Coordinates mapper that compensates for the optical effects as described by a rectilinear camera model. More...

#include <RectilinearCameraModel.hh>

Inheritance diagram for gramods::gmGraphics::RectilinearCameraModel:

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Collaboration diagram for gramods::gmGraphics::RectilinearCameraModel:

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Classes
struct	Impl

Public Member Functions
std::string	getCommonCode () override

std::string	getTo2DCode () override

std::string	getTo3DCode () override

void	setCommonUniforms (GLuint program) override

void	setTo2DUniforms (GLuint program) override

void	setKDistortion (gmCore::float3 k)
	Set the k distortion parameters (k1 k2 k3). More...

void	setPDistortion (gmCore::float2 p)
	Set the p distortion parameters (p1 p2). More...

void	setFocalDistance (gmCore::float2 f)
	Set the focal distance (fx fy) for the camera model, expressed relative to the image size. More...

void	setFocalOffset (gmCore::float2 c)
	Set the focal offset (cx cy) for the camera model, expressed relative to the image size. More...

Public Member Functions inherited from gramods::gmGraphics::CoordinatesMapper
virtual void	setTo3DUniforms (GLuint program)
	Called by the code that is using this CoordinatesMapper object, to let it set the uniforms used by the to-3D code. More...

virtual std::string	getDefaultKey () override
	Returns the default key, in Configuration, for the Object. More...

Public Member Functions inherited from gramods::gmCore::Object
	Object ()
	Initializes internal data. More...

virtual	~Object ()
	Cleaning up internal data. More...

virtual void	initialize ()
	Called to initialize the Object. More...

virtual void	accept (Visitor *visitor)
	Calls the visitors apply method with this as argument. More...

virtual void	traverse (Visitor *visitor)
	Calls the child Object's accept method, if such exist. More...

bool	isInitialized ()
	Returns true if the Object is initialized. More...

Static Public Attributes
static gramods::gmCore::OFactory::OFactoryInformation	_gm_ofi

Additional Inherited Members
Protected Member Functions inherited from gramods::gmGraphics::CoordinatesMapper
const std::string	withVarId (std::string) const

Protected Attributes inherited from gramods::gmGraphics::CoordinatesMapper
const std::string	var_id

Detailed Description

Coordinates mapper that compensates for the optical effects as described by a rectilinear camera model.

Member Function Documentation

◆ getCommonCode()

std::string gramods::gmGraphics::RectilinearCameraModel::getCommonCode ( )

overridevirtual

See also: CoordinatesMapper

Reimplemented from gramods::gmGraphics::CoordinatesMapper.

◆ getTo2DCode()

std::string gramods::gmGraphics::RectilinearCameraModel::getTo2DCode ( )

overridevirtual

See also: CoordinatesMapper

Reimplemented from gramods::gmGraphics::CoordinatesMapper.

◆ getTo3DCode()

std::string gramods::gmGraphics::RectilinearCameraModel::getTo3DCode ( )

overridevirtual

See also: CoordinatesMapper

Reimplemented from gramods::gmGraphics::CoordinatesMapper.

◆ setCommonUniforms()

void gramods::gmGraphics::RectilinearCameraModel::setCommonUniforms ( GLuint program )

overridevirtual

See also: CoordinatesMapper

Reimplemented from gramods::gmGraphics::CoordinatesMapper.

◆ setFocalDistance()

void gramods::gmGraphics::RectilinearCameraModel::setFocalDistance ( gmCore::float2 f )

Set the focal distance (fx fy) for the camera model, expressed relative to the image size.

Calibration output from OpenCV is typically expressed in pixels so divide by the pixel size in each dimension, respectively, before entering values here.

To convert from focal distance in mm and sensor ratio, divide the focal distance by the size of your sensor (e.g. 28 mm lens with sensor size 23.5 x 15.6 mm gives fx = 28/23.5 and fy = 28/15.6). Use the largest sensor dimension for your largest image dimension. If the sensor size is unknown but your camera reports standard 35 mm equivalent focal distance, then instead divide this focal distance value by the standard sensor size, 36 x 27 mm (e.g. 28 mm equivalent gives fx = 28/36 and fy = 28/27). Adjust the smaller dimension if the image ratio does not perfectly match the standard ratio (4/3). If your camera only reports it actual focal distance (e.g. 2.2 mm in a phone camera) then multiply this by the reported crop factor and proceed by using this value in the standard sensor estimation.

XML-attribute: focalDistance

◆ setFocalOffset()

void gramods::gmGraphics::RectilinearCameraModel::setFocalOffset ( gmCore::float2 c )

Set the focal offset (cx cy) for the camera model, expressed relative to the image size.

A straight projection should have an offset close to (0.5 0.5). Calibration output from OpenCV is typically expressed in pixels so divide by resolution before entering values here.

XML-attribute: focalOffset

◆ setKDistortion()

void gramods::gmGraphics::RectilinearCameraModel::setKDistortion ( gmCore::float3 k )

Set the k distortion parameters (k1 k2 k3).

XML-attribute: kDistortion

◆ setPDistortion()

void gramods::gmGraphics::RectilinearCameraModel::setPDistortion ( gmCore::float2 p )

Set the p distortion parameters (p1 p2).

XML-attribute: pDistortion

◆ setTo2DUniforms()

void gramods::gmGraphics::RectilinearCameraModel::setTo2DUniforms ( GLuint program )

overridevirtual

See also: CoordinatesMapper

Reimplemented from gramods::gmGraphics::CoordinatesMapper.

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

/home/karlu/private/program/gramods/modules/gmGraphics/include/gmGraphics/RectilinearCameraModel.hh
/home/karlu/private/program/gramods/modules/gmGraphics/src/RectilinearCameraModel.cpp

Classes

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getCommonCode()

◆ getTo2DCode()

◆ getTo3DCode()

◆ setCommonUniforms()

◆ setFocalDistance()

◆ setFocalOffset()

◆ setKDistortion()

◆ setPDistortion()

◆ setTo2DUniforms()