class representing camera intrinsics and related functions More...

#include <mitkCameraIntrinsics.h>

Inheritance diagram for mitk::CameraIntrinsics:

Collaboration diagram for mitk::CameraIntrinsics:

Public Member Functions
	mitkClassMacroItkParent (CameraIntrinsics, itk::Object)

Pointer	Clone () const

void	Copy (const CameraIntrinsics *other)

bool	Equals (const CameraIntrinsics *other) const

vnl_matrix_fixed< mitk::ScalarType, 3, 3 >	GetVnlCameraMatrix () const

vnl_matrix_fixed< mitk::ScalarType, 3, 4 >	GetVnlCameraMatrix3x4 () const

bool	IsValid () const

void	SetValid (bool valid)

cv::Mat	GetCameraMatrix () const

cv::Mat	GetDistorsionCoeffs ()

cv::Mat	GetDistorsionCoeffs () const

void	ToXML (TiXmlElement *elem) const override

std::string	ToString () const

std::string	GetString ()

double	GetFocalLengthX () const

double	GetFocalLengthY () const

double	GetPrincipalPointX () const

double	GetPrincipalPointY () const

mitk::Point4D	GetDistorsionCoeffsAsPoint4D () const

mitk::Point3D	GetFocalPoint () const

mitk::Point3D	GetPrincipalPoint () const

vnl_vector_fixed< mitk::ScalarType, 2 >	GetFocalPointAsVnlVector () const

vnl_vector_fixed< mitk::ScalarType, 2 >	GetPrincipalPointAsVnlVector () const

void	SetCameraMatrix (const vnl_matrix_fixed< mitk::ScalarType, 3, 3 > &_CameraMatrix)

void	SetIntrinsics (const cv::Mat &_CameraMatrix, const cv::Mat &_DistorsionCoeffs)

void	SetFocalLength (double x, double y)

void	SetPrincipalPoint (double x, double y)

void	SetDistorsionCoeffs (double k1, double k2, double p1, double p2)

void	SetIntrinsics (const mitk::Point3D &focalPoint, const mitk::Point3D &principalPoint, const mitk::Point4D &distortionCoefficients)

void	FromXML (TiXmlElement *elem) override

void	FromGMLCalibrationXML (TiXmlElement *elem)

std::string	ToOctaveString (const std::string &varName="CameraIntrinsics")

	~CameraIntrinsics () override

Public Member Functions inherited from mitk::XMLSerializable
virtual const char *	GetNameOfClass () const =0

virtual void	ToXMLFile (const std::string &file, const std::string &elemName="")

virtual void	FromXMLFile (const std::string &file, const std::string &elemName="")

std::string	GetXMLFileName () const

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	CameraIntrinsics ()

	CameraIntrinsics (const CameraIntrinsics &other)

Protected Attributes
cv::Mat	m_CameraMatrix

cv::Mat	m_DistorsionCoeffs

bool	m_Valid

itk::FastMutexLock::Pointer	m_Mutex

Friends
int	mitkCameraIntrinsicsTest (int argc, char *argv[])

Additional Inherited Members
Static Public Attributes inherited from mitk::XMLSerializable
static const std::string	FILE_REFERENCE_ATTRIBUTE_NAME

static const std::string	ROOT_NAME

Detailed Description

class representing camera intrinsics and related functions

Definition at line 34 of file mitkCameraIntrinsics.h.

Constructor & Destructor Documentation

◆ ~CameraIntrinsics()

mitk::CameraIntrinsics::~CameraIntrinsics ( )

override

Definition at line 35 of file mitkCameraIntrinsics.cpp.

◆ CameraIntrinsics() [1/2]

mitk::CameraIntrinsics::CameraIntrinsics ( )

protected

Definition at line 18 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_DistorsionCoeffs.

◆ CameraIntrinsics() [2/2]

mitk::CameraIntrinsics::CameraIntrinsics ( const CameraIntrinsics & other )

protected

Definition at line 26 of file mitkCameraIntrinsics.cpp.

References Copy().

Member Function Documentation

◆ Clone()

Pointer mitk::CameraIntrinsics::Clone ( ) const

make a clone of this intrinsics

◆ Copy()

void mitk::CameraIntrinsics::Copy ( const CameraIntrinsics * other )

copy information from other to this

Definition at line 50 of file mitkCameraIntrinsics.cpp.

References GetCameraMatrix(), GetDistorsionCoeffs(), m_Valid, SetIntrinsics(), and SetValid().

Referenced by CameraIntrinsics().

