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Visual Servoing Platform
version 3.6.0 under development (2023-09-27)
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#include <visp3/core/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) |
void | to_json (nlohmann::json &j, const vpCameraParameters &cam) |
void | from_json (const nlohmann::json &j, vpCameraParameters &cam) |
Generic class defining intrinsic camera parameters.
1. Supported camera models
Two camera models are implemented in ViSP.
1.1. Pinhole camera model
In this model [34], a scene view is formed by projecting 3D points into the image plane using a perspective transformation.
where:
When , the previous equation is equivalent to the following:
Real lenses usually have some radial distortion. So, the above model is extended as:
where is the first order radial distortion. Higher order distortion 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:
Considering radial distortion, the above model is extended as:
Finally, in ViSP the main intrinsic camera parameters are the ratio between the focal length and the size of a pixel, and
the coordinates of the principal point in pixel. The lens distortion can also be considered by two additional parameters
.
From a practical point of view, two kinds of camera modelization are implemented in this class:
1.1.1. Camera parameters for a perspective projection without distortion model
In this modelization, only parameters are considered.
Initialization of such a model can be done using:
1.1.2. Camera parameters for a perspective projection with distortion model
In this modelization, all the parameters are considered. Initialization of such a model can be done using:
The selection of the camera model (without or with distortion) is done during vpCameraParameters initialisation.
Here an example of camera initialisation, for a model without distortion. A complete example is given in initPersProjWithoutDistortion().
Here an example of camera initialisation, for a model with distortion. A complete example is given in initPersProjWithDistortion().
The code below shows how to know the currently used projection model:
An XML parser for camera parameters is also provided in vpXmlParserCamera.
1.2. Kannala-Brandt camera model
This model [22] 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:
where:
In ViSP, we only consider radially symmetric distortions (caused by fisheye lenses).
2. JSON serialization
Since ViSP 3.6.0, if ViSP is build with JSON for modern C++ 3rd-party we introduce JSON serialization capabilities for vpCameraParameters. The following sample code shows how to save camera parameters in a file named cam.json
and reload the parameters from this JSON file.
If you build and execute the sample code, it will produce the following output:
The content of the cam.json
file is the following:
Definition at line 303 of file vpCameraParameters.h.
Definition at line 309 of file vpCameraParameters.h.
vpCameraParameters::vpCameraParameters | ( | ) |
Default constructor. By default, a perspective projection without distortion model is set.
Definition at line 71 of file vpCameraParameters.cpp.
References init().
vpCameraParameters::vpCameraParameters | ( | const vpCameraParameters & | c | ) |
vpCameraParameters::vpCameraParameters | ( | double | cam_px, |
double | cam_py, | ||
double | cam_u0, | ||
double | cam_v0 | ||
) |
Constructor for perspective projection without distortion model
cam_px,cam_py | : pixel size |
cam_u0,cam_v0 | : principal points |
Definition at line 99 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
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 117 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
cam_px,cam_py | : pixel size |
cam_u0,cam_v0 | : principal points |
coefficients | : distortion model coefficients |
Definition at line 135 of file vpCameraParameters.cpp.
References initProjWithKannalaBrandtDistortion().
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void vpCameraParameters::computeFov | ( | const unsigned int & | w, |
const unsigned int & | h | ||
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Compute angles and normals of the FOV.
w | : Width of the image |
h | : Height of the image. |
Definition at line 482 of file vpCameraParameters.cpp.
References vpColVector::normalize().
Referenced by vpMbTracker::computeProjectionErrorImpl(), vpMbtFaceDepthNormal::computeROI(), vpMbtFaceDepthDense::computeROI(), vpMbtFaceDepthNormal::displayFeature(), vpMbDepthDenseTracker::getModelForDisplay(), vpMbDepthNormalTracker::getModelForDisplay(), vpMbKltTracker::getModelForDisplay(), vpMbtDistanceLine::getModelForDisplay(), vpMbDepthDenseTracker::init(), vpMbDepthNormalTracker::init(), vpMbEdgeTracker::init(), initFromFov(), vpMbtDistanceLine::initMovingEdge(), vpMbtPolygon::isVisible(), vpMbEdgeKltTracker::postTracking(), vpMbKltTracker::reinit(), vpMbEdgeKltTracker::setPose(), vpMbKltTracker::setPose(), and vpMbtDistanceLine::updateMovingEdge().
vpMatrix vpCameraParameters::get_K | ( | ) | const |
Return the camera matrix given by:
Definition at line 542 of file vpCameraParameters.cpp.
Referenced by vpMbEdgeTracker::downScale(), vpPose::poseFromRectangle(), and vpMbEdgeTracker::upScale().
vpMatrix vpCameraParameters::get_K_inverse | ( | ) | const |
Return the inverted camera matrix given by:
Definition at line 564 of file vpCameraParameters.cpp.
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Definition at line 408 of file vpCameraParameters.h.
Referenced by vpCalibration::computeStdDeviation_dist().
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Definition at line 407 of file vpCameraParameters.h.
Referenced by vpCalibration::computeStdDeviation_dist(), vpCalibration::displayGrid(), vpImageTools::initUndistortMap(), and vpImageTools::undistort().
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Definition at line 411 of file vpCameraParameters.h.
Referenced by vpImageTools::initUndistortMap().
