Camera (projective) sensor. More...

#include <ecvCameraSensor.h>

Inheritance diagram for ccCameraSensor:

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Collaboration diagram for ccCameraSensor:

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Classes
struct	BrownDistortionParameters
	Brown's distortion model + Linear Disparity. More...

struct	ExtendedRadialDistortionParameters
	Extended radial distortion model. More...

struct	FrustumInformation
	Frustum information structure. More...

struct	IntrinsicParameters
	Intrinsic parameters of the camera sensor. More...

struct	KeyPoint

struct	LensDistortionParameters
	Lens distortion parameters (interface) More...

struct	RadialDistortionParameters
	Simple radial distortion model. More...

Public Types
enum	DistortionModel { NO_DISTORTION_MODEL = 0 , SIMPLE_RADIAL_DISTORTION , BROWN_DISTORTION , EXTENDED_RADIAL_DISTORTION }
	Supported distortion models. More...

Public Types inherited from ccHObject
enum	DEPENDENCY_FLAGS { DP_NONE = 0 , DP_NOTIFY_OTHER_ON_DELETE = 1 , DP_NOTIFY_OTHER_ON_UPDATE , DP_DELETE_OTHER = 8 , DP_PARENT_OF_OTHER = 24 }
	Dependency flags. More...

enum	SelectionBehavior { SELECTION_AA_BBOX , SELECTION_FIT_BBOX , SELECTION_IGNORED }
	Behavior when selected. More...

using	Container = std::vector< ccHObject * >
	Standard instances container (for children, etc.) More...

using	Shared = QSharedPointer< ccHObject >
	Shared pointer. More...

using	SharedContainer = std::vector< Shared >
	Shared instances container (for children, etc.) More...

using	GlobalBoundingBox = cloudViewer::BoundingBoxTpl< double >
	Global (non-shifted) bounding-box. More...

Public Types inherited from ccSerializableObject
enum	DeserializationFlags { DF_POINT_COORDS_64_BITS , DF_SCALAR_VAL_32_BITS = 2 }
	Deserialization flags (bit-field) More...

typedef QMultiMap< unsigned, unsigned >	LoadedIDMap
	Map of loaded unique IDs (old ID --> new ID) More...

Public Member Functions
	ccCameraSensor ()
	Default constructor. More...

	ccCameraSensor (const ccCameraSensor &sensor)
	Copy constructor. More...

	ccCameraSensor (const IntrinsicParameters &iParams)

virtual	~ccCameraSensor () override
	Destructor. More...

virtual CV_CLASS_ENUM	getClassID () const override
	Returns class ID. More...

virtual bool	isSerializable () const override
	Returns whether object is serializable of not. More...

virtual ccBBox	getOwnBB (bool withGLFeatures=false) override
	Returns the entity's own bounding-box. More...

virtual ccBBox	getOwnFitBB (ccGLMatrix &trans) override
	Returns best-fit bounding-box (if available) More...

virtual bool	applyViewport () override
	Apply sensor 'viewport' to a 3D view. More...

void	setVertFocal_pix (float vertFocal_pix)
	Sets focal (in pixels) More...

float	getVertFocal_pix () const
	Returns vertical focal (in pixels) More...

float	getHorizFocal_pix () const
	Returns horizontal focal (in pixels) More...

void	setVerticalFov_rad (float fov_rad)
	Sets the (vertical) field of view in radians. More...

float	getVerticalFov_rad () const
	Returns the (vertical) field of view in radians. More...

const IntrinsicParameters &	getIntrinsicParameters () const
	Returns intrinsic parameters. More...

void	setIntrinsicParameters (const IntrinsicParameters &params)
	Sets intrinsic parameters. More...

const LensDistortionParameters::Shared &	getDistortionParameters () const
	Returns uncertainty parameters. More...

void	setDistortionParameters (LensDistortionParameters::Shared params)
	Sets uncertainty parameters. More...

bool	getProjectionMatrix (ccGLMatrix &matrix)
	Returns the camera projection matrix. More...

bool	frustumIsDrawn () const
	Returns whether the frustum should be displayed or not. More...

void	drawFrustum (bool state)
	Sets whether the frustum should be displayed or not. More...

bool	frustumPlanesAreDrawn () const
	Returns whether the frustum planes should be displayed or not. More...

void	drawFrustumPlanes (bool state)
	Sets whether the frustum planes should be displayed or not. More...

bool	fromLocalCoordToGlobalCoord (const CCVector3 &localCoord, CCVector3 &globalCoord) const

bool	fromGlobalCoordToLocalCoord (const CCVector3 &globalCoord, CCVector3 &localCoord) const

bool	fromLocalCoordToImageCoord (const CCVector3 &localCoord, CCVector2 &imageCoord, bool withLensError=true) const

bool	fromImageCoordToLocalCoord (const CCVector2 &imageCoord, CCVector3 &localCoord, PointCoordinateType depth, bool withLensCorrection=true) const

bool	fromGlobalCoordToImageCoord (const CCVector3 &globalCoord, CCVector2 &imageCoord, bool withLensError=true) const

bool	fromImageCoordToGlobalCoord (const CCVector2 &imageCoord, CCVector3 &globalCoord, PointCoordinateType z0, bool withLensCorrection=true) const

bool	fromRealImCoordToIdealImCoord (const CCVector2 &real, CCVector2 &ideal) const

ccPointCloud *	orthoRectifyAsCloud (const ccImage image, cloudViewer::GenericIndexedCloud keypoints3D, std::vector< KeyPoint > &keypointsImage) const
	Projective ortho-rectification of an image (as cloud) More...

ccImage *	orthoRectifyAsImage (const ccImage image, cloudViewer::GenericIndexedCloud keypoints3D, std::vector< KeyPoint > &keypointsImage, double &pixelSize, double minCorner=nullptr, double maxCorner=nullptr, double *realCorners=nullptr) const
	Projective ortho-rectification of an image (as image) More...

ccImage *	orthoRectifyAsImageDirect (const ccImage image, PointCoordinateType altitude, double &pixelSize, bool undistortImages=true, double minCorner=nullptr, double maxCorner=nullptr, double realCorners=nullptr) const
	Direct ortho-rectification of an image (as image) More...

bool	computeOrthoRectificationParams (const ccImage image, cloudViewer::GenericIndexedCloud keypoints3D, std::vector< KeyPoint > &keypointsImage, double a[3], double b[3], double c[3]) const
	Computes ortho-rectification parameters for a given image. More...

bool	computeUncertainty (const CCVector2 &pixel, const float depth, Vector3Tpl< ScalarType > &sigma) const

bool	computeUncertainty (cloudViewer::ReferenceCloud *points, std::vector< Vector3Tpl< ScalarType >> &accuracy)

QImage	undistort (const QImage &image) const
	Undistorts an image based on the sensor distortion parameters. More...

ccImage *	undistort (ccImage *image, bool inplace=true) const
	Undistorts an image based on the sensor distortion parameters. More...

bool	isGlobalCoordInFrustum (const CCVector3 &globalCoord) const
	Tests if a 3D point is in the field of view of the camera. More...

bool	computeGlobalPlaneCoefficients (float planeCoefficients[6][4], CCVector3 ptsFrustum[8], CCVector3 edges[6], CCVector3 &center)

const cloudViewer::geometry::LineSet &	getNearPlane () const

const cloudViewer::geometry::LineSet &	getSideLines () const

const cloudViewer::geometry::LineSet &	getArrow () const

const cloudViewer::geometry::LineSet &	getAxis () const

void	setPlaneColor (ecvColor::Rgb color)

const ecvColor::Rgb &	getPlaneColor () const

double	getFocalLength () const

virtual void	clearDrawings () override

virtual void	hideShowDrawings (CC_DRAW_CONTEXT &context) override

void	updateData ()

Public Member Functions inherited from ccSensor
	ccSensor (QString name)
	Default constructor. More...

	ccSensor (const ccSensor &sensor)
	Copy constructor. More...

virtual CC_SENSOR_TYPE	getType () const
	Returns the sensor type. More...

virtual unsigned char	checkVisibility (const CCVector3 &P) const
	Returns the "visibility type" of a point. More...

ccIndexedTransformationBuffer *	getPositions ()
	Returns associated positions. More...

void	setPositions (ccIndexedTransformationBuffer *positions)
	Sets associated positions. More...

bool	addPosition (ccGLMatrix &trans, double index)
	Adds a new position (shortcut) More...

bool	getAbsoluteTransformation (ccIndexedTransformation &trans, double index) const

bool	getActiveAbsoluteTransformation (ccIndexedTransformation &trans) const
	Gets currently active absolute transformation. More...

bool	getActiveAbsoluteCenter (CCVector3 &vec) const
	Gets currently active absolute position. More...

bool	getActiveAbsoluteRotation (ccGLMatrix &rotation) const
	Gets currently active rotation matrix (without translation) More...

virtual void	setRigidTransformation (const ccGLMatrix &mat)

virtual ccGLMatrix &	getRigidTransformation ()

virtual const ccGLMatrix &	getRigidTransformation () const

void	getIndexBounds (double &minIndex, double &maxIndex) const
	Gets index boundaries (shortcut) More...

double	getActiveIndex () const
	Sets currently active index (displayed position, etc.) More...

void	setActiveIndex (double index)
	Sets currently active index (displayed position, etc.) More...

void	setGraphicScale (PointCoordinateType scale)
	Sets the sensor graphic representation scale. More...

PointCoordinateType	getGraphicScale () const
	Returns the sensor graphic representation scale. More...

void	setFrameColor (ecvColor::Rgb color)

const ecvColor::Rgb &	getFrameColor () const

virtual void	applyGLTransformation (const ccGLMatrix &trans) override
	Applies a GL transformation to the entity. More...

