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<div class="headertitle"><div class="title">CameraModel.h</div></div>
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</div><!--header-->
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<div class="contents">
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef CAMERAMODEL_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define CAMERAMODEL_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include <opencv2/opencv.hpp></span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include "rtabmap/core/Transform.h"</span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
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<div class="foldopen" id="foldopen00052" data-start="{" data-end="};">
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html"> 52</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a></div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span>{</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a0853af9d0117565311da4ffc3965f8d2"> 63</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a0853af9d0117565311da4ffc3965f8d2">opticalRotation</a>() {<span class="keywordflow">return</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(0,0,1,0, -1,0,0,0, 0,-1,0,0);}</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd"> 68</a></span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd">CameraModel</a>();</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> </div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695"> 85</a></span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695">CameraModel</a>(</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> std::string & name,</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">const</span> cv::Mat & K,</div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">const</span> cv::Mat & D,</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keyword">const</span> cv::Mat & R,</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">const</span> cv::Mat & P,</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform = opticalRotation());</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#aadb6b19ea8a94f3f6719ea0233196c34"> 105</a></span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#aadb6b19ea8a94f3f6719ea0233196c34">CameraModel</a>(</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">double</span> fx,</div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">double</span> fy,</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">double</span> cx,</div>
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<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">double</span> cy,</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform = opticalRotation(),</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">double</span> Tx = 0.0f,</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keyword">const</span> cv::Size & imageSize = cv::Size(0,0));</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a745c2d60ef6b460ca380aebd55b5d61c"> 117</a></span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a745c2d60ef6b460ca380aebd55b5d61c">CameraModel</a>(</div>
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<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <span class="keyword">const</span> std::string & name,</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordtype">double</span> fx,</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">double</span> fy,</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">double</span> cx,</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">double</span> cy,</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform = opticalRotation(),</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">double</span> Tx = 0.0f,</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keyword">const</span> cv::Size & imageSize = cv::Size(0,0));</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#af6f35e5071ef0070d3fae3ebaa33ce4c"> 128</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#af6f35e5071ef0070d3fae3ebaa33ce4c">~CameraModel</a>() {}</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a5690a86d11b0d84e80961ae5d38b1d25"> 153</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a5690a86d11b0d84e80961ae5d38b1d25">initRectificationMap</a>();</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a80cacb16d347e89980369cb2e02f3d48"> 159</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a80cacb16d347e89980369cb2e02f3d48">isRectificationMapInitialized</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !mapX_.empty() && !mapY_.empty();}</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> </div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a7b6db41415e085d52bf363d09d5e6d67"> 164</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a7b6db41415e085d52bf363d09d5e6d67">isValidForProjection</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#abd4db4f23eb05d531a34ee44f7cdb687"> 168</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#abd4db4f23eb05d531a34ee44f7cdb687">isValidForReprojection</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0 && imageWidth()>0 && imageHeight()>0;}</div>
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<div class="foldopen" id="foldopen00172" data-start="{" data-end="}">
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a46864eb8de680d45d79777e828dcbb6a"> 172</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a46864eb8de680d45d79777e828dcbb6a">isValidForRectification</a>()<span class="keyword"> const</span></div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span><span class="keyword"> </span>{</div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordflow">return</span> imageSize_.width>0 &&</div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> imageSize_.height>0 &&</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> !K_.empty() &&</div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> !D_.empty() &&</div>
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<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> !R_.empty() &&</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> !P_.empty();</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> }</div>
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</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> </div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a402a407fa2bca721087a6deda24cc10d"> 183</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a402a407fa2bca721087a6deda24cc10d">setName</a>(<span class="keyword">const</span> std::string & name) {name_=name;}</div>
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<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#aa152828f20e1cf0ffab7bb25178191b5"> 185</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#aa152828f20e1cf0ffab7bb25178191b5">name</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> name_;}</div>