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Definition at line 401 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(), vpMbEdgeTracker::computeVVSInit(), vpMbKltTracker::computeVVSInit(), vpMeterPixelConversion::convertEllipse(), vpPixelMeterConversion::convertEllipse(), vpCalibration::displayGrid(), vpMomentObject::fromImage(), vpHomography::homography2collineation(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpImageTools::initUndistortMap(), vpSimulatorAfma6::setCameraParameters(), vpSimulatorViper850::setCameraParameters(), vpWireFrameSimulator::setExternalCameraParameters(), vpSimulator::setExternalCameraParameters(), vpWireFrameSimulator::setInternalCameraParameters(), vpSimulator::setInternalCameraParameters(), vpMegaPose::setIntrinsics(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().
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Definition at line 402 of file vpCameraParameters.h.
Referenced by vpHomography::collineation2homography(), and vpHomography::homography2collineation().
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Definition at line 404 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(), vpMeterPixelConversion::convertEllipse(), vpPixelMeterConversion::convertEllipse(), vpCalibration::displayGrid(), vpMomentObject::fromImage(), vpHomography::homography2collineation(), vpSimulatorAfma6::initDisplay(), vpSimulatorViper850::initDisplay(), vpImageTools::initUndistortMap(), vpSimulatorAfma6::setCameraParameters(), vpSimulatorViper850::setCameraParameters(), vpWireFrameSimulator::setExternalCameraParameters(), vpSimulator::setExternalCameraParameters(), vpWireFrameSimulator::setInternalCameraParameters(), vpSimulator::setInternalCameraParameters(), vpMegaPose::setIntrinsics(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().
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Definition at line 403 of file vpCameraParameters.h.
Referenced by vpHomography::collineation2homography(), and vpHomography::homography2collineation().
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Definition at line 405 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(), vpMegaPose::setIntrinsics(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().
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Definition at line 406 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(), vpMegaPose::setIntrinsics(), vpImageTools::undistort(), and vpAROgre::updateCameraProjection().
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Get the list of the normals corresponding to planes describing the field of view.
Definition at line 392 of file vpCameraParameters.h.
References vpTRACE.
Referenced by vpPolygon3D::computePolygonClipped().
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Get the horizontal angle in radian of the field of view.
Definition at line 355 of file vpCameraParameters.h.
References vpTRACE.
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Definition at line 409 of file vpCameraParameters.h.
Referenced by vpImageTools::initUndistortMap().
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Get the vertical angle in radian of the field of view.
Definition at line 371 of file vpCameraParameters.h.
References vpTRACE.
void vpCameraParameters::init | ( | ) |
basic initialization with the default parameters
Definition at line 148 of file vpCameraParameters.cpp.
References vpException::divideByZeroError.
Referenced by vpCameraParameters().
void vpCameraParameters::init | ( | const vpCameraParameters & | c | ) |
initialization from another vpCameraParameters object
Definition at line 326 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 | : the 3by3 calibration matrix |
Definition at line 342 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 distortion from the image dimension and the camera field of view.
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:
It produces the following output:
Definition at line 386 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.
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:
It produces the following output:
Definition at line 262 of file vpCameraParameters.cpp.
References vpException::divideByZeroError, and perspectiveProjWithDistortion.
Referenced by vpRealSense2::getCameraParameters(), vpRealSense::getCameraParameters(), vpAfma6::getCameraParameters(), vpViper650::getCameraParameters(), vpViper850::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.
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:
It produces the following output:
Definition at line 197 of file vpCameraParameters.cpp.
References vpException::divideByZeroError, and perspectiveProjWithoutDistortion.
Referenced by vpRealSense2::getCameraParameters(), vpRealSense::getCameraParameters(), vpSimulatorAfma6::getCameraParameters(), vpSimulatorViper850::getCameraParameters(), vpAfma6::getCameraParameters(), vpViper650::getCameraParameters(), vpViper850::getCameraParameters(), vpServolens::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
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 | : Distortion coefficients. |
Definition at line 291 of file vpCameraParameters.cpp.
References vpException::divideByZeroError, and ProjWithKannalaBrandtDistortion.
Referenced by vpRealSense2::getCameraParameters(), and vpCameraParameters().
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Specify if the fov has been computed.
Definition at line 344 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 474 of file vpCameraParameters.cpp.
vpCameraParameters & vpCameraParameters::operator= | ( | const vpCameraParameters & | cam | ) |
copy operator
Definition at line 404 of file vpCameraParameters.cpp.
bool vpCameraParameters::operator== | ( | const vpCameraParameters & | c | ) | const |
True if the two objects are absolutely identical.
Definition at line 431 of file vpCameraParameters.cpp.
References vpMath::equal().
void vpCameraParameters::printParameters | ( | ) |
Print the camera parameters on the standard output
Definition at line 581 of file vpCameraParameters.cpp.
References perspectiveProjWithDistortion, perspectiveProjWithoutDistortion, and ProjWithKannalaBrandtDistortion.
Referenced by vpCalibration::computeCalibration(), and vpCalibration::computeCalibrationMulti().
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Deserialize a JSON object into camera parameters. The minimal required properties are:
If a projection model (vpCameraParameters::vpCameraParametersProjType) is supplied, then other parameters may be expected:
An example of a JSON object representing a camera is:
j | The json object to deserialize. |
cam | The modified camera. |
Definition at line 517 of file vpCameraParameters.h.
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Print on the output stream os the camera parameters.
os | : Output stream. |
cam | : Camera parameters. |
Definition at line 616 of file vpCameraParameters.cpp.
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Converts camera parameters into a JSON representation.
j | the resulting JSON object |
cam | the camera to serialize |
Definition at line 464 of file vpCameraParameters.h.
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Definition at line 305 of file vpCameraParameters.h.
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Definition at line 306 of file vpCameraParameters.h.