Public Member Functions inherited from ccHObject
	ccHObject (QString name=QString())
	Default constructor. More...

	ccHObject (const ccHObject &object)
	Copy constructor. More...

virtual	~ccHObject () override
	Default destructor. More...

virtual bool	IsEmpty () const

virtual Eigen::Vector3d	GetMinBound () const
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector2d	GetMin2DBound () const

virtual Eigen::Vector3d	GetMaxBound () const
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector2d	GetMax2DBound () const

virtual Eigen::Vector3d	GetCenter () const
	Returns the center of the geometry coordinates. More...

virtual ccBBox	GetAxisAlignedBoundingBox () const
	Returns an axis-aligned bounding box of the geometry. More...

virtual ecvOrientedBBox	GetOrientedBoundingBox () const

virtual ccHObject &	Transform (const Eigen::Matrix4d &transformation)
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual ccHObject &	Translate (const Eigen::Vector3d &translation, bool relative=true)
	Apply translation to the geometry coordinates. More...

virtual ccHObject &	Scale (const double s, const Eigen::Vector3d &center)
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

virtual ccHObject &	Scale (const double s)

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center)
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R)

QString	getViewId () const

bool	isGroup () const
	Returns whether the instance is a group. More...

ccHObject *	getParent () const
	Returns parent object. More...

virtual QIcon	getIcon () const
	Returns the icon associated to this entity. More...

void	addDependency (ccHObject *otherObject, int flags, bool additive=true)
	Adds a new dependence (additive or not) More...

int	getDependencyFlagsWith (const ccHObject *otherObject)
	Returns the dependency flags with a given object. More...

void	removeDependencyWith (ccHObject *otherObject)
	Removes any dependency flags with a given object. More...

void	removeDependencyFlag (ccHObject *otherObject, DEPENDENCY_FLAGS flag)
	Removes a given dependency flag. More...

virtual bool	addChild (ccHObject *child, int dependencyFlags=DP_PARENT_OF_OTHER, int insertIndex=-1)
	Adds a child. More...

unsigned	getChildrenNumber () const
	Returns the number of children. More...

unsigned int	getChildCountRecursive () const
	Returns the total number of children under this object recursively. More...

ccHObject *	getChild (unsigned childPos) const
	Returns the ith child. More...

ccHObject *	find (unsigned uniqueID)
	Finds an entity in this object hierarchy. More...

unsigned	filterChildren (Container &filteredChildren, bool recursive=false, CV_CLASS_ENUM filter=CV_TYPES::OBJECT, bool strict=false) const
	Collects the children corresponding to a certain pattern. More...

void	detachChild (ccHObject *child)
	Detaches a specific child. More...

void	detachAllChildren ()
	Removes a specific child. More...

void	getTypeID_recursive (std::vector< removeInfo > &rmInfos, bool relative)

void	getTypeID_recursive (std::vector< hideInfo > &hdInfos, bool relative)

void	removeChild (ccHObject *child)

void	removeChild (int pos)
	Removes a specific child given its index. More...

void	removeAllChildren ()
	Removes all children. More...

int	getChildIndex (const ccHObject *aChild) const
	Returns child index. More...

void	swapChildren (unsigned firstChildIndex, unsigned secondChildIndex)
	Swaps two children. More...

int	getIndex () const
	Returns index relatively to its parent or -1 if no parent. More...

void	transferChild (ccHObject *child, ccHObject &newParent)
	Transfer a given child to another parent. More...

void	transferChildren (ccHObject &newParent, bool forceFatherDependent=false)
	Transfer all children to another parent. More...

ccHObject *	getFirstChild () const
	Shortcut: returns first child. More...

ccHObject *	getLastChild () const
	Shortcut: returns last child. More...

bool	isAncestorOf (const ccHObject *anObject) const
	Returns true if the current object is an ancestor of the specified one. More...

void	removeFromRenderScreen (bool recursive=true)

void	hideObject_recursive (bool recursive)

void	hideBB (CC_DRAW_CONTEXT context)

void	showBB (CC_DRAW_CONTEXT context)

void	setRedrawFlagRecursive (bool redraw=false)

void	setForceRedrawRecursive (bool redraw=false)

void	setPointSizeRecursive (int pSize)

void	setLineWidthRecursive (PointCoordinateType width)

virtual ccBBox	getBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the bounding-box of this entity and it's children. More...

virtual GlobalBoundingBox	getOwnGlobalBB (bool withGLFeatures=false)

virtual bool	getOwnGlobalBB (CCVector3d &minCorner, CCVector3d &maxCorner)

virtual GlobalBoundingBox	getGlobalBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the global bounding-box of this entity and it's children. More...

virtual ccBBox	getDisplayBB_recursive (bool relative)
	Returns the bounding-box of this entity and it's children WHEN DISPLAYED. More...

virtual void	drawBB (CC_DRAW_CONTEXT &context, const ecvColor::Rgb &col)
	Draws the entity (and its children) bounding-box. More...

void	draw (CC_DRAW_CONTEXT &context) override
	Draws entity and its children. More...

void	updateNameIn3DRecursive ()

void	setHideShowType (CC_DRAW_CONTEXT &context)

void	setRemoveType (CC_DRAW_CONTEXT &context)

ENTITY_TYPE	getEntityType () const

virtual void	redrawDisplay (bool forceRedraw=true, bool only2D=false)
	Redraws associated display. More...

bool	getAbsoluteGLTransformation (ccGLMatrix &trans) const

virtual bool	isDisplayed () const
	Returns whether the object is actually displayed (visible) or not. More...

virtual bool	isBranchEnabled () const
	Returns whether the object and all its ancestors are enabled. More...

virtual void	redrawDisplay_recursive (bool p)

virtual void	refreshDisplay_recursive (bool p)

virtual void	setSelected_recursive (bool p)

virtual void	toggleActivation_recursive ()

virtual void	toggleVisibility_recursive ()

virtual void	toggleColors_recursive ()

virtual void	resetGLTransformationHistory_recursive ()

virtual void	toggleNormals_recursive ()

virtual void	toggleSF_recursive ()

virtual void	toggleShowName_recursive ()

unsigned	findMaxUniqueID_recursive () const
	Returns the max 'unique ID' of this entity and its siblings. More...

void	applyGLTransformation_recursive (const ccGLMatrix *trans=nullptr)
	Applies the active OpenGL transformation to the entity (recursive) More...

virtual void	notifyGeometryUpdate ()

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFileNoChildren (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Custom version of ccSerializableObject::fromFile. More...

virtual bool	isShareable () const
	Returns whether object is shareable or not. More...

virtual void	setSelectionBehavior (SelectionBehavior mode)
	Sets selection behavior (when displayed) More...

virtual SelectionBehavior	getSelectionBehavior () const
	Returns selection behavior. More...

virtual unsigned	getUniqueIDForDisplay () const
	Returns object unqiue ID used for display. More...

virtual const ccGLMatrix &	getGLTransformationHistory () const
	Returns the transformation 'history' matrix. More...

virtual void	setGLTransformationHistory (const ccGLMatrix &mat)
	Sets the transformation 'history' matrix (handle with care!) More...

virtual void	resetGLTransformationHistory ()
	Resets the transformation 'history' matrix. More...

bool	pushDisplayState () override
	Pushes the current display state (overridden) More...

void	popDisplayState (bool apply=true) override
	Pops the last pushed display state (overridden) More...

Public Member Functions inherited from ccObject
	ccObject (QString name=QString())
	Default constructor. More...

	ccObject (const ccObject &object)
	Copy constructor. More...

virtual QString	getName () const
	Returns object name. More...

virtual void	setName (const QString &name)
	Sets object name. More...

virtual void	setRemoveFlag (bool removeFlag)
	Sets removeFlag. More...

virtual bool	getRemoveFlag ()
	Returns removeFlag. More...

virtual unsigned	getUniqueID () const
	Returns object unique ID. More...

virtual void	setUniqueID (unsigned ID)
	Changes unique ID. More...

virtual bool	isEnabled () const
	Returns whether the object is enabled or not. More...

virtual void	setEnabled (bool state)
	Sets the "enabled" property. More...

virtual void	toggleActivation ()
	Toggles the "enabled" property. More...

virtual bool	isLocked () const
	Returns whether the object is locked or not. More...

virtual void	setLocked (bool state)
	Sets the "enabled" property. More...

bool	isLeaf () const

bool	isCustom () const

bool	isHierarchy () const

bool	isKindOf (CV_CLASS_ENUM type) const

bool	isA (CV_CLASS_ENUM type) const

QVariant	getMetaData (const QString &key) const
	Returns a given associated meta data. More...

bool	removeMetaData (const QString &key)
	Removes a given associated meta-data. More...

void	setMetaData (const QString &key, const QVariant &data)
	Sets a meta-data element. More...

void	setMetaData (const QVariantMap &dataset, bool overwrite=false)
	Sets several meta-data elements at a time. More...

bool	hasMetaData (const QString &key) const
	Returns whether a meta-data element with the given key exists or not. More...

const QVariantMap &	metaData () const
	Returns meta-data map (const only) More...

void	setBaseName (const QString &baseName)

QString	getBaseName () const

void	setFullPath (const QString &fullPaht)

QString	getFullPath () const

Public Member Functions inherited from ccSerializableObject
virtual	~ccSerializableObject ()=default
	Destructor. More...