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<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#acea616d4e141804dbc5c6eda58bebf6b"> 188</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#acea616d4e141804dbc5c6eda58bebf6b">fx</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> P_.empty()?K_.empty()?0.0:K_.at<<span class="keywordtype">double</span>>(0,0):P_.at<<span class="keywordtype">double</span>>(0,0);}</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#ac4089d34947b040205e281edae4151a1"> 190</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#ac4089d34947b040205e281edae4151a1">fy</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> P_.empty()?K_.empty()?0.0:K_.at<<span class="keywordtype">double</span>>(1,1):P_.at<<span class="keywordtype">double</span>>(1,1);}</div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#af81ee9572d32f69bf0a66cd1f4671c20"> 192</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#af81ee9572d32f69bf0a66cd1f4671c20">cx</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> P_.empty()?K_.empty()?0.0:K_.at<<span class="keywordtype">double</span>>(0,2):P_.at<<span class="keywordtype">double</span>>(0,2);}</div>
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#aa3a18f811d3e9db290d01371e078add3"> 194</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#aa3a18f811d3e9db290d01371e078add3">cy</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> P_.empty()?K_.empty()?0.0:K_.at<<span class="keywordtype">double</span>>(1,2):P_.at<<span class="keywordtype">double</span>>(1,2);}</div>
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a6f6dc18af13a777e89a75725ef3e8ab4"> 196</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a6f6dc18af13a777e89a75725ef3e8ab4">Tx</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> P_.empty()?0.0:P_.at<<span class="keywordtype">double</span>>(0,3);}</div>
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<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> </div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#ada626650b01d35b494016a5490efb31a"> 199</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#ada626650b01d35b494016a5490efb31a">K_raw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> K_;}</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a88ec7053f4d442c4b1b79803c2840f28"> 201</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a88ec7053f4d442c4b1b79803c2840f28">D_raw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> D_;} </div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a5df2e6c3f361b7084e4d26d7f1846e3d"> 203</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a5df2e6c3f361b7084e4d26d7f1846e3d">K</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !P_.empty()?P_.colRange(0,3):K_;}</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a4aa121905a9b2aabb6a3592a6eb7459a"> 205</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a4aa121905a9b2aabb6a3592a6eb7459a">D</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> P_.empty()&&!D_.empty()?D_:cv::Mat::zeros(1,5,CV_64FC1);} <span class="comment">// if P exists, return rectified version</span></div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#ad763246258ddf02c27873c2536901781"> 207</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#ad763246258ddf02c27873c2536901781">R</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> R_;}</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#acda5d9c4eeeaaad69e950f5ea630430a"> 209</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#acda5d9c4eeeaaad69e950f5ea630430a">P</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> P_;}</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#aa1325c971f17d371553c3f75be7aeece"> 212</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#aa1325c971f17d371553c3f75be7aeece">setLocalTransform</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform) {localTransform_ = transform;}</div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a8a1712ca95bf08c71b2bf2da1d635bc8"> 214</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a8a1712ca95bf08c71b2bf2da1d635bc8">localTransform</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> localTransform_;}</div>
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a43fd48b917ca145876024859f8565931"> 235</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a43fd48b917ca145876024859f8565931">setImageSize</a>(<span class="keyword">const</span> cv::Size & size);</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keyword">const</span> cv::Size & imageSize()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imageSize_;}</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">int</span> imageWidth()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imageSize_.width;}</div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">int</span> imageHeight()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imageSize_.height;}</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
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<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#ac3aa6835f8ae019de4dbf85eed849b75"> 250</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#ac3aa6835f8ae019de4dbf85eed849b75">fovX</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> </div>
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<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#af4df41cc8a613f3e03b1ed14fc0a887e"> 262</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#af4df41cc8a613f3e03b1ed14fc0a887e">fovY</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> </div>
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<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a12abd4cac897f48bf862a96f0eba1d65"> 271</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a12abd4cac897f48bf862a96f0eba1d65">horizontalFOV</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> </div>
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<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#af6226e43afcb69259b137bbe50099537"> 280</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#af6226e43afcb69259b137bbe50099537">verticalFOV</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
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<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a3ceb0d36d8786f03b778d1969cb6e839"> 283</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a3ceb0d36d8786f03b778d1969cb6e839">isFisheye</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> D_.cols == 6;}</div>
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<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> </div>
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<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a2c2ff6db9029c3ee219642d7e48b04fa"> 315</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a2c2ff6db9029c3ee219642d7e48b04fa">load</a>(<span class="keyword">const</span> std::string & filePath, <span class="keywordtype">bool</span> initRectificationMaps = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> </div>