◆ Equals()

bool mitk::CameraIntrinsics::Equals ( const CameraIntrinsics * other ) const

checks two intrinsics for equality

Definition at line 40 of file mitkCameraIntrinsics.cpp.

References GetDistorsionCoeffsAsPoint4D(), GetFocalPoint(), and GetPrincipalPoint().

◆ FromGMLCalibrationXML()

void mitk::CameraIntrinsics::FromGMLCalibrationXML ( TiXmlElement * elem )

Definition at line 248 of file mitkCameraIntrinsics.cpp.

References endoAssert, m_CameraMatrix, m_DistorsionCoeffs, m_Mutex, and m_Valid.

Referenced by FromXML().

◆ FromXML()

void mitk::CameraIntrinsics::FromXML ( TiXmlElement * elem )

overridevirtual

read your values here from elem

Implements mitk::XMLSerializable.

Definition at line 303 of file mitkCameraIntrinsics.cpp.

References endoAssert, endodebug, FromGMLCalibrationXML(), mitk::XMLSerializable::FromXMLFile(), mitk::XMLSerializable::GetNameOfClass(), m_CameraMatrix, m_DistorsionCoeffs, m_Mutex, m_Valid, and MITK_DEBUG.

◆ GetCameraMatrix()

cv::Mat mitk::CameraIntrinsics::GetCameraMatrix ( ) const

Definition at line 179 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

Referenced by Copy().

◆ GetDistorsionCoeffs() [1/2]

cv::Mat mitk::CameraIntrinsics::GetDistorsionCoeffs ( )

Definition at line 191 of file mitkCameraIntrinsics.cpp.

References GetDistorsionCoeffs().

Referenced by Copy(), and GetDistorsionCoeffs().

◆ GetDistorsionCoeffs() [2/2]

cv::Mat mitk::CameraIntrinsics::GetDistorsionCoeffs ( ) const

Definition at line 185 of file mitkCameraIntrinsics.cpp.

References m_DistorsionCoeffs, and m_Mutex.

◆ GetDistorsionCoeffsAsPoint4D()

mitk::Point4D mitk::CameraIntrinsics::GetDistorsionCoeffsAsPoint4D ( ) const

Definition at line 425 of file mitkCameraIntrinsics.cpp.

References m_DistorsionCoeffs, and m_Mutex.

Referenced by Equals().

◆ GetFocalLengthX()

double mitk::CameraIntrinsics::GetFocalLengthX ( ) const

Definition at line 400 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

Referenced by GetFocalPoint(), GetFocalPointAsVnlVector(), and ToOctaveString().

◆ GetFocalLengthY()

double mitk::CameraIntrinsics::GetFocalLengthY ( ) const

Definition at line 407 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

Referenced by GetFocalPoint(), GetFocalPointAsVnlVector(), and ToOctaveString().

◆ GetFocalPoint()

mitk::Point3D mitk::CameraIntrinsics::GetFocalPoint ( ) const

Definition at line 438 of file mitkCameraIntrinsics.cpp.

References GetFocalLengthX(), and GetFocalLengthY().

Referenced by Equals().

◆ GetFocalPointAsVnlVector()

vnl_vector_fixed< mitk::ScalarType, 2 > mitk::CameraIntrinsics::GetFocalPointAsVnlVector ( ) const

Definition at line 457 of file mitkCameraIntrinsics.cpp.

References GetFocalLengthX(), and GetFocalLengthY().

◆ GetPrincipalPoint()

mitk::Point3D mitk::CameraIntrinsics::GetPrincipalPoint ( ) const

Definition at line 447 of file mitkCameraIntrinsics.cpp.

References GetPrincipalPointX(), and GetPrincipalPointY().

Referenced by Equals().

◆ GetPrincipalPointAsVnlVector()

vnl_vector_fixed< mitk::ScalarType, 2 > mitk::CameraIntrinsics::GetPrincipalPointAsVnlVector ( ) const

Definition at line 466 of file mitkCameraIntrinsics.cpp.

References GetPrincipalPointX(), and GetPrincipalPointY().

◆ GetPrincipalPointX()

double mitk::CameraIntrinsics::GetPrincipalPointX ( ) const

Definition at line 413 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

Referenced by GetPrincipalPoint(), GetPrincipalPointAsVnlVector(), and ToOctaveString().

◆ GetPrincipalPointY()

double mitk::CameraIntrinsics::GetPrincipalPointY ( ) const

Definition at line 419 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

Referenced by GetPrincipalPoint(), GetPrincipalPointAsVnlVector(), and ToOctaveString().