Public Member Functions inherited from ccDrawableObject
	ccDrawableObject ()
	Default constructor. More...

	ccDrawableObject (const ccDrawableObject &object)
	Copy constructor. More...

virtual	~ccDrawableObject ()=default

virtual bool	isVisible () const
	Returns whether entity is visible or not. More...

virtual void	setVisible (bool state)
	Sets entity visibility. More...

virtual void	toggleVisibility ()
	Toggles visibility. More...

virtual bool	isRedraw () const
	Returns whether entity is to be redraw. More...

virtual void	setRedraw (bool state)
	Sets entity redraw mode. More...

virtual void	setForceRedraw (bool state)
	Sets force redraw. More...

virtual void	setFixedId (bool state)

virtual bool	isFixedId ()

virtual bool	isVisibilityLocked () const
	Returns whether visibility is locked or not. More...

virtual void	lockVisibility (bool state)
	Locks/unlocks visibility. More...

virtual bool	isSelected () const
	Returns whether entity is selected or not. More...

virtual void	setSelected (bool state)
	Selects/Unselects entity. More...

virtual void	getDrawingParameters (glDrawParams &params) const
	Returns main OpenGL parameters for this entity. More...

virtual bool	hasColors () const
	Returns whether colors are enabled or not. More...

virtual bool	colorsShown () const
	Returns whether colors are shown or not. More...

virtual void	showColors (bool state)
	Sets colors visibility. More...

virtual void	toggleColors ()
	Toggles colors display state. More...

virtual bool	hasNormals () const
	Returns whether normals are enabled or not. More...

virtual bool	normalsShown () const
	Returns whether normals are shown or not. More...

virtual void	showNormals (bool state)
	Sets normals visibility. More...

virtual void	toggleNormals ()
	Toggles normals display state. More...

virtual bool	hasDisplayedScalarField () const
	Returns whether an active scalar field is available or not. More...

virtual bool	hasScalarFields () const
	Returns whether one or more scalar fields are instantiated. More...

virtual void	showSF (bool state)
	Sets active scalarfield visibility. More...

virtual void	toggleSF ()
	Toggles SF display state. More...

virtual bool	sfShown () const
	Returns whether active scalar field is visible. More...

virtual void	toggleMaterials ()
	Toggles material display state. More...

virtual void	showNameIn3D (bool state)
	Sets whether name should be displayed in 3D. More...

virtual bool	nameShownIn3D () const
	Returns whether name is displayed in 3D or not. More...

virtual void	toggleShowName ()
	Toggles name in 3D display state. More...

virtual bool	isColorOverridden () const

virtual const ecvColor::Rgb &	getTempColor () const
	Returns current temporary (unique) color. More...

virtual void	setTempColor (const ecvColor::Rgb &col, bool autoActivate=true)
	Sets current temporary (unique) More...

virtual void	enableTempColor (bool state)
	Set temporary color activation state. More...

virtual float	getOpacity () const

virtual void	setOpacity (float opacity)
	Set opacity activation state. More...

virtual void	setGLTransformation (const ccGLMatrix &trans)
	Associates entity with a GL transformation (rotation + translation) More...

virtual void	enableGLTransformation (bool state)
	Enables/disables associated GL transformation. More...

virtual bool	isGLTransEnabled () const
	Returns whether a GL transformation is enabled or not. More...

virtual const ccGLMatrix &	getGLTransformation () const
	Returns associated GL transformation. More...

virtual void	resetGLTransformation ()
	Resets associated GL transformation. More...

virtual void	rotateGL (const ccGLMatrix &rotMat)
	Multiplies (left) current GL transformation by a rotation matrix. More...

virtual void	translateGL (const CCVector3 &trans)
	Translates current GL transformation by a rotation matrix. More...

virtual void	removeAllClipPlanes ()
	Removes all clipping planes (if any) More...

virtual bool	addClipPlanes (const ccClipPlane &plane)
	Registers a new clipping plane. More...

virtual void	toggleClipPlanes (CC_DRAW_CONTEXT &context, bool enable)
	Enables or disables clipping planes (OpenGL) More...

virtual void	applyDisplayState (const DisplayState &state)
	Applies a display state. More...

Static Public Member Functions
static bool	OrthoRectifyAsImages (std::vector< ccImage * > images, double a[], double b[], double c[], unsigned maxSize, QDir outputDir=nullptr, std::vector< ccImage > orthoRectifiedImages=nullptr, std::vector< std::pair< double, double >> relativePos=nullptr)
	Projective ortho-rectification of multiple images (as image files) More...

static float	ConvertFocalPixToMM (float focal_pix, float ccdPixelSize_mm)
	Helper: converts camera focal from pixels to mm. More...

static float	ConvertFocalMMToPix (float focal_mm, float ccdPixelSize_mm)
	Helper: converts camera focal from mm to pixels. More...

static float	ComputeFovRadFromFocalPix (float focal_pix, int imageSize_pix)
	Helper: deduces camera f.o.v. (in radians) from focal (in pixels) More...

static float	ComputeFovRadFromFocalMm (float focal_mm, float ccdSize_mm)
	Helper: deduces camera f.o.v. (in radians) from focal (in mm) More...

Static Public Member Functions inherited from ccHObject
static ccHObject *	New (CV_CLASS_ENUM objectType, const char *name=nullptr)
	Static factory. More...

static ccHObject *	New (const QString &pluginId, const QString &classId, const char *name=nullptr)
	Static factory (version to be used by external plugin factories) More...

static Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points)
	Compute min bound of a list points. More...

static Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points)
	Compute max bound of a list points. More...

static Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points)
	Computer center of a list of points. More...

static void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, std::size_t size, const Eigen::Vector3d &color)
	Resizes the colors vector and paints a uniform color. More...

static void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points)
	Transforms all points with the transformation matrix. More...

static void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals)
	Transforms the normals with the transformation matrix. More...

static void	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances)
	Transforms all covariance matrices with the transformation. More...

static void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative)
	Apply translation to the geometry coordinates. More...

static void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Scale the coordinates of all points by the scaling factor `scale`. More...

static void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Rotate all points with the rotation matrix `R`. More...

static void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals)
	Rotate all normals with the rotation matrix `R`. More...

static void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances)
	Rotate all covariance matrices with the rotation matrix `R`. More...

static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

static Eigen::Matrix3d	GetRotationMatrixFromEulerAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from Euler angle. More...

Static Public Member Functions inherited from ccObject
static unsigned	GetCurrentDBVersion ()
	Returns current database version. More...

static void	SetUniqueIDGenerator (ccUniqueIDGenerator::Shared generator)
	Sets the unique ID generator. More...

static ccUniqueIDGenerator::Shared	GetUniqueIDGenerator ()
	Returns the unique ID generator. More...

static unsigned	GetNextUniqueID ()
	Returns a new unassigned unique ID. More...

static unsigned	GetLastUniqueID ()
	Returns last assigned unique ID. More...

static CV_CLASS_ENUM	ReadClassIDFromFile (QFile &in, short dataVersion)
	Helper: reads out class ID from a binary stream. More...

Static Public Member Functions inherited from ccSerializableObject
static bool	WriteError ()
	Sends a custom error message (write error) and returns 'false'. More...

static bool	ReadError ()
	Sends a custom error message (read error) and returns 'false'. More...

static bool	MemoryError ()
	Sends a custom error message (not enough memory) and returns 'false'. More...

static bool	CorruptError ()
	Sends a custom error message (corrupted file) and returns 'false'. More...

Protected Member Functions
CCVector3	computeUpperLeftPoint () const
	Used internally for display. More...

void	computeProjectionMatrix ()
	Compute the projection matrix (from intrinsic parameters) More...

bool	computeFrustumCorners ()
	Computes the eight corners of the frustum. More...

bool	toFile_MeOnly (QFile &out, short dataVersion) const override
	Save own object data. More...

short	minimumFileVersion_MeOnly () const override

bool	fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads own object data. More...

virtual void	drawMeOnly (CC_DRAW_CONTEXT &context) override
	Draws the entity only (not its children) More...

Protected Member Functions inherited from ccSensor
bool	toFile_MeOnly (QFile &out, short dataVersion) const override
	Save own object data. More...

short	minimumFileVersion_MeOnly () const override

bool	fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads own object data. More...

Protected Member Functions inherited from ccHObject
virtual void	setParent (ccHObject *anObject)
	Sets parent object. More...

virtual void	drawNameIn3D ()
	Draws the entity name in 3D. More...

virtual void	onDeletionOf (const ccHObject *obj)
	This method is called when another object is deleted. More...

virtual void	onUpdateOf (ccHObject *obj)
	This method is called when another object (geometry) is updated. More...

Protected Member Functions inherited from ccObject
virtual bool	getFlagState (CV_OBJECT_FLAG flag) const
	Returns flag state. More...

virtual void	setFlagState (CV_OBJECT_FLAG flag, bool state)
	Sets flag state. More...

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Reimplemented from ccSerializableObject::fromFile. More...

Protected Attributes
ecvColor::Rgb	m_plane_color

IntrinsicParameters	m_intrinsicParams
	Camera intrinsic parameters. More...

LensDistortionParameters::Shared	m_distortionParams
	Lens distortion parameters. More...

FrustumInformation	m_frustumInfos
	Frustum information structure. More...

ccGLMatrix	m_projectionMatrix
	Intrinsic parameters matrix. More...

bool	m_projectionMatrixIsValid
	Whether the intrinsic matrix is valid or not. More...

cloudViewer::geometry::LineSet	m_nearPlane

cloudViewer::geometry::LineSet	m_sideLines

cloudViewer::geometry::LineSet	m_arrow

cloudViewer::geometry::LineSet	m_axis

double	m_focalLength

Protected Attributes inherited from ccSensor
ccIndexedTransformationBuffer *	m_posBuffer
	Positions buffer (optional) More...

ccGLMatrix	m_rigidTransformation
	Rigid transformation between this sensor and its associated positions. More...

double	m_activeIndex
	Active index (for displayed position, etc.) More...

ecvColor::Rgb	m_color
	Color of the sensor. More...

PointCoordinateType	m_scale
	Sensor graphic representation scale. More...