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<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#abe9b3c87c086fd33286c01361e454056"> 329</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#abe9b3c87c086fd33286c01361e454056">load</a>(<span class="keyword">const</span> std::string & directory, <span class="keyword">const</span> std::string & cameraName, <span class="keywordtype">bool</span> initRectificationMaps = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> </div>
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<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#ab5ec6010459c4e642e162dc8914bccb9"> 354</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#ab5ec6010459c4e642e162dc8914bccb9">save</a>(<span class="keyword">const</span> std::string & directory) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div>
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<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082"> 377</a></span> std::vector<unsigned char> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082">serialize</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a490dc97ca8aa55d96324eb6612ccfd30"> 389</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a490dc97ca8aa55d96324eb6612ccfd30">deserialize</a>(<span class="keyword">const</span> std::vector<unsigned char>& data);</div>
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<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> </div>
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<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a181c2e53da1151c281d85fde986a29c5"> 410</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a181c2e53da1151c281d85fde986a29c5">deserialize</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dataSize);</div>
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<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> </div>
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<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#aecf2e87f260558dbf631e4803e1ed986"> 426</a></span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#aecf2e87f260558dbf631e4803e1ed986">scaled</a>(<span class="keywordtype">double</span> scale) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> </div>
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<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a2ff3290299c36b64ee880db2386f898f"> 442</a></span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a2ff3290299c36b64ee880db2386f898f">roi</a>(<span class="keyword">const</span> cv::Rect & roi) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> </div>
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<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a17219cf5cf82d224f2a7ed5af01fa236"> 463</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a17219cf5cf82d224f2a7ed5af01fa236">rectifyImage</a>(<span class="keyword">const</span> cv::Mat & raw, <span class="keywordtype">int</span> interpolation = cv::INTER_LINEAR) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> </div>
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<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a22cf7f5b49ef0cd8be08755010f6acb5"> 488</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a22cf7f5b49ef0cd8be08755010f6acb5">rectifyDepth</a>(<span class="keyword">const</span> cv::Mat & raw) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> </div>
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<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a01de9a3cdc993275b2fbcf21d6e29833"> 507</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a01de9a3cdc993275b2fbcf21d6e29833">project</a>(<span class="keywordtype">float</span> u, <span class="keywordtype">float</span> v, <span class="keywordtype">float</span> depth, <span class="keywordtype">float</span> & x, <span class="keywordtype">float</span> & y, <span class="keywordtype">float</span> & z) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> </div>
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<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26"> 525</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26">reproject</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> & u, <span class="keywordtype">float</span> & v) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> </div>
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<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b"> 542</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b">reproject</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">int</span> & u, <span class="keywordtype">int</span> & v) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> </div>
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<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraModel.html#aa07cbe07c7893e726c408392cf54d9ca"> 553</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraModel.html#aa07cbe07c7893e726c408392cf54d9ca">inFrame</a>(<span class="keywordtype">int</span> u, <span class="keywordtype">int</span> v) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> </div>
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<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> std::string name_; </div>
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<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> cv::Size imageSize_; </div>
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<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> cv::Mat K_; </div>
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<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> cv::Mat D_; </div>
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<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> cv::Mat R_; </div>
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<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> cv::Mat P_; </div>
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<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> cv::Mat mapX_; </div>
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<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> cv::Mat mapY_; </div>
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<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> localTransform_; </div>
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<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span>};</div>
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</div>
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<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> </div>
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<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7"> 590</a></span>RTABMAP_CORE_EXPORT std::ostream& <a class="code hl_function" href="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7">operator<<</a>(std::ostream& os, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a>& model);</div>
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<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> </div>
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<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span>} <span class="comment">/* namespace rtabmap */</span></div>
