cam::CameraParams Class Reference

Represents a set of intrinsic camera parameters. More...

#include <CameraParams.h>

Public Member Functions
	CameraParams ()
	Constructs a default or empty set of camera parameters.
	CameraParams (const cv::Mat &camera_matrix, const cv::Mat &dist_coeff, cv::Size image_size=cv::Size(640, 480))
	Constructs a set of camera parameters with the given camera matrix, distortion coefficients, and image size.
	CameraParams (const CameraParams &other)
	Copy constructor.
bool	empty () const
cv::Mat	getCameraMatrix () const
	Gets the camera matrix associated with this set of camera parameters.
cv::Mat	getDistCoeff () const
	Gets the distortion coefficients (as a column vector) associated with this set of camera parameters.
cv::Size	getImageSize () const
	Gets the image size this set of intrinsic parameters was calibrated for.
std::vector< double >	getIntrinsicList ()
	Gets the camera intrinsics as a 1d list.
CameraParams &	operator= (const CameraParams &other)
	Define a copy assignment operator.
void	readFromFileNode (const cv::FileNode &file_node)
	Reads the data for this CameraParams object from the given cv::FileNode object.
void	writeToFileStorage (cv::FileStorage &file_storage) const
	Writes the data for this CameraParams object to the given cv::FileStorage object.

Detailed Description

Represents a set of intrinsic camera parameters.

Camera parameters (also called "intrinsic parameters") are obtained from camera calibration and are unique to and constant for every camera. They define how the camera projects a 3D space onto a 2D image plane.

Each set of CameraParams contains a camera matrix which defines how points in 3D space are linearly projected to the 2D image plane of the camera, and a set of distortion coefficients which can be used to correct for radial distortion in the image. The projection is linear which means that projected points are unique only up to scaling.

Warning

Note that camera parameters are different for different resolutions of the camera! It is often not enough to simply scale the image centers/focal lengths for different resolutions because many cameras have different fields of view (and therefore different projections/distortion) at different resolutions. For this reason, a CameraParams object has an associated cv::Size which contains the image size the parameters are valid for.

Constructor & Destructor Documentation

CameraParams() [1/3]

cam::CameraParams::CameraParams

(

)

Constructs a default or empty set of camera parameters.

Warning

Empty sets of camera parameters are not suitable for actual use! Check to make sure they are non-empty with empty().

CameraParams() [2/3]

cam::CameraParams::CameraParams	(	const cv::Mat &	camera_matrix,
		const cv::Mat &	dist_coeff,
		cv::Size	image_size = cv::Size(640, 480) )

Constructs a set of camera parameters with the given camera matrix, distortion coefficients, and image size.

Parameters

camera_matrix	A 3x3 matrix defining the projection of the camera.
dist_coeff	A set of distortion coefficients defining the lens distortion of the camera. Must be a 1xN or Nx1 matrix where N is the number of coefficients. N must be 4, 5, 8, 12, or 14.
image_size	The size of the image the parameters are calibrated for. Defaults to 640x480 as this is the default resolution of many webcams.

CameraParams() [3/3]

cam::CameraParams::CameraParams

(

const CameraParams &

other

)

Copy constructor.

Constructs a set of camera parameters by copying another. Underlying data like the camera matrix and distortion coefficients are actually copied, so the copy may be modified without affecting the original.

Member Function Documentation

readFromFileNode()

void cam::CameraParams::readFromFileNode

(

const cv::FileNode &

file_node

)

Reads the data for this CameraParams object from the given cv::FileNode object.

Used for serialization - you should not need to call this method directly but should instead use the >> operator on a cv::FileNode object.

writeToFileStorage()

void cam::CameraParams::writeToFileStorage

(

cv::FileStorage &

file_storage

)

const

Writes the data for this CameraParams object to the given cv::FileStorage object.

Used for serialization - you should not need to call this method directly but should instead use the << operator on a cv::FileStorage object.

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

• src/camera/CameraParams.h
• src/camera/CameraParams.cpp