Protected Attributes inherited from ccHObject
ccHObject *	m_parent
	Parent. More...

Container	m_children
	Children. More...

SelectionBehavior	m_selectionBehavior
	Selection behavior. More...

std::map< ccHObject *, int >	m_dependencies
	Dependencies map. More...

ccGLMatrix	m_glTransHistory
	Cumulative GL transformation. More...

bool	m_isDeleting
	Flag to safely handle dependencies when the object is being deleted. More...

Protected Attributes inherited from ccObject
QString	m_name
	Object name. More...

QString	m_baseName

QString	m_filePath

bool	m_removeFlag

unsigned	m_flags
	Object flags. More...

QVariantMap	m_metaData
	Associated meta-data. More...

Protected Attributes inherited from ccDrawableObject
bool	m_fixedId

bool	m_modelRedraw

bool	m_forceRedraw

float	m_opacity

bool	m_visible
	Specifies whether the object is visible or not. More...

bool	m_selected
	Specifies whether the object is selected or not. More...

bool	m_lockedVisibility
	Specifies whether the visibility can be changed by user or not. More...

bool	m_colorsDisplayed
	Specifies whether colors should be displayed. More...

bool	m_normalsDisplayed
	Specifies whether normals should be displayed. More...

bool	m_sfDisplayed
	Specifies whether scalar field should be displayed. More...

ecvColor::Rgb	m_tempColor
	Temporary (unique) color. More...

bool	m_colorIsOverridden
	Temporary (unique) color activation state. More...

ccGLMatrix	m_glTrans
	Current GL transformation. More...

bool	m_glTransEnabled
	Current GL transformation activation state. More...

bool	m_showNameIn3D
	Whether name is displayed in 3D or not. More...

CCVector3d	m_nameIn3DPos
	Last 2D position of the '3D' name. More...

ccClipPlaneSet	m_clipPlanes
	Active clipping planes (used for display only) More...

std::vector< DisplayState::Shared >	m_displayStateStack
	The stack of pushed display states. More...

Detailed Description

Camera (projective) sensor.

Definition at line 24 of file ecvCameraSensor.h.

Member Enumeration Documentation

◆ DistortionModel

enum ccCameraSensor::DistortionModel

Supported distortion models.

Enumerator
NO_DISTORTION_MODEL	no distortion model
SIMPLE_RADIAL_DISTORTION	simple radial distortion model (k1, k2)
BROWN_DISTORTION	Brown's distortion model (k1, k2, k3, etc.)
EXTENDED_RADIAL_DISTORTION	extended radial distortion model (k1, k2, k3)

Definition at line 57 of file ecvCameraSensor.h.

Constructor & Destructor Documentation

◆ ccCameraSensor() [1/3]

ccCameraSensor::ccCameraSensor ( )

Default constructor.

Definition at line 174 of file ecvCameraSensor.cpp.

References ccDrawableObject::lockVisibility(), ccHObject::SELECTION_FIT_BBOX, and ccHObject::setSelectionBehavior().

◆ ccCameraSensor() [2/3]

ccCameraSensor::ccCameraSensor ( const ccCameraSensor & sensor )

Copy constructor.

Definition at line 195 of file ecvCameraSensor.cpp.

References BROWN_DISTORTION, EXTENDED_RADIAL_DISTORTION, m_distortionParams, m_intrinsicParams, setDistortionParameters(), setIntrinsicParameters(), and SIMPLE_RADIAL_DISTORTION.

◆ ccCameraSensor() [3/3]

ccCameraSensor::ccCameraSensor ( const IntrinsicParameters & iParams )

Constructor with given intrinsic parameters (and optional uncertainty parameters)

Definition at line 183 of file ecvCameraSensor.cpp.

References ccDrawableObject::lockVisibility(), ccHObject::SELECTION_FIT_BBOX, setIntrinsicParameters(), and ccHObject::setSelectionBehavior().

◆ ~ccCameraSensor()

ccCameraSensor::~ccCameraSensor ( )

overridevirtual

Destructor.

Definition at line 243 of file ecvCameraSensor.cpp.

Member Function Documentation

◆ applyViewport()

bool ccCameraSensor::applyViewport ( )

overridevirtual

Apply sensor 'viewport' to a 3D view.

Parameters

win	3D view to which to apply the sensor viewport (or the associated 'display' if 0)

Returns: success

Reimplemented from ccSensor.

Definition at line 331 of file ecvCameraSensor.cpp.

References ccCameraSensor::IntrinsicParameters::arrayHeight, computeUpperLeftPoint(), ecvViewportParameters::focal, ecvViewportParameters::fov_deg, Vector3Tpl< double >::fromArray(), ccSensor::getActiveAbsoluteTransformation(), ccGLMatrixTpl< T >::getColumnAsVec3D(), ecvDisplayTools::GetCurrentScreen(), ccGLMatrixTpl< T >::getTranslationAsVec3D(), ecvDisplayTools::GetViewportParameters(), cloudViewer::LessThanEpsilon(), m_intrinsicParams, Vector3Tpl< Type >::norm(), Vector3Tpl< Type >::normalize(), cloudViewer::RadiansToDegrees(), ecvViewportParameters::setCameraCenter(), ecvViewportParameters::setPivotPoint(), ecvDisplayTools::SetViewportParameters(), ecvViewportParameters::up, ecvDisplayTools::UpdateScreen(), ccCameraSensor::IntrinsicParameters::vFOV_rad, CVLog::Warning(), Tuple3Tpl< Type >::z, ecvViewportParameters::zFar, ccCameraSensor::IntrinsicParameters::zFar_mm, ecvViewportParameters::zNear, and ccCameraSensor::IntrinsicParameters::zNear_mm.

◆ clearDrawings()

void ccCameraSensor::clearDrawings ( )

overridevirtual

Reimplemented from ccSensor.

Definition at line 1625 of file ecvCameraSensor.cpp.

References context, ECV_MESH, ccCameraSensor::FrustumInformation::frustumHull, ccHObject::getViewId(), m_frustumInfos, and ecvDisplayTools::RemoveEntities().

◆ ComputeFovRadFromFocalMm()

float ccCameraSensor::ComputeFovRadFromFocalMm	(	float	focal_mm,
		float	ccdSize_mm
	)

static

Helper: deduces camera f.o.v. (in radians) from focal (in mm)

Definition at line 1680 of file ecvCameraSensor.cpp.

Referenced by LoadImage().

◆ ComputeFovRadFromFocalPix()

float ccCameraSensor::ComputeFovRadFromFocalPix	(	float	focal_pix,
		int	imageSize_pix
	)

static

Helper: deduces camera f.o.v. (in radians) from focal (in pixels)

Definition at line 1670 of file ecvCameraSensor.cpp.

Referenced by DecodeSensor().

◆ computeFrustumCorners()

bool ccCameraSensor::computeFrustumCorners ( )

protected

Computes the eight corners of the frustum.

Returns: success

Definition at line 1188 of file ecvCameraSensor.cpp.

References cloudViewer::PointCloudTpl< T >::addPoint(), ccCameraSensor::IntrinsicParameters::arrayHeight, ccCameraSensor::IntrinsicParameters::arrayWidth, ccCameraSensor::FrustumInformation::center, ccCameraSensor::FrustumInformation::frustumCorners, cloudViewer::PointCloudTpl< T >::getPoint(), ccCameraSensor::FrustumInformation::initFrustumCorners(), ccCameraSensor::FrustumInformation::isComputed, m_frustumInfos, m_intrinsicParams, ccSensor::m_scale, Vector3Tpl< Type >::norm2(), PC_ONE, ccCameraSensor::IntrinsicParameters::vFOV_rad, CVLog::Warning(), Tuple3Tpl< Type >::z, z, ccCameraSensor::IntrinsicParameters::zFar_mm, and ccCameraSensor::IntrinsicParameters::zNear_mm.

Referenced by computeGlobalPlaneCoefficients(), and drawMeOnly().

◆ computeGlobalPlaneCoefficients()

bool ccCameraSensor::computeGlobalPlaneCoefficients	(	float	planeCoefficients[6][4],
		CCVector3	ptsFrustum[8],
		CCVector3	edges[6],
		CCVector3 &	center
	)

Compute the coefficients of the 6 planes frustum in the global coordinates system (normal vector are headed the frustum inside), the edges direction vectors and the frustum center

Parameters

planeCoefficients	coefficients of the six planes
edges	direction vectors of the frustum edges (there are 12 edges but some of them are colinear)
ptsFrustum	the 8 frustum corners in the global coordinates system
center	center of the the frustum circumscribed sphere

Returns: success

Definition at line 1250 of file ecvCameraSensor.cpp.

References ccCameraSensor::FrustumInformation::center, computeFrustumCorners(), Vector3Tpl< Type >::cross(), fromLocalCoordToGlobalCoord(), ccCameraSensor::FrustumInformation::frustumCorners, cloudViewer::PointCloudTpl< T >::getPoint(), ccCameraSensor::FrustumInformation::isComputed, m_frustumInfos, Vector3Tpl< Type >::normalize(), cloudViewer::PointCloudTpl< T >::size(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by ccOctree::intersectWithFrustum().

◆ computeOrthoRectificationParams()

bool ccCameraSensor::computeOrthoRectificationParams	(	const ccImage *	image,
		cloudViewer::GenericIndexedCloud *	keypoints3D,
		std::vector< KeyPoint > &	keypointsImage,
		double	a[3],
		double	b[3],
		double	c[3]
	)		const

Computes ortho-rectification parameters for a given image.

