Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
vpCameraParameters.h
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30  *
31  * Description:
32  * Camera intrinsic parameters.
33  *
34  * Authors:
35  * Eric Marchand
36  * Anthony Saunier
37  *
38  *****************************************************************************/
39 
47 #ifndef vpCameraParameters_H
48 #define vpCameraParameters_H
49 
50 #include <vector>
51 
52 #include <visp3/core/vpColVector.h>
53 #include <visp3/core/vpConfig.h>
54 #include <visp3/core/vpDebug.h>
55 #include <visp3/core/vpMatrix.h>
56 
258 class VISP_EXPORT vpCameraParameters
259 {
262 
263 public:
264  typedef enum {
265  perspectiveProjWithoutDistortion,
266  perspectiveProjWithDistortion,
268  ProjWithKannalaBrandtDistortion
272 
273  // generic functions
276  vpCameraParameters(double px, double py, double u0, double v0);
277  vpCameraParameters(double px, double py, double u0, double v0, double kud, double kdu);
278  vpCameraParameters(double px, double py, double u0, double v0, const std::vector<double> &distortion_coefficients);
279 
280  vpCameraParameters &operator=(const vpCameraParameters &c);
281  bool operator==(const vpCameraParameters &c) const;
282  bool operator!=(const vpCameraParameters &c) const;
283  virtual ~vpCameraParameters();
284 
285  void init();
286  void init(const vpCameraParameters &c);
287  void initFromCalibrationMatrix(const vpMatrix &_K);
288  void initFromFov(const unsigned int &w, const unsigned int &h, const double &hfov, const double &vfov);
289  void initPersProjWithoutDistortion(double px, double py, double u0, double v0);
290  void initPersProjWithDistortion(double px, double py, double u0, double v0, double kud, double kdu);
291  void initProjWithKannalaBrandtDistortion(double px, double py, double u0, double v0, const std::vector<double> &distortion_coefficients);
292 
300  inline bool isFovComputed() const { return isFov; }
301 
302  void computeFov(const unsigned int &w, const unsigned int &h);
303 
311  inline double getHorizontalFovAngle() const
312  {
313  if (!isFov) {
314  vpTRACE("Warning: The FOV is not computed, getHorizontalFovAngle() "
315  "won't be significant.");
316  }
317  return m_hFovAngle;
318  }
319 
327  inline double getVerticalFovAngle() const
328  {
329  if (!isFov) {
330  vpTRACE("Warning: The FOV is not computed, getVerticalFovAngle() won't "
331  "be significant.");
332  }
333  return m_vFovAngle;
334  }
335 
348  inline std::vector<vpColVector> getFovNormals() const
349  {
350  if (!isFov) {
351  vpTRACE("Warning: The FOV is not computed, getFovNormals() won't be "
352  "significant.");
353  }
354  return fovNormals;
355  }
356 
357  inline double get_px() const { return px; }
358  inline double get_px_inverse() const { return inv_px; }
359  inline double get_py_inverse() const { return inv_py; }
360  inline double get_py() const { return py; }
361  inline double get_u0() const { return u0; }
362  inline double get_v0() const { return v0; }
363  inline double get_kud() const { return kud; }
364  inline double get_kdu() const { return kdu; }
365  inline std::vector<double> getKannalaBrandtDistortionCoefficients() const { return m_dist_coefs; }
366 
367  inline vpCameraParametersProjType get_projModel() const { return projModel; }
368 
369  vpMatrix get_K() const;
370  vpMatrix get_K_inverse() const;
371 
372  void printParameters();
373  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpCameraParameters &cam);
374 
375 private:
376  static const double DEFAULT_U0_PARAMETER;
377  static const double DEFAULT_V0_PARAMETER;
378  static const double DEFAULT_PX_PARAMETER;
379  static const double DEFAULT_PY_PARAMETER;
380  static const double DEFAULT_KUD_PARAMETER;
381  static const double DEFAULT_KDU_PARAMETER;
382  static const vpCameraParametersProjType DEFAULT_PROJ_TYPE;
383 
384  double px, py;
385  double u0, v0;
386  double kud;
387  double kdu;
388  std::vector<double> m_dist_coefs;
389 
390  unsigned int width;
391  unsigned int height;
392  bool isFov;
393  double m_hFovAngle;
394  double m_vFovAngle;
395  std::vector<vpColVector> fovNormals;
396 
397  double inv_px, inv_py;
398 
399  vpCameraParametersProjType projModel;
400 };
401 
402 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:156
double get_kdu() const
vpCameraParametersProjType get_projModel() const
double getHorizontalFovAngle() const
bool isFovComputed() const
double get_py_inverse() const
#define vpTRACE
Definition: vpDebug.h:416
Generic class defining intrinsic camera parameters.
std::vector< double > getKannalaBrandtDistortionCoefficients() const
std::vector< vpColVector > getFovNormals() const
double get_kud() const
double get_px_inverse() const
double getVerticalFovAngle() const