◆ GetString()

std::string mitk::CameraIntrinsics::GetString ( )

Definition at line 480 of file mitkCameraIntrinsics.cpp.

References ToString().

◆ GetVnlCameraMatrix()

vnl_matrix_fixed< mitk::ScalarType, 3, 3 > mitk::CameraIntrinsics::GetVnlCameraMatrix ( ) const

Returns: the intrinsic parameter matrix as a 3x3 vnl matrix

Definition at line 64 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

Referenced by GetVnlCameraMatrix3x4().

◆ GetVnlCameraMatrix3x4()

vnl_matrix_fixed< mitk::ScalarType, 3, 4 > mitk::CameraIntrinsics::GetVnlCameraMatrix3x4 ( ) const

Returns: the intrinsic parameter matrix as a 3x4 vnl matrix (the last column only containing zeros)

Definition at line 93 of file mitkCameraIntrinsics.cpp.

References GetVnlCameraMatrix().

◆ IsValid()

bool mitk::CameraIntrinsics::IsValid ( ) const

Returns: true if the intrinsics are set (some plausibility checks may be done here)

Definition at line 57 of file mitkCameraIntrinsics.cpp.

References m_Mutex, and m_Valid.

◆ mitkClassMacroItkParent()

mitk::CameraIntrinsics::mitkClassMacroItkParent	(	CameraIntrinsics	,
		itk::Object
	)

smartpointer typedefs

◆ New()

static Pointer mitk::CameraIntrinsics::New ( )

static

the static new function

Referenced by mitk::AbstractToFDeviceFactory::GetCameraIntrinsics(), mitk::ToFCameraMESASR4000DeviceFactory::GetCurrentDeviceName(), QmitkToFConnectionWidget::OnConnectCamera(), mitk::ToFDistanceImageToPointSetFilter::ToFDistanceImageToPointSetFilter(), and mitk::ToFDistanceImageToSurfaceFilter::ToFDistanceImageToSurfaceFilter().

◆ SetCameraMatrix()

void mitk::CameraIntrinsics::SetCameraMatrix ( const vnl_matrix_fixed< mitk::ScalarType, 3, 3 > & _CameraMatrix )

set a new camera matrix utilizing a vnl matrix

Definition at line 81 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

◆ SetDistorsionCoeffs()

void mitk::CameraIntrinsics::SetDistorsionCoeffs	(	double	k1,
		double	k2,
		double	p1,
		double	p2
	)

Definition at line 164 of file mitkCameraIntrinsics.cpp.

References m_DistorsionCoeffs, and m_Mutex.

◆ SetFocalLength()

void mitk::CameraIntrinsics::SetFocalLength	(	double	x,
		double	y
	)

Definition at line 144 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

◆ SetIntrinsics() [1/2]

void mitk::CameraIntrinsics::SetIntrinsics	(	const cv::Mat &	_CameraMatrix,
		const cv::Mat &	_DistorsionCoeffs
	)

Definition at line 102 of file mitkCameraIntrinsics.cpp.

References endoAssertMsg, m_CameraMatrix, m_DistorsionCoeffs, m_Mutex, and m_Valid.

Referenced by Copy().

◆ SetIntrinsics() [2/2]

void mitk::CameraIntrinsics::SetIntrinsics	(	const mitk::Point3D &	focalPoint,
		const mitk::Point3D &	principalPoint,
		const mitk::Point4D &	distortionCoefficients
	)

Definition at line 123 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, m_DistorsionCoeffs, and m_Mutex.

◆ SetPrincipalPoint()

void mitk::CameraIntrinsics::SetPrincipalPoint	(	double	x,
		double	y
	)

Definition at line 154 of file mitkCameraIntrinsics.cpp.

References m_CameraMatrix, and m_Mutex.

◆ SetValid()

void mitk::CameraIntrinsics::SetValid ( bool valid )

Definition at line 496 of file mitkCameraIntrinsics.cpp.

References m_Mutex, and m_Valid.

Referenced by Copy().

◆ ToOctaveString()

std::string mitk::CameraIntrinsics::ToOctaveString ( const std::string & varName = "CameraIntrinsics" )

Definition at line 485 of file mitkCameraIntrinsics.cpp.

References GetFocalLengthX(), GetFocalLengthY(), GetPrincipalPointX(), and GetPrincipalPointY().

◆ ToString()

std::string mitk::CameraIntrinsics::ToString ( ) const

Definition at line 197 of file mitkCameraIntrinsics.cpp.