Requires at least 4 key points! Collinearity equation: x'i = (a0+a1.xi+a2.yi)/(1+c1.xi+c2.yi) y'i = (b0+b1.xi+b2.yi)/(1+c1.xi+c2.yi)

Parameters

image	input image
keypoints3D	keypoints in 3D
keypointsImage	corresponding keypoints in image
a	a0, a1 & a2 parameters
b	b0, b1 & b2 parameters
c	c0(=1), c1 & c2 parameters

Returns: success

Definition at line 1690 of file ecvCameraSensor.cpp.

References cloudViewer::ConjugateGradient< N, Scalar >::A(), cloudViewer::ConjugateGradient< N, Scalar >::b(), count, cloudViewer::GenericIndexedCloud::getPoint(), image, ccCameraSensor::KeyPoint::index, cloudViewer::ConjugateGradient< N, Scalar >::initConjugateGradient(), cloudViewer::ConjugateGradient< N, Scalar >::iterConjugateGradient(), cloudViewer::SquareMatrixTpl< Scalar >::m_values, CVLog::PrintDebug(), Tuple3Tpl< Type >::x, ccCameraSensor::KeyPoint::x, Tuple3Tpl< Type >::y, and ccCameraSensor::KeyPoint::y.

Referenced by orthoRectifyAsCloud(), and orthoRectifyAsImage().

◆ computeProjectionMatrix()

void ccCameraSensor::computeProjectionMatrix ( )

protected

Compute the projection matrix (from intrinsic parameters)

Definition at line 401 of file ecvCameraSensor.cpp.

References ccGLMatrixTpl< T >::data(), getHorizFocal_pix(), getVertFocal_pix(), m_intrinsicParams, m_projectionMatrix, m_projectionMatrixIsValid, ccCameraSensor::IntrinsicParameters::principal_point, ccCameraSensor::IntrinsicParameters::skew, and ccGLMatrixTpl< T >::toZero().

Referenced by getProjectionMatrix().

◆ computeUncertainty() [1/2]

bool ccCameraSensor::computeUncertainty	(	cloudViewer::ReferenceCloud *	points,
		std::vector< Vector3Tpl< ScalarType >> &	accuracy
	)

Computes the coordinates of a 3D point in the sensor coordinate system knowing its coordinates in the global coordinate system.

Warning: Only works with Brown's distortion model for now (see BrownDistortionParameters).

Parameters

points	the points we want to compute the uncertainty
accuracy	to get back the uncertainty TODO lensDistortion if we want to take the lens distortion into consideration

Returns: success

Definition at line 958 of file ecvCameraSensor.cpp.

References BROWN_DISTORTION, computeUncertainty(), count, fromGlobalCoordToLocalCoord(), fromLocalCoordToImageCoord(), m_distortionParams, NAN_VALUE, points, CVLog::Warning(), and Tuple3Tpl< Type >::z.

◆ computeUncertainty() [2/2]

bool ccCameraSensor::computeUncertainty	(	const CCVector2 &	pixel,
		const float	depth,
		Vector3Tpl< ScalarType > &	sigma
	)		const

Computes the uncertainty of a point knowing its depth (from the sensor view point) and pixel projection coordinates

Warning: Only works with Brown's distortion model for now (see BrownDistortionParameters).

Parameters

pixel	coordinates of the pixel where the 3D points is projected --> !! Note that the first index is (0,0) and the last (width-1,height-1) !!
depth	depth from sensor center to 3D point (must be positive)
sigma	uncertainty vector (along X, Y and Z)

Returns: operation has succeeded (typically, errors occur when the initial pixel coordinates are not into the image boundaries, or when the depth of the 3D point is negative)

Definition at line 898 of file ecvCameraSensor.cpp.

References ccCameraSensor::IntrinsicParameters::arrayHeight, ccCameraSensor::IntrinsicParameters::arrayWidth, BROWN_DISTORTION, EXTENDED_RADIAL_DISTORTION, getHorizFocal_pix(), getVertFocal_pix(), height, ccCameraSensor::BrownDistortionParameters::linearDisparityParams, m_distortionParams, m_intrinsicParams, ccCameraSensor::IntrinsicParameters::pixelSize_mm, ccCameraSensor::IntrinsicParameters::principal_point, SIMPLE_RADIAL_DISTORTION, width, Vector2Tpl< Type >::x, Tuple3Tpl< Type >::x, Vector2Tpl< Type >::y, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by computeUncertainty().

◆ computeUpperLeftPoint()

CCVector3 ccCameraSensor::computeUpperLeftPoint ( ) const

protected

Used internally for display.

Definition at line 1169 of file ecvCameraSensor.cpp.

References ccCameraSensor::IntrinsicParameters::arrayHeight, ccCameraSensor::IntrinsicParameters::arrayWidth, ConvertFocalPixToMM(), m_intrinsicParams, ccSensor::m_scale, ccCameraSensor::IntrinsicParameters::pixelSize_mm, ccCameraSensor::IntrinsicParameters::vertFocal_pix, ccCameraSensor::IntrinsicParameters::vFOV_rad, and Tuple3Tpl< Type >::z.

Referenced by applyViewport(), getOwnBB(), getOwnFitBB(), and updateData().

◆ ConvertFocalMMToPix()

float ccCameraSensor::ConvertFocalMMToPix	(	float	focal_mm,
		float	ccdPixelSize_mm
	)

static

Helper: converts camera focal from mm to pixels.

Definition at line 1658 of file ecvCameraSensor.cpp.

References CVLog::Warning().

Referenced by ccCameraSensor::IntrinsicParameters::GetKinectDefaults(), and LoadImage().

◆ ConvertFocalPixToMM()

float ccCameraSensor::ConvertFocalPixToMM	(	float	focal_pix,
		float	ccdPixelSize_mm
	)

static

Helper: converts camera focal from pixels to mm.

Definition at line 1646 of file ecvCameraSensor.cpp.

References CVLog::Warning().

Referenced by computeUpperLeftPoint().

◆ drawFrustum()

void ccCameraSensor::drawFrustum ( bool state )

inline

Sets whether the frustum should be displayed or not.

Definition at line 249 of file ecvCameraSensor.h.

◆ drawFrustumPlanes()

void ccCameraSensor::drawFrustumPlanes ( bool state )

inline

Sets whether the frustum planes should be displayed or not.

Definition at line 257 of file ecvCameraSensor.h.

◆ drawMeOnly()

void ccCameraSensor::drawMeOnly ( CC_DRAW_CONTEXT & context )

overrideprotectedvirtual

Draws the entity only (not its children)

Reimplemented from ccHObject.

Definition at line 1474 of file ecvCameraSensor.cpp.

References ccPointCloud::applyRigidTransformation(), CC_ENTITY_PICKING, computeFrustumCorners(), context, ccGLDrawContext::currentLineWidth, ccGLDrawContext::defaultMeshColor, ccGLDrawContext::defaultPolylineColor, ecvDisplayTools::Draw(), ccCameraSensor::FrustumInformation::drawFrustum, ccGLDrawContext::drawingFlags, ccCameraSensor::FrustumInformation::drawSidePlanes, ECV_SURFACE_MODE, ccGenericMesh::enableStippling(), Vector3Tpl< double >::fromArray(), ccCameraSensor::FrustumInformation::frustumCorners, ccCameraSensor::FrustumInformation::frustumHull, ccSensor::getAbsoluteTransformation(), ccSensor::getActiveIndex(), ecvDisplayTools::GetCurrentScreen(), ccSensor::getFrameColor(), getPlaneColor(), cloudViewer::PointCloudTpl< T >::getPoint(), ccHObject::getViewId(), ecvDisplayTools::HideShowEntities(), ccCameraSensor::FrustumInformation::initFrustumHull(), ccCameraSensor::FrustumInformation::isComputed, cloudViewer::geometry::LineSet::lines_, m_arrow, m_axis, ccSensor::m_color, m_frustumInfos, m_nearPlane, m_sideLines, MACRO_Draw3D, ccGLDrawContext::meshRenderingMode, ccGLDrawContext::opacity, cloudViewer::geometry::LineSet::points_, ccDrawableObject::setOpacity(), ccDrawableObject::setTempColor(), ccGenericMesh::showWired(), cloudViewer::PointCloudTpl< T >::size(), ccGLMatrixTpl< double >::ToEigenMatrix4(), cloudViewer::geometry::LineSet::Transform(), updateData(), ccGLDrawContext::viewID, and ccGLDrawContext::visible.

◆ fromFile_MeOnly()

bool ccCameraSensor::fromFile_MeOnly	(	QFile &	in,
		short	dataVersion,
		int	flags,
		LoadedIDMap &	oldToNewIDMap
	)

overrideprotectedvirtual

Loads own object data.

Called by 'fromFile' (recursive scheme) To be overloaded (but still called ;) by subclass.

Parameters

in	input file
dataVersion	file version
flags	deserialization flags (see ccSerializableObject::DeserializationFlags)
oldToNewIDMap	map to link old IDs with new IDs

various parameters (dataVersion>=35)

Reimplemented from ccHObject.

Definition at line 511 of file ecvCameraSensor.cpp.

◆ fromGlobalCoordToImageCoord()

bool ccCameraSensor::fromGlobalCoordToImageCoord	(	const CCVector3 &	globalCoord,
		CCVector2 &	imageCoord,
		bool	withLensError = `true`
	)		const

Computes the coordinates of a 3D point in the image knowing its coordinates in the global coordinate system.

Parameters

globalCoord	global coordinates of the 3D point
imageCoord	to get back the image coordinates of the projected 3D point --> !! Note that the first index is (0,0) and the last (width-1,height-1) !!
withLensError	to take lens distortion into account

Returns: if operation has succeeded (typically, errors occur when the projection of the initial 3D points is not into the image boundaries, or when the 3D point is behind the camera)

Definition at line 780 of file ecvCameraSensor.cpp.

References fromGlobalCoordToLocalCoord(), and fromLocalCoordToImageCoord().

Referenced by orthoRectifyAsImageDirect().

