTools::initUndistortMap(), vpSimulatorAfma6::setCameraParameters(), vpSimulatorViper850::setCameraParameters(), vpSimulator::setExternalCameraParameters(), vpWireFrameSimulator::setExternalCameraParameters(), vpSimulator::setInternalCameraParameters(), vpWireFrameSimulator::setInternalCameraParameters(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().

double vpCameraParameters::get_py_inverse ( ) const
inline

Definition at line 359 of file vpCameraParameters.h.

Referenced by vpHomography::collineation2homography(), and vpHomography::homography2collineation().

double vpCameraParameters::get_u0 ( ) const
inline
Examples:
mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoBebop2.cpp, servoPioneerPanSegment3D.cpp, testKeyPoint-2.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-bridge-opencv.cpp, tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 361 of file vpCameraParameters.h.

Referenced by vpHomography::collineation2homography(), vpCalibration::computeCalibration(), vpCalibration::computeCalibrationMulti(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpKeyPoint::computePose(), vpCalibration::computeStdDeviation(), vpCalibration::computeStdDeviation_dist(), vpCalibration::displayGrid(), vpHomography::homography2collineation(), vpImageTools::initUndistortMap(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().

double vpCameraParameters::get_v0 ( ) const
inline
Examples:
servoAfma4Point2DCamVelocityKalman.cpp, servoBebop2.cpp, testKeyPoint-2.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-bridge-opencv.cpp, tutorial-detection-object-mbt2-deprecated.cpp, and tutorial-detection-object-mbt2.cpp.

Definition at line 362 of file vpCameraParameters.h.

Referenced by vpHomography::collineation2homography(), vpCalibration::computeCalibration(), vpCalibration::computeCalibrationMulti(), vpMbtDistanceLine::computeInteractionMatrixError(), vpMbtDistanceCylinder::computeInteractionMatrixError(), vpCircle::computeIntersectionPoint(), vpKeyPoint::computePose(), vpCalibration::computeStdDeviation(), vpCalibration::computeStdDeviation_dist(), vpCalibration::displayGrid(), vpHomography::homography2collineation(), vpImageTools::initUndistortMap(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().

std::vector<vpColVector> vpCameraParameters::getFovNormals ( ) const
inline

Get the list of the normals corresponding to planes describing the field of view.

  • vector[0] : Left Normal.
  • vector[1] : Right Normal.
  • vector[2] : Up Normal.
  • vector[3] : Down Normal.
See also
computeFov()
Returns
List of the normals.

Definition at line 348 of file vpCameraParameters.h.

References vpTRACE.

Referenced by vpPolygon3D::computePolygonClipped().

double vpCameraParameters::getHorizontalFovAngle ( ) const
inline

Get the horizontal angle in radian of the field of view.

Returns
FOV horizontal angle computed with px and width.
See also
computeFov(), getVerticalFovAngle()

Definition at line 311 of file vpCameraParameters.h.

References vpTRACE.

std::vector<double> vpCameraParameters::getKannalaBrandtDistortionCoefficients ( ) const
inline

Definition at line 365 of file vpCameraParameters.h.

Referenced by vpPixelMeterConversion::convertPoint(), vpMeterPixelConversion::convertPoint(), and vpImageTools::initUndistortMap().

double vpCameraParameters::getVerticalFovAngle ( ) const
inline

Get the vertical angle in radian of the field of view.

Returns
FOV vertical angle computed with py and height.
See also
computeFov(), getHorizontalFovAngle()

Definition at line 327 of file vpCameraParameters.h.

References vpTRACE.

void vpCameraParameters::init ( )

basic initialization with the default parameters

Examples:
AROgre.cpp, and AROgreBasic.cpp.

Definition at line 149 of file vpCameraParameters.cpp.

References vpException::divideByZeroError.

Referenced by vpCameraParameters().

void vpCameraParameters::init ( const vpCameraParameters &  c)

initialization from another vpCameraParameters object

Definition at line 322 of file vpCameraParameters.cpp.

void vpCameraParameters::initFromCalibrationMatrix ( const vpMatrix &  _K)

initialise the camera from a calibration matrix. Using a calibration matrix leads to a camera without distortion

The K matrix in parameters must be like:

$ K = \left(\begin{array}{ccc} p_x & 0 & u_0 \\ 0 & p_y & v_0 \\ 0 & 0 & 1 \end{array} \right) $

Parameters
_K: the 3by3 calibration matrix

Definition at line 338 of file vpCameraParameters.cpp.