References mitk::XMLSerializable::GetNameOfClass(), m_CameraMatrix, m_DistorsionCoeffs, and m_Mutex.

Referenced by GetString().

◆ ToXML()

void mitk::CameraIntrinsics::ToXML ( TiXmlElement * elem ) const

overridevirtual

write your values here to elem

Implements mitk::XMLSerializable.

Definition at line 219 of file mitkCameraIntrinsics.cpp.

References mitk::XMLSerializable::GetNameOfClass(), m_CameraMatrix, m_DistorsionCoeffs, m_Mutex, and m_Valid.

Friends And Related Function Documentation

◆ mitkCameraIntrinsicsTest

int mitkCameraIntrinsicsTest	(	int	argc,
		char *	argv[]
	)

friend

for testing purposes

Member Data Documentation

◆ m_CameraMatrix

cv::Mat mitk::CameraIntrinsics::m_CameraMatrix

protected

Definition at line 126 of file mitkCameraIntrinsics.h.

Referenced by CameraIntrinsics(), FromGMLCalibrationXML(), FromXML(), GetCameraMatrix(), GetFocalLengthX(), GetFocalLengthY(), GetPrincipalPointX(), GetPrincipalPointY(), GetVnlCameraMatrix(), SetCameraMatrix(), SetFocalLength(), SetIntrinsics(), SetPrincipalPoint(), ToString(), and ToXML().

◆ m_DistorsionCoeffs

cv::Mat mitk::CameraIntrinsics::m_DistorsionCoeffs

protected

Definition at line 127 of file mitkCameraIntrinsics.h.

Referenced by CameraIntrinsics(), FromGMLCalibrationXML(), FromXML(), GetDistorsionCoeffs(), GetDistorsionCoeffsAsPoint4D(), SetDistorsionCoeffs(), SetIntrinsics(), ToString(), and ToXML().

◆ m_Mutex

itk::FastMutexLock::Pointer mitk::CameraIntrinsics::m_Mutex

protected

Definition at line 129 of file mitkCameraIntrinsics.h.

Referenced by FromGMLCalibrationXML(), FromXML(), GetCameraMatrix(), GetDistorsionCoeffs(), GetDistorsionCoeffsAsPoint4D(), GetFocalLengthX(), GetFocalLengthY(), GetPrincipalPointX(), GetPrincipalPointY(), GetVnlCameraMatrix(), IsValid(), SetCameraMatrix(), SetDistorsionCoeffs(), SetFocalLength(), SetIntrinsics(), SetPrincipalPoint(), SetValid(), ToString(), and ToXML().

◆ m_Valid

bool mitk::CameraIntrinsics::m_Valid

protected

Definition at line 128 of file mitkCameraIntrinsics.h.

Referenced by Copy(), FromGMLCalibrationXML(), FromXML(), IsValid(), SetIntrinsics(), SetValid(), and ToXML().

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~CameraIntrinsics()

◆ CameraIntrinsics() [1/2]

◆ CameraIntrinsics() [2/2]

Member Function Documentation

◆ Clone()

◆ Copy()

◆ Equals()

◆ FromGMLCalibrationXML()

◆ FromXML()

◆ GetCameraMatrix()

◆ GetDistorsionCoeffs() [1/2]

◆ GetDistorsionCoeffs() [2/2]

◆ GetDistorsionCoeffsAsPoint4D()

◆ GetFocalLengthX()

◆ GetFocalLengthY()

◆ GetFocalPoint()

◆ GetFocalPointAsVnlVector()

◆ GetPrincipalPoint()

◆ GetPrincipalPointAsVnlVector()

◆ GetPrincipalPointX()

◆ GetPrincipalPointY()

◆ GetString()

◆ GetVnlCameraMatrix()

◆ GetVnlCameraMatrix3x4()

◆ IsValid()

◆ mitkClassMacroItkParent()

◆ New()

◆ SetCameraMatrix()

◆ SetDistorsionCoeffs()

◆ SetFocalLength()

◆ SetIntrinsics() [1/2]

◆ SetIntrinsics() [2/2]

◆ SetPrincipalPoint()

◆ SetValid()

◆ ToOctaveString()

◆ ToString()

◆ ToXML()

Friends And Related Function Documentation

◆ mitkCameraIntrinsicsTest

Member Data Documentation

◆ m_CameraMatrix

◆ m_DistorsionCoeffs

◆ m_Mutex

◆ m_Valid