◆ fromGlobalCoordToLocalCoord()

bool ccCameraSensor::fromGlobalCoordToLocalCoord	(	const CCVector3 &	globalCoord,
		CCVector3 &	localCoord
	)		const

Computes the coordinates of a 3D point in the sensor coordinate system knowing its coordinates in the global coordinate system.

Parameters

globalCoord	global coordinates of the 3D point (input)
localCoord	corresponding local coordinates of the 3D point (output)

Definition at line 647 of file ecvCameraSensor.cpp.

References ccGLMatrixTpl< T >::apply(), ccSensor::getActiveAbsoluteTransformation(), and ccIndexedTransformation::inverse().

Referenced by computeUncertainty(), fromGlobalCoordToImageCoord(), and isGlobalCoordInFrustum().

◆ fromImageCoordToGlobalCoord()

bool ccCameraSensor::fromImageCoordToGlobalCoord	(	const CCVector2 &	imageCoord,
		CCVector3 &	globalCoord,
		PointCoordinateType	z0,
		bool	withLensCorrection = `true`
	)		const

Computes the global coordinates of a 3D points from its 3D coordinates (pixel position in the image)

Parameters

imageCoord	image coordinates of the pixel (input) --> !! Note that the first index is (0,0) and the last (width-1,height-1) !!
globalCoord	global coordinates of the corresponding 3D point (output)
z0	altitude of the output pixel
withLensCorrection	if we want to correct the initial pixel coordinates with the lens correction formula

Returns: if operation has succeeded (typically, errors occur when the initial pixel coordinates are not into the image boundaries)

Definition at line 790 of file ecvCameraSensor.cpp.

References ccGLMatrixTpl< T >::applyRotation(), fromImageCoordToLocalCoord(), ccSensor::getActiveAbsoluteTransformation(), ccGLMatrixTpl< T >::getTranslationAsVec3D(), cloudViewer::LessThanEpsilon(), Vector3Tpl< Type >::normalize(), PC_ONE, and Tuple3Tpl< Type >::z.

Referenced by orthoRectifyAsImageDirect().

◆ fromImageCoordToLocalCoord()

bool ccCameraSensor::fromImageCoordToLocalCoord	(	const CCVector2 &	imageCoord,
		CCVector3 &	localCoord,
		PointCoordinateType	depth,
		bool	withLensCorrection = `true`
	)		const

Computes the coordinates of a 3D point in the sensor coordinate system knowing its coordinates in the global coordinate system.

Parameters

imageCoord	image coordinates of the pixel (input) --> !! Note that the first index is (0,0) and the last (width-1,height-1) !!
localCoord	local coordinates of the corresponding 3D point (output)
depth	depth of the output pixel relatively to the camera center
withLensCorrection	if we want to correct the initial pixel coordinates with the lens correction formula

Returns: if operation has succeeded (typically, errors occur when the initial pixel coordinates are not into the image boundaries)

Definition at line 756 of file ecvCameraSensor.cpp.

References m_intrinsicParams, ccCameraSensor::IntrinsicParameters::principal_point, ccCameraSensor::IntrinsicParameters::vertFocal_pix, Vector2Tpl< Type >::x, Tuple3Tpl< Type >::x, Vector2Tpl< Type >::y, and Tuple3Tpl< Type >::y.

Referenced by fromImageCoordToGlobalCoord().

◆ fromLocalCoordToGlobalCoord()

bool ccCameraSensor::fromLocalCoordToGlobalCoord	(	const CCVector3 &	localCoord,
		CCVector3 &	globalCoord
	)		const

Computes the coordinates of a 3D point in the global coordinate system knowing its coordinates in the sensor coordinate system.

Parameters

localCoord	local coordinates of the 3D point (input)
globalCoord	corresponding global coordinates of the 3D point (output)

Definition at line 635 of file ecvCameraSensor.cpp.

References ccGLMatrixTpl< T >::apply(), and ccSensor::getActiveAbsoluteTransformation().

Referenced by computeGlobalPlaneCoefficients().

◆ fromLocalCoordToImageCoord()

bool ccCameraSensor::fromLocalCoordToImageCoord	(	const CCVector3 &	localCoord,
		CCVector2 &	imageCoord,
		bool	withLensError = `true`
	)		const

Computes the coordinates of a 3D point in the global coordinate system knowing its coordinates in the sensor coordinate system.

Parameters

localCoord	local coordinates of the 3D point (input)
imageCoord	image coordinates of the projected point on the image (output) --> !! Note that the first index is (0,0) and the last (width-1,height-1) !!
withLensError	to take lens distortion into account

Returns: if operation has succeeded (typically, errors occur when the projection of the initial 3D points is not into the image boundaries, or when the 3D point is behind the camera)

Definition at line 659 of file ecvCameraSensor.cpp.

References ccCameraSensor::IntrinsicParameters::arrayHeight, ccCameraSensor::IntrinsicParameters::arrayWidth, EXTENDED_RADIAL_DISTORTION, getProjectionMatrix(), ccCameraSensor::RadialDistortionParameters::k1, ccCameraSensor::RadialDistortionParameters::k2, ccCameraSensor::ExtendedRadialDistortionParameters::k3, m_distortionParams, m_intrinsicParams, Vector2Tpl< Type >::norm2(), ccCameraSensor::IntrinsicParameters::principal_point, SIMPLE_RADIAL_DISTORTION, ccCameraSensor::IntrinsicParameters::vertFocal_pix, Vector2Tpl< Type >::x, Tuple3Tpl< Type >::x, Vector2Tpl< Type >::y, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

Referenced by computeUncertainty(), and fromGlobalCoordToImageCoord().

◆ fromRealImCoordToIdealImCoord()

bool ccCameraSensor::fromRealImCoordToIdealImCoord	(	const CCVector2 &	real,
		CCVector2 &	ideal
	)		const

Apply the Brown's lens correction to the real projection (through a lens) of a 3D point in the image

Warning: Only works with Brown's distortion model for now (see BrownDistortionParameters).

Parameters

real	real 2D coordinates of a pixel (asumming that this pixel coordinate is obtained after projection through a lens) (input) !! Note that the first index is (0,0) and the last (width-1,height-1) !!
ideal	after applying lens correction (output) --> !! Note that the first index is (0,0) and the last (width-1,height-1) !!

Definition at line 828 of file ecvCameraSensor.cpp.

References BROWN_DISTORTION, EXTENDED_RADIAL_DISTORTION, ccCameraSensor::BrownDistortionParameters::K_BrownParams, m_distortionParams, m_intrinsicParams, ccCameraSensor::BrownDistortionParameters::P_BrownParams, ccCameraSensor::IntrinsicParameters::pixelSize_mm, ccCameraSensor::IntrinsicParameters::principal_point, ccCameraSensor::BrownDistortionParameters::principalPointOffset, SIMPLE_RADIAL_DISTORTION, Vector2Tpl< Type >::x, and Vector2Tpl< Type >::y.

◆ frustumIsDrawn()

bool ccCameraSensor::frustumIsDrawn ( ) const

inline

Returns whether the frustum should be displayed or not.

Definition at line 246 of file ecvCameraSensor.h.

Referenced by ccPropertiesTreeDelegate::fillWithCameraSensor().

◆ frustumPlanesAreDrawn()

bool ccCameraSensor::frustumPlanesAreDrawn ( ) const

inline

Returns whether the frustum planes should be displayed or not.

Definition at line 252 of file ecvCameraSensor.h.

Referenced by ccPropertiesTreeDelegate::fillWithCameraSensor().

◆ getArrow()

const cloudViewer::geometry::LineSet& ccCameraSensor::getArrow ( ) const

inline

Definition at line 546 of file ecvCameraSensor.h.

Referenced by PclTools::CreateCameraSensor().

◆ getAxis()

const cloudViewer::geometry::LineSet& ccCameraSensor::getAxis ( ) const

inline

Definition at line 547 of file ecvCameraSensor.h.

Referenced by PclTools::CreateCameraSensor().

◆ getClassID()

virtual CV_CLASS_ENUM ccCameraSensor::getClassID ( ) const

inlineoverridevirtual

Returns class ID.

Returns: class unique ID

Reimplemented from ccSensor.

Definition at line 190 of file ecvCameraSensor.h.

References CV_TYPES::CAMERA_SENSOR.

◆ getDistortionParameters()

const LensDistortionParameters::Shared& ccCameraSensor::getDistortionParameters ( ) const

inline

Returns uncertainty parameters.

Definition at line 229 of file ecvCameraSensor.h.

Referenced by ccCamSensorProjectionDlg::initWithCamSensor().

◆ getFocalLength()

double ccCameraSensor::getFocalLength ( ) const

inline

Definition at line 552 of file ecvCameraSensor.h.

◆ getHorizFocal_pix()

float ccCameraSensor::getHorizFocal_pix ( ) const

inline

Returns horizontal focal (in pixels)

Definition at line 210 of file ecvCameraSensor.h.

Referenced by computeProjectionMatrix(), computeUncertainty(), define_ccCameraSensor(), and undistort().

◆ getIntrinsicParameters()

const IntrinsicParameters& ccCameraSensor::getIntrinsicParameters ( ) const

inline

Returns intrinsic parameters.

Definition at line 222 of file ecvCameraSensor.h.

Referenced by define_ccCameraSensor(), ccPropertiesTreeDelegate::fillWithCameraSensor(), and ccCamSensorProjectionDlg::initWithCamSensor().

◆ getNearPlane()

const cloudViewer::geometry::LineSet& ccCameraSensor::getNearPlane ( ) const

inline

Definition at line 540 of file ecvCameraSensor.h.

Referenced by PclTools::CreateCameraSensor(), and ecvDisplayTools::StartCPUBasedPointPicking().