References vpException::badValue, vpException::dimensionError, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and initPersProjWithoutDistortion().

Referenced by vpMbEdgeTracker::downScale(), and vpMbEdgeTracker::upScale().

void vpCameraParameters::initFromFov ( const unsigned int &  w,
const unsigned int &  h,
const double &  hfov,
const double &  vfov 
)

Initialize the camera model without distorsion from the image dimension and the camera field of view.

Parameters
w: Image width.
h: Image height.
hfov: Camera horizontal field of view angle expressed in radians.
vfov: Camera vertical field of view angle expressed in radians.

The following sample code shows how to use this function:

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
int main()
{
vpImage<unsigned char> I(480, 640);
vpCameraParameters cam;
double hfov = vpMath::rad(56);
double vfov = vpMath::rad(43);
cam.initFromFov(I.getWidth(), I.getHeight(), hfov, vfov);
std::cout << cam << std::endl;
std::cout << "Field of view (horizontal: " << vpMath::deg(cam.getHorizontalFovAngle())
<< " and vertical: " << vpMath::deg(cam.getVerticalFovAngle()) << " degrees)" << std::endl;
}

It produces the following output:

Camera parameters for perspective projection without distortion:
px = 601.832 py = 609.275
u0 = 320 v0 = 240
Field of view (horizontal: 56 and vertical: 43 degrees)

Definition at line 382 of file vpCameraParameters.cpp.

References computeFov(), and perspectiveProjWithoutDistortion.

void vpCameraParameters::initPersProjWithDistortion ( double  cam_px,
double  cam_py,
double  cam_u0,
double  cam_v0,
double  cam_kud,
double  cam_kdu 
)

Initialization with specific parameters using perpective projection with distortion model.

Parameters
cam_px,cam_py: the ratio between the focal length and the size of a pixel.
cam_u0,cam_v0: principal points coordinates in pixels.
cam_kud: undistorted to distorted radial distortion.
cam_kdu: distorted to undistorted radial distortion.

The following sample code shows how to use this function:

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
int main()
{
vpImage<unsigned char> I(480, 640);
double u0 = I.getWidth() / 2.;
double v0 = I.getHeight() / 2.;
double px = 600;
double py = 600;
double kud = -0.19;
double kdu = 0.20;
vpCameraParameters cam;
cam.initPersProjWithDistortion(px, py, u0, v0, kud, kdu);
cam.computeFov(I.getWidth(), I.getHeight());
std::cout << cam << std::endl;
std::cout << "Field of view (horizontal: " << vpMath::deg(cam.getHorizontalFovAngle())
<< " and vertical: " << vpMath::deg(cam.getVerticalFovAngle())
<< " degrees)" << std::endl;
}

It produces the following output:

Camera parameters for perspective projection with distortion:
px = 600 py = 600
u0 = 320 v0 = 240
kud = -0.19
kdu = 0.2
Field of view (horizontal: 56.14497387 and vertical: 43.60281897 degrees)
Examples:
testUndistortImage.cpp, and tutorial-undistort.cpp.

Definition at line 262 of file vpCameraParameters.cpp.

References vpException::divideByZeroError, and perspectiveProjWithDistortion.

Referenced by vpViper650::getCameraParameters(), vpViper850::getCameraParameters(), vpAfma6::getCameraParameters(), vpRealSense2::getCameraParameters(), vpRealSense::getCameraParameters(), vpKinect::start(), and vpCameraParameters().

void vpCameraParameters::initPersProjWithoutDistortion ( double  cam_px,
double  cam_py,
double  cam_u0,
double  cam_v0 
)

Initialization with specific parameters using perpective projection without distortion model.

Parameters
cam_px,cam_py: the ratio between the focal length and the size of a pixel.
cam_u0,cam_v0: principal point coordinates in pixels.

