Camera Class Reference

The base class defining a simple camera. More...

#include <camera.h>

Public Member Functions
	Camera (string intrinsicFilePath)
	Costructor for initialization from file. More...
	Camera ()
	Default Constructor. More...
void	calibrate (vector< string > imageList, int boardWidth, int boardHeight)
	It performs the camera calibration. More...
bool	saveCalibration (string intrinsicFilePath)
	It saves the calibration. More...
Mat	undistortImage (Mat image)
	It undistorts an image using the intrinsic parameters. More...
Mat	getCameraMatrix ()
	It returns the 3x3 camera matrix. More...
Mat	getDistVector ()
	It returns the 4x1 distortion coefficients. More...
void	setCameraMatrix (Mat &K)
	It sets the camera parameters. More...
void	setDistCoefficients (Mat &Dist)
	It sets the distortion parameters. More...

Detailed Description

The base class defining a simple camera.

It allows to calibrate the camera and to undistort a pair of images.

Definition at line 40 of file camera.h.

Constructor & Destructor Documentation

Camera() [1/2]

Camera::Camera

(

string

intrinsicFilePath

)

Costructor for initialization from file.

Parameters

intrisicFileName

the path of the intrinsic parameters file.

Definition at line 25 of file camera.cpp.

                                       {
        FileStorage fs(intrinsicFilePath.c_str(), FileStorage::READ);
        if(!fs.isOpened())
        {
            printf("Failed to open file %s\n", intrinsicFilePath.c_str());
            return;
        }
        fs["camera_matrix"] >> K;
        fs["distortion_coefficients"] >> Dist;
 
}

Camera() [2/2]

Camera::Camera ( )

inline

Default Constructor.

You should initialize all the intrinsic and extrinsic parameters using the calibrate method

Definition at line 82 of file camera.h.

{};

Member Function Documentation

calibrate()

void Camera::calibrate	(	vector< string >	imageList,
		int	boardWidth,
		int	boardHeight
	)

It performs the camera calibration.

Parameters

imageList	is the list containing the paths of the images with the chessboard patterns.
boardWidth	the number of inner corners in the width direction of the chess board pattern (see stereoCalibration module)
boardHeight	the number of inner corners in the height direction of the chess board pattern (see stereoCalibration module)

Definition at line 53 of file camera.cpp.

                                                                                {
    vector<vector<Point2f> > imagePoints;
    Size boardSize, imageSize;
    boardSize.width=boardWidth;
    boardSize.height=boardHeight;
    int flags=0;
    int i;
 
    float squareSize = 1.f, aspectRatio = 1.f;
 
      Mat view, viewGray;
 
    for(i = 0; i<(int)imageList.size();i++)
    {
 
         view = cv::imread(imageList[i], 1);
         imageSize = view.size();
         vector<Point2f> pointbuf;
         cvtColor(view, viewGray, cv::COLOR_BGR2GRAY); 
 
         bool found = findChessboardCorners( view, boardSize, pointbuf,
                                            cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK + cv::CALIB_CB_NORMALIZE_IMAGE);
 
         if(found) 
         {
            drawChessboardCorners( view, boardSize, Mat(pointbuf), found );
            imagePoints.push_back(pointbuf);
         }
 
    }
    prepareandRunCalibration(imagePoints, imageSize, boardSize, squareSize, aspectRatio, flags, K, Dist);
 
 
}

getCameraMatrix()

Mat Camera::getCameraMatrix

(

)

It returns the 3x3 camera matrix.

Returns

3x3 camera matrix.

Definition at line 264 of file camera.cpp.

                            {
    return this->K;
}

Referenced by StereoCamera::StereoCamera().

getDistVector()

Mat Camera::getDistVector

(

)

It returns the 4x1 distortion coefficients.

Returns

4x1 distortion coefficients.

Definition at line 267 of file camera.cpp.

                          {
    return this->Dist;
}

Referenced by StereoCamera::StereoCamera().

saveCalibration()

bool Camera::saveCalibration

(

string

intrinsicFilePath

)

It saves the calibration.

Parameters

intrinsicFilePath

the path of the intrinsic parameters file

Definition at line 237 of file camera.cpp.

                                                     {
  
    if(this->K.empty()) {
        printf("Camera is not calibrated, run calibration method before..\n");
        return false;
    }
   FileStorage fs( intrinsicFilePath, FileStorage::WRITE );
    fs << "camera_matrix" << this->K;
    fs << "distortion_coefficients" << this->Dist;
   return true;
}

setCameraMatrix()

void Camera::setCameraMatrix

(

Mat &

K

)

It sets the camera parameters.

Parameters

K	3x3 camera matrix.

Definition at line 277 of file camera.cpp.

                                   {
    this->K=K;
}

setDistCoefficients()

void Camera::setDistCoefficients

(

Mat &

Dist

)

It sets the distortion parameters.

Parameters

D	4x1 camera distortion parameters.

Definition at line 281 of file camera.cpp.

                                          {
    this->Dist=Dist;
}

undistortImage()

Mat Camera::undistortImage

(

Mat

image

)

It undistorts an image using the intrinsic parameters.

Note

Set undistortion coefficients and camera matrix before using this method.

Parameters

image

the input distorted image.

Returns

the undistorted image.

Definition at line 271 of file camera.cpp.

                                    {
    Mat imund;
    undistort(image,imund,K,Dist);
    return imund;
}

---

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

• /home/runner/work/stereo-vision/stereo-vision/gh-pages/lib/include/iCub/stereoVision/camera.h
• /home/runner/work/stereo-vision/stereo-vision/gh-pages/lib/src/camera.cpp