◆ getOwnBB()

ccBBox ccCameraSensor::getOwnBB ( bool withGLFeatures = false )

overridevirtual

Returns the entity's own bounding-box.

Children bboxes are ignored.

Parameters

withGLFeatures whether to take into account display-only elements (if any)

Returns: bounding-box

Reimplemented from ccHObject.

Definition at line 245 of file ecvCameraSensor.cpp.

References cloudViewer::PointCloudTpl< T >::addPoint(), ccPointCloud::applyRigidTransformation(), computeUpperLeftPoint(), ccCameraSensor::FrustumInformation::drawFrustum, ccCameraSensor::FrustumInformation::drawSidePlanes, ccCameraSensor::FrustumInformation::frustumCorners, ccSensor::getAbsoluteTransformation(), ccGenericPointCloud::getOwnBB(), cloudViewer::PointCloudTpl< T >::getPoint(), ccCameraSensor::FrustumInformation::isComputed, ccSensor::m_activeIndex, m_frustumInfos, ccPointCloud::reserve(), cloudViewer::PointCloudTpl< T >::size(), Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getOwnFitBB()

ccBBox ccCameraSensor::getOwnFitBB ( ccGLMatrix & trans )

overridevirtual

Returns best-fit bounding-box (if available)

Warning: Only suitable for leaf objects (i.e. without children) Therefore children bboxes are always ignored.; This method is not supported by all entities! (returns the axis-aligned bounding-box by default).

Parameters

[out] trans associated transformation (so that the bounding-box can be displayed in the right position!)

Returns: fit bounding-box

Reimplemented from ccHObject.

Definition at line 289 of file ecvCameraSensor.cpp.

References computeUpperLeftPoint(), ccSensor::getAbsoluteTransformation(), ccSensor::m_activeIndex, Tuple3Tpl< Type >::x, Tuple3Tpl< Type >::y, and Tuple3Tpl< Type >::z.

◆ getPlaneColor()

const ecvColor::Rgb& ccCameraSensor::getPlaneColor ( ) const

inline

Definition at line 550 of file ecvCameraSensor.h.

Referenced by drawMeOnly(), and cloudViewer::ModelViewerWidget::SelectObject().

◆ getProjectionMatrix()

bool ccCameraSensor::getProjectionMatrix ( ccGLMatrix & matrix )

Returns the camera projection matrix.

Parameters

[out] matrix projection matrix (if the method returns true)

Returns: whether the matrix could be computed or not (probably due to wrong parameters)

Definition at line 391 of file ecvCameraSensor.cpp.

References computeProjectionMatrix(), m_projectionMatrix, and m_projectionMatrixIsValid.

Referenced by fromLocalCoordToImageCoord().

◆ getSideLines()

const cloudViewer::geometry::LineSet& ccCameraSensor::getSideLines ( ) const

inline

Definition at line 543 of file ecvCameraSensor.h.

Referenced by PclTools::CreateCameraSensor().

◆ getVertFocal_pix()

float ccCameraSensor::getVertFocal_pix ( ) const

inline

Returns vertical focal (in pixels)

Definition at line 206 of file ecvCameraSensor.h.

Referenced by computeProjectionMatrix(), computeUncertainty(), and undistort().

◆ getVerticalFov_rad()

float ccCameraSensor::getVerticalFov_rad ( ) const

inline

Returns the (vertical) field of view in radians.

Definition at line 217 of file ecvCameraSensor.h.

Referenced by define_ccCameraSensor().

◆ hideShowDrawings()

void ccCameraSensor::hideShowDrawings ( CC_DRAW_CONTEXT & context )

overridevirtual

Reimplemented from ccSensor.

Definition at line 1635 of file ecvCameraSensor.cpp.

References context, ccCameraSensor::FrustumInformation::drawSidePlanes, ccCameraSensor::FrustumInformation::frustumHull, ccHObject::getViewId(), ecvDisplayTools::HideShowEntities(), and m_frustumInfos.

◆ isGlobalCoordInFrustum()

bool ccCameraSensor::isGlobalCoordInFrustum ( const CCVector3 & globalCoord ) const

Tests if a 3D point is in the field of view of the camera.

Parameters

globalCoord global coordinates of the 3D point TODO withLensCorrection if we want to take the lens distortion into consideration

Returns: if operation has succeeded

Definition at line 1151 of file ecvCameraSensor.cpp.

References fromGlobalCoordToLocalCoord(), m_intrinsicParams, Tuple3Tpl< Type >::z, z, ccCameraSensor::IntrinsicParameters::zFar_mm, and ccCameraSensor::IntrinsicParameters::zNear_mm.

Referenced by ccOctree::intersectWithFrustum().

◆ isSerializable()

virtual bool ccCameraSensor::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccSensor.

Definition at line 193 of file ecvCameraSensor.h.

◆ minimumFileVersion_MeOnly()

short ccCameraSensor::minimumFileVersion_MeOnly ( ) const

overrideprotectedvirtual

Returns the minimum file version required to save this instance's own data To be overloaded (but still called ;) by subclass. Used internally by minimumFileVersion() to compute the overall minimum.

Reimplemented from ccHObject.

Definition at line 505 of file ecvCameraSensor.cpp.

References ccSensor::minimumFileVersion_MeOnly().

◆ orthoRectifyAsCloud()

ccPointCloud * ccCameraSensor::orthoRectifyAsCloud	(	const ccImage *	image,
		cloudViewer::GenericIndexedCloud *	keypoints3D,
		std::vector< KeyPoint > &	keypointsImage
	)		const

Projective ortho-rectification of an image (as cloud)

Requires at least 4 key points!

Parameters

image	input image
keypoints3D	keypoints in 3D
keypointsImage	corresponding keypoints in image

Returns: ortho-rectified image as a point cloud

Definition at line 2384 of file ecvCameraSensor.cpp.

References a, cloudViewer::PointCloudTpl< T >::addPoint(), ccPointCloud::addRGBColor(), computeOrthoRectificationParams(), ccObject::getName(), height, image, ccPointCloud::reserve(), ccPointCloud::reserveTheRGBTable(), ccPointCloud::resize(), rgb, ccDrawableObject::showColors(), CVLog::Warning(), and width.

◆ orthoRectifyAsImage()

ccImage * ccCameraSensor::orthoRectifyAsImage	(	const ccImage *	image,
		cloudViewer::GenericIndexedCloud *	keypoints3D,
		std::vector< KeyPoint > &	keypointsImage,
		double &	pixelSize,
		double *	minCorner = `nullptr`,
		double *	maxCorner = `nullptr`,
		double *	realCorners = `nullptr`
	)		const

Projective ortho-rectification of an image (as image)

Requires at least 4 key points!

Parameters

image	input image
keypoints3D	keypoints in 3D
keypointsImage	corresponding keypoints in image
pixelSize	pixel size (auto if -1)
minCorner	(optional) outputs 3D min corner (2 values)
maxCorner	(optional) outputs 3D max corner (2 values)
realCorners	(optional) image real 3D corners (4*2 values)

Returns: ortho-rectified image

Definition at line 1985 of file ecvCameraSensor.cpp.

References a, computeOrthoRectificationParams(), ccObject::getName(), height, image, rgb, width, x, and y.

◆ orthoRectifyAsImageDirect()

ccImage * ccCameraSensor::orthoRectifyAsImageDirect	(	const ccImage *	image,
		PointCoordinateType	altitude,
		double &	pixelSize,
		bool	undistortImages = `true`,
		double *	minCorner = `nullptr`,
		double *	maxCorner = `nullptr`,
		double *	realCorners = `nullptr`
	)		const

Direct ortho-rectification of an image (as image)

No keypoint is required. The user must specify however the orthorectification 'altitude'.

Parameters

image	input image
altitude	orthorectification altitude
pixelSize	pixel size (auto if -1)
undistortImages	whether images should be undistorted or not
minCorner	(optional) outputs 3D min corner (2 values)
maxCorner	(optional) outputs 3D max corner (2 values)
realCorners	(optional) image real 3D corners (4*2 values)

Returns: ortho-rectified image

Definition at line 1827 of file ecvCameraSensor.cpp.

References fromGlobalCoordToImageCoord(), fromImageCoordToGlobalCoord(), ccObject::getName(), height, image, rgb, width, Vector2Tpl< Type >::x, Tuple3Tpl< Type >::x, x, Vector2Tpl< Type >::y, Tuple3Tpl< Type >::y, and y.

◆ OrthoRectifyAsImages()

bool ccCameraSensor::OrthoRectifyAsImages	(	std::vector< ccImage * >	images,
		double	a[],
		double	b[],
		double	c[],
		unsigned	maxSize,
		QDir *	outputDir = `nullptr`,
		std::vector< ccImage * > *	orthoRectifiedImages = `nullptr`,
		std::vector< std::pair< double, double >> *	relativePos = `nullptr`
	)

static

Projective ortho-rectification of multiple images (as image files)

Parameters

	images	set of N calibrated images (i.e. images with their associated sensor)
	a	{a0, a1, a2} triplets for all images (size: 3*N)
	b	{b0, b1, b2} triplets for all images (size: 3*N)
	c	{c0(=1), c1, c2} triplets for all images (size: 3*N)
	maxSize	output image(s) max dimension
	outputDir	output directory for resulting images (is successful)
[out]	orthoRectifiedImages	resulting images (is successful)
[out]	relativePos	relative positions (relatively to first image)

Returns: true if successful

Definition at line 2136 of file ecvCameraSensor.cpp.

References a, cloudViewer::core::Append(), cloudViewer::utility::ceil(), count, QtCompat::endl(), height, image, result, rgb, CVLog::Warning(), width, x, and y.

◆ setDistortionParameters()

void ccCameraSensor::setDistortionParameters ( LensDistortionParameters::Shared params )

inline

Sets uncertainty parameters.