The following sample code shows how to use this function:

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
int main()
{
vpImage<unsigned char> I(480, 640);
double u0 = I.getWidth() / 2.;
double v0 = I.getHeight() / 2.;
double px = 600;
double py = 600;
vpCameraParameters cam;
cam.initPersProjWithoutDistortion(px, py, u0, v0);
cam.computeFov(I.getWidth(), I.getHeight());
std::cout << cam << std::endl;
std::cout << "Field of view (horizontal: " << vpMath::deg(cam.getHorizontalFovAngle())
<< " and vertical: " << vpMath::deg(cam.getVerticalFovAngle())
<< " degrees)" << std::endl;
}

It produces the following output:

Camera parameters for perspective projection without distortion:
px = 600 py = 600
u0 = 320 v0 = 240
Field of view (horizontal: 56.145 and vertical: 43.6028 degrees)
Examples:
mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltTracking.cpp, servoBebop2.cpp, servoPioneerPanSegment3D.cpp, servoPioneerPoint2DDepth.cpp, servoPioneerPoint2DDepthWithoutVpServo.cpp, testAprilTag.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testKeyPoint-2.cpp, testKeyPoint-4.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-stereo-mono.cpp, tutorial-mb-generic-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, tutorial-mb-tracker-full.cpp, and tutorial-mb-tracker.cpp.

Definition at line 198 of file vpCameraParameters.cpp.

References vpException::divideByZeroError, and perspectiveProjWithoutDistortion.

Referenced by vpServolens::getCameraParameters(), vpViper650::getCameraParameters(), vpViper850::getCameraParameters(), vpAfma6::getCameraParameters(), vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpRealSense2::getCameraParameters(), vpRealSense::getCameraParameters(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), initFromCalibrationMatrix(), and vpCameraParameters().

void vpCameraParameters::initProjWithKannalaBrandtDistortion ( double  cam_px,
double  cam_py,
double  cam_u0,
double  cam_v0,
const std::vector< double > &  coefficients 
)

Initialization with specific parameters using Kannala-Brandt distortion model

Parameters
cam_px,cam_py: The ratio between the focal length and the size of a pixel.
cam_u0,cam_v0: Principal points coordinates in pixels.
coefficients: Distorsion coefficients.

Definition at line 290 of file vpCameraParameters.cpp.

References vpException::divideByZeroError, and ProjWithKannalaBrandtDistortion.

Referenced by vpRealSense2::getCameraParameters(), and vpCameraParameters().

bool vpCameraParameters::isFovComputed ( ) const
inline

Specify if the fov has been computed.

See also
computeFov()
Returns
True if the fov has been computed, False otherwise.

Definition at line 300 of file vpCameraParameters.h.

Referenced by vpPolygon3D::computePolygonClipped().

bool vpCameraParameters::operator!= ( const vpCameraParameters &  c) const

False if the two objects are absolutely identical.

Definition at line 467 of file vpCameraParameters.cpp.

vpCameraParameters & vpCameraParameters::operator= ( const vpCameraParameters &  cam)

copy operator

Definition at line 400 of file vpCameraParameters.cpp.

bool vpCameraParameters::operator== ( const vpCameraParameters &  c) const

True if the two objects are absolutely identical.

Definition at line 427 of file vpCameraParameters.cpp.

References vpMath::equal().

void vpCameraParameters::printParameters ( )

Print the camera parameters on the standard output

See also
operator<<(std::ostream &, const vpCameraParameters &)
Examples:
servoBebop2.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, and servoViper850FourPointsKinect.cpp.

Definition at line 576 of file vpCameraParameters.cpp.

References perspectiveProjWithDistortion, perspectiveProjWithoutDistortion, and ProjWithKannalaBrandtDistortion.

Referenced by vpCalibration::computeCalibration(), and vpCalibration::computeCalibrationMulti().

Friends And Related Function Documentation

VISP_EXPORT std::ostream& operator<< ( std::ostream &  os,
const vpCameraParameters &  cam 
)
friend

Print on the output stream os the camera parameters.

Parameters
os: Output stream.
cam: Camera parameters.

Definition at line 611 of file vpCameraParameters.cpp.

friend class vpMeterPixelConversion
friend

Definition at line 260 of file vpCameraParameters.h.

friend class vpPixelMeterConversion
friend

Definition at line 261 of file vpCameraParameters.h.