KudanCameraParameters Class Reference

#include <KudanCV.h>

Public Member Functions
	KudanCameraParameters ()
	KudanCameraParameters (float focalLengthX, float focalLengthY, float principalPointX, float principalPointY, float width, float height)
void	setIntrinsics (float focalLengthX, float focalLengthY, float principalPointX, float principalPointY)
void	setSize (int width, int height)
void	guessIntrinsics ()
KudanMatrix3	getMatrix ()
KudanMatrix4	getProjectionMatrix (float near, float far)
void	getFocalLength (float &focalX, float &focalY)
void	getPrincipalPoint (float &principalX, float &principalY)
void	getSize (int &width, int &height)
bool	isValid ()
int	width ()
int	height ()

Static Public Attributes
static const int	maxImageSize = 1 << 30
	This is to stop obviously wrong camera parameters being passed in.

Detailed Description

Represents the intrinsic calibration parameters of a pin-hole camera. This encodes the focal length (x and y separate) and principal point, as well as the image size. If the intrinsics are not known, this class can be used to guess them for a camera of a given size. This is used to specify the parameters of a camera for the tracker.

Constructor & Destructor Documentation

KudanCameraParameters() [1/2]

KudanCameraParameters::KudanCameraParameters

(

)

Default constructor sets everything to zero. Should not be available to user!

KudanCameraParameters() [2/2]

KudanCameraParameters::KudanCameraParameters	(	float	focalLengthX,
		float	focalLengthY,
		float	principalPointX,
		float	principalPointY,
		float	width,
		float	height
	)

Create an instance using known camera parameters.

Parameters

focalLengthX,focalLengthY	The focal length of the camera in pixels
principalPointX,principalPointY	The principal point of the camera in pixels
width,height	The size of the images created by this camera

Exceptions

KudanException

is thrown if the parameters are invalid, including: the image size is zero, negative, or too large in any dimension; if the principal point is outside the image; and if the focal length is zero or negative.

Member Function Documentation

getFocalLength()

void KudanCameraParameters::getFocalLength	(	float &	focalX,
		float &	focalY
	)

Access the intrinsic parameters of the camera. This returns the focal length in the X and Y directions

Parameters

[out]

focalX,focalY

Focal length in pixels

getMatrix()

KudanMatrix3 KudanCameraParameters::getMatrix

(

)

Get the 3x3 camera calibration matrix. The data are stored in column major order.

Returns

a KudanMatrix3 representing the 3x3 instinsic camera matrix

getPrincipalPoint()

void KudanCameraParameters::getPrincipalPoint	(	float &	principalX,
		float &	principalY
	)

Access the intrinsic parameters of the camera. This returns the principal point in pixel units.

Parameters

[out]

principalX,principalY

Principal point in pixels

getProjectionMatrix()

KudanMatrix4 KudanCameraParameters::getProjectionMatrix	(	float	near,
		float	far
	)

Get the 4x4 OpenGL-style projection matrix

Parameters

near	Rendering frustum near clip plane
far	Rendering frustum far clip plane

Returns

a KudanMatrix representing the 4x4 OpenGL proejction matrix

getSize()

void KudanCameraParameters::getSize	(	int &	width,
		int &	height
	)

Access the intrinsic parameters of the camera. This returns the size in pixels of the image that is expected from the camera

Parameters

[out]

width,height

Image size for this camera

guessIntrinsics()

void KudanCameraParameters::guessIntrinsics

(

)

Assuming the width and height have been set, this guesses appropriate values for the intrinsics. If the image size corresponds to a certain set of common devices, the pre-calibrated parameters are used. Otherwise, appropriate approximations are used given the image size. This will throw a KudanException if the parameters are not valid

Exceptions

KudanException

is thrown if the parameters are not valid

height()

int KudanCameraParameters::height

(

)

Access the intrinsic parameters of the camera. This returns the height in pixels of the image that is expected from the camera

Returns

The height of the expected camera image

isValid()

bool KudanCameraParameters::isValid

(

)

Utility function to check that valid values are set. This is only needed because there is a defaut constructor!

Returns

A boolean indicating whether this camera is valid

setIntrinsics()

void KudanCameraParameters::setIntrinsics	(	float	focalLengthX,
		float	focalLengthY,
		float	principalPointX,
		float	principalPointY
	)

(Re)set the intrinsic parameters (does not change the image size)

Parameters

focalLengthX,focalLengthY	The focal length of the camera in pixels
principalPointX,principalPointY	The principal point of the camera in pixels

Exceptions

KudanException

is thrown if the parameters are not valid

setSize()

void KudanCameraParameters::setSize	(	int	width,
		int	height
	)

(Re)set the intrinsic size (does not change the intrinsic parameters)

Parameters

width,height

The size of the images created by this camera

Exceptions

KudanException

is thrown if the parameters are not valid

width()

int KudanCameraParameters::width

(

)

Access the intrinsic parameters of the camera. This returns the width in pixels of the image that is expected from the camera

Returns

The width of the expected camera image

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

• KudanCV.h
• KudanCV.cpp