Definition at line 233 of file ecvCameraSensor.h.

Referenced by ccCameraSensor(), and DecodeSensor().

◆ setIntrinsicParameters()

void ccCameraSensor::setIntrinsicParameters ( const IntrinsicParameters & params )

Sets intrinsic parameters.

Definition at line 323 of file ecvCameraSensor.cpp.

References ccCameraSensor::FrustumInformation::isComputed, m_frustumInfos, m_intrinsicParams, and m_projectionMatrixIsValid.

Referenced by ccCameraSensor(), define_ccCameraSensor(), and ccCamSensorProjectionDlg::updateCamSensor().

◆ setPlaneColor()

void ccCameraSensor::setPlaneColor ( ecvColor::Rgb color )

inline

Definition at line 549 of file ecvCameraSensor.h.

References color.

◆ setVertFocal_pix()

void ccCameraSensor::setVertFocal_pix ( float vertFocal_pix )

Sets focal (in pixels)

Warning: Vertical dimension by default

Definition at line 308 of file ecvCameraSensor.cpp.

References ccCameraSensor::FrustumInformation::isComputed, m_frustumInfos, m_intrinsicParams, m_projectionMatrixIsValid, and ccCameraSensor::IntrinsicParameters::vertFocal_pix.

Referenced by define_ccCameraSensor().

◆ setVerticalFov_rad()

void ccCameraSensor::setVerticalFov_rad ( float fov_rad )

Sets the (vertical) field of view in radians.

Definition at line 318 of file ecvCameraSensor.cpp.

References m_intrinsicParams, and ccCameraSensor::IntrinsicParameters::vFOV_rad.

Referenced by define_ccCameraSensor().

◆ toFile_MeOnly()

bool ccCameraSensor::toFile_MeOnly	(	QFile &	out,
		short	dataVersion
	)		const

overrideprotectedvirtual

Save own object data.

Called by 'toFile' (recursive scheme) To be overloaded (but still called ;) by subclass.

Parameters

out	output file
dataVersion	target file version for compatibility control

various parameters (dataVersion>=35)

Reimplemented from ccHObject.

Definition at line 421 of file ecvCameraSensor.cpp.

◆ undistort() [1/2]

ccImage * ccCameraSensor::undistort	(	ccImage *	image,
		bool	inplace = `true`
	)		const

Undistorts an image based on the sensor distortion parameters.

Warning: Only works with the simple radial distortion model for now (see RadialDistortionParameters).

Parameters

image	input image
inplace	whether the undistortion should be applied in place or not

Returns: undistorted image (maybe the same as the input image if inplace is true, or even a null pointer if an error occurred)

Definition at line 1128 of file ecvCameraSensor.cpp.

References image, undistort(), and CVLog::Warning().

◆ undistort() [2/2]

QImage ccCameraSensor::undistort ( const QImage & image ) const

Undistorts an image based on the sensor distortion parameters.

Warning: Only works with the simple radial distortion model for now (see RadialDistortionParameters).

Parameters

image input image

Returns: undistorted image (or a null one if an error occurred)

Definition at line 1005 of file ecvCameraSensor.cpp.

References ccCameraSensor::IntrinsicParameters::arrayHeight, ccCameraSensor::IntrinsicParameters::arrayWidth, BROWN_DISTORTION, EXTENDED_RADIAL_DISTORTION, getHorizFocal_pix(), getVertFocal_pix(), height, image, ccCameraSensor::RadialDistortionParameters::k1, ccCameraSensor::RadialDistortionParameters::k2, m_distortionParams, m_intrinsicParams, ccCameraSensor::IntrinsicParameters::principal_point, SIMPLE_RADIAL_DISTORTION, CVLog::Warning(), width, x, and y.

Referenced by PhotoScanFilter::loadFile(), and undistort().

◆ updateData()

void ccCameraSensor::updateData ( )

Member Data Documentation

◆ m_arrow

cloudViewer::geometry::LineSet ccCameraSensor::m_arrow

protected

Definition at line 613 of file ecvCameraSensor.h.

Referenced by drawMeOnly(), and updateData().

◆ m_axis

cloudViewer::geometry::LineSet ccCameraSensor::m_axis

protected

Definition at line 614 of file ecvCameraSensor.h.

Referenced by drawMeOnly(), and updateData().

◆ m_distortionParams

LensDistortionParameters::Shared ccCameraSensor::m_distortionParams

protected

Lens distortion parameters.

Definition at line 599 of file ecvCameraSensor.h.

Referenced by ccCameraSensor(), computeUncertainty(), fromLocalCoordToImageCoord(), fromRealImCoordToIdealImCoord(), and undistort().

◆ m_focalLength

double ccCameraSensor::m_focalLength

protected

Definition at line 615 of file ecvCameraSensor.h.

◆ m_frustumInfos

FrustumInformation ccCameraSensor::m_frustumInfos

protected

Frustum information structure.

Used to draw it properly.

Definition at line 604 of file ecvCameraSensor.h.

Referenced by clearDrawings(), computeFrustumCorners(), computeGlobalPlaneCoefficients(), drawMeOnly(), getOwnBB(), hideShowDrawings(), setIntrinsicParameters(), and setVertFocal_pix().

◆ m_intrinsicParams

IntrinsicParameters ccCameraSensor::m_intrinsicParams

protected

Camera intrinsic parameters.

Definition at line 596 of file ecvCameraSensor.h.

Referenced by applyViewport(), ccCameraSensor(), computeFrustumCorners(), computeProjectionMatrix(), computeUncertainty(), computeUpperLeftPoint(), fromImageCoordToLocalCoord(), fromLocalCoordToImageCoord(), fromRealImCoordToIdealImCoord(), isGlobalCoordInFrustum(), setIntrinsicParameters(), setVertFocal_pix(), setVerticalFov_rad(), and undistort().

◆ m_nearPlane

cloudViewer::geometry::LineSet ccCameraSensor::m_nearPlane

protected

Definition at line 611 of file ecvCameraSensor.h.

Referenced by drawMeOnly(), and updateData().

◆ m_plane_color

ecvColor::Rgb ccCameraSensor::m_plane_color

protected

Definition at line 593 of file ecvCameraSensor.h.

◆ m_projectionMatrix

ccGLMatrix ccCameraSensor::m_projectionMatrix

protected

Intrinsic parameters matrix.

Definition at line 607 of file ecvCameraSensor.h.

Referenced by computeProjectionMatrix(), and getProjectionMatrix().

◆ m_projectionMatrixIsValid

bool ccCameraSensor::m_projectionMatrixIsValid

protected

Whether the intrinsic matrix is valid or not.

Definition at line 609 of file ecvCameraSensor.h.

Referenced by computeProjectionMatrix(), getProjectionMatrix(), setIntrinsicParameters(), and setVertFocal_pix().

◆ m_sideLines

cloudViewer::geometry::LineSet ccCameraSensor::m_sideLines

protected

Definition at line 612 of file ecvCameraSensor.h.

Referenced by drawMeOnly(), and updateData().

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

/root/ACloudViewer/libs/CV_db/include/ecvCameraSensor.h
/root/ACloudViewer/libs/CV_db/src/ecvCameraSensor.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ DistortionModel

Constructor & Destructor Documentation

◆ ccCameraSensor() [1/3]

◆ ccCameraSensor() [2/3]

◆ ccCameraSensor() [3/3]

◆ ~ccCameraSensor()

Member Function Documentation

◆ applyViewport()

◆ clearDrawings()

◆ ComputeFovRadFromFocalMm()

◆ ComputeFovRadFromFocalPix()

◆ computeFrustumCorners()

◆ computeGlobalPlaneCoefficients()

◆ computeOrthoRectificationParams()

◆ computeProjectionMatrix()

◆ computeUncertainty() [1/2]

◆ computeUncertainty() [2/2]

◆ computeUpperLeftPoint()

◆ ConvertFocalMMToPix()

◆ ConvertFocalPixToMM()

◆ drawFrustum()

◆ drawFrustumPlanes()

◆ drawMeOnly()

◆ fromFile_MeOnly()

◆ fromGlobalCoordToImageCoord()

◆ fromGlobalCoordToLocalCoord()

◆ fromImageCoordToGlobalCoord()

◆ fromImageCoordToLocalCoord()

◆ fromLocalCoordToGlobalCoord()

◆ fromLocalCoordToImageCoord()

◆ fromRealImCoordToIdealImCoord()

◆ frustumIsDrawn()

◆ frustumPlanesAreDrawn()

◆ getArrow()

◆ getAxis()

◆ getClassID()

◆ getDistortionParameters()

◆ getFocalLength()

◆ getHorizFocal_pix()

◆ getIntrinsicParameters()

◆ getNearPlane()

◆ getOwnBB()

◆ getOwnFitBB()

◆ getPlaneColor()

◆ getProjectionMatrix()

◆ getSideLines()

◆ getVertFocal_pix()

◆ getVerticalFov_rad()

◆ hideShowDrawings()

◆ isGlobalCoordInFrustum()

◆ isSerializable()

◆ minimumFileVersion_MeOnly()

◆ orthoRectifyAsCloud()

◆ orthoRectifyAsImage()

◆ orthoRectifyAsImageDirect()

◆ OrthoRectifyAsImages()

◆ setDistortionParameters()

◆ setIntrinsicParameters()

◆ setPlaneColor()

◆ setVertFocal_pix()

◆ setVerticalFov_rad()

◆ toFile_MeOnly()

◆ undistort() [1/2]

◆ undistort() [2/2]

◆ updateData()

Member Data Documentation

◆ m_arrow

◆ m_axis

◆ m_distortionParams

◆ m_focalLength

◆ m_frustumInfos

◆ m_intrinsicParams