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<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span><span class="preprocessor">#endif </span><span class="comment">/* CAMERAMODEL_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a01de9a3cdc993275b2fbcf21d6e29833"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a01de9a3cdc993275b2fbcf21d6e29833">rtabmap::CameraModel::project</a></div><div class="ttdeci">void project(float u, float v, float depth, float &x, float &y, float &z) const</div><div class="ttdoc">Projects a 2D pixel and depth value into a 3D point in the camera coordinate frame (/camera_link).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a0853af9d0117565311da4ffc3965f8d2"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a0853af9d0117565311da4ffc3965f8d2">rtabmap::CameraModel::opticalRotation</a></div><div class="ttdeci">static Transform opticalRotation()</div><div class="ttdoc">Returns the default optical rotation to convert image coordinates to robot coordinates.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00063">CameraModel.h:63</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a12abd4cac897f48bf862a96f0eba1d65"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a12abd4cac897f48bf862a96f0eba1d65">rtabmap::CameraModel::horizontalFOV</a></div><div class="ttdeci">double horizontalFOV() const</div><div class="ttdoc">Returns the horizontal field of view in degrees.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a17219cf5cf82d224f2a7ed5af01fa236"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a17219cf5cf82d224f2a7ed5af01fa236">rtabmap::CameraModel::rectifyImage</a></div><div class="ttdeci">cv::Mat rectifyImage(const cv::Mat &raw, int interpolation=cv::INTER_LINEAR) const</div><div class="ttdoc">Rectifies a raw image using the precomputed rectification maps.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a181c2e53da1151c281d85fde986a29c5"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a181c2e53da1151c281d85fde986a29c5">rtabmap::CameraModel::deserialize</a></div><div class="ttdeci">unsigned int deserialize(const unsigned char *data, unsigned int dataSize)</div><div class="ttdoc">Deserializes a camera model from a raw byte buffer.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a22cf7f5b49ef0cd8be08755010f6acb5"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a22cf7f5b49ef0cd8be08755010f6acb5">rtabmap::CameraModel::rectifyDepth</a></div><div class="ttdeci">cv::Mat rectifyDepth(const cv::Mat &raw) const</div><div class="ttdoc">Rectifies a raw depth image using the precomputed rectification maps.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a2c2ff6db9029c3ee219642d7e48b04fa"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a2c2ff6db9029c3ee219642d7e48b04fa">rtabmap::CameraModel::load</a></div><div class="ttdeci">bool load(const std::string &filePath, bool initRectificationMaps=true)</div><div class="ttdoc">Loads the camera model parameters from a YAML calibration file.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a2ff3290299c36b64ee880db2386f898f"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a2ff3290299c36b64ee880db2386f898f">rtabmap::CameraModel::roi</a></div><div class="ttdeci">CameraModel roi(const cv::Rect &roi) const</div><div class="ttdoc">Returns a new camera model adjusted for a given region of interest (ROI).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a3ceb0d36d8786f03b778d1969cb6e839"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a3ceb0d36d8786f03b778d1969cb6e839">rtabmap::CameraModel::isFisheye</a></div><div class="ttdeci">bool isFisheye() const</div><div class="ttdoc">Checks if the distortion model is fisheye (6 coefficients: k1,k2,0,0,k3,k4).</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00283">CameraModel.h:283</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a402a407fa2bca721087a6deda24cc10d"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a402a407fa2bca721087a6deda24cc10d">rtabmap::CameraModel::setName</a></div><div class="ttdeci">void setName(const std::string &name)</div><div class="ttdoc">Sets the camera name, used to set a camera name when saving to a file.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00183">CameraModel.h:183</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a43fd48b917ca145876024859f8565931"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a43fd48b917ca145876024859f8565931">rtabmap::CameraModel::setImageSize</a></div><div class="ttdeci">void setImageSize(const cv::Size &size)</div><div class="ttdoc">Sets the image size of the camera model and updates the principal point if undefined.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a46864eb8de680d45d79777e828dcbb6a"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a46864eb8de680d45d79777e828dcbb6a">rtabmap::CameraModel::isValidForRectification</a></div><div class="ttdeci">bool isValidForRectification() const</div><div class="ttdoc">Checks if the model has sufficient data for image rectification.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00172">CameraModel.h:172</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a4810e60f3af95b73a61879aa97201695"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695">rtabmap::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel(const std::string &name, const cv::Size &imageSize, const cv::Mat &K, const cv::Mat &D, const cv::Mat &R, const cv::Mat &P, const Transform &localTransform=opticalRotation())</div><div class="ttdoc">Constructor using full camera parameters.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a490dc97ca8aa55d96324eb6612ccfd30"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a490dc97ca8aa55d96324eb6612ccfd30">rtabmap::CameraModel::deserialize</a></div><div class="ttdeci">unsigned int deserialize(const std::vector< unsigned char > &data)</div><div class="ttdoc">Deserializes a camera model from a byte vector.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a4aa121905a9b2aabb6a3592a6eb7459a"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a4aa121905a9b2aabb6a3592a6eb7459a">rtabmap::CameraModel::D</a></div><div class="ttdeci">cv::Mat D() const</div><div class="ttdoc">Returns the rectified distortion coefficients (1x5 filled with zeros) if the projection matrix P exis...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00205">CameraModel.h:205</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a5690a86d11b0d84e80961ae5d38b1d25"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a5690a86d11b0d84e80961ae5d38b1d25">rtabmap::CameraModel::initRectificationMap</a></div><div class="ttdeci">bool initRectificationMap()</div><div class="ttdoc">Initializes the rectification maps used to undistort and rectify images.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a5724619c7ac8c796fd8c63660e398082"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082">rtabmap::CameraModel::serialize</a></div><div class="ttdeci">std::vector< unsigned char > serialize() const</div><div class="ttdoc">Serializes the camera model to a binary format.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a5df2e6c3f361b7084e4d26d7f1846e3d"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a5df2e6c3f361b7084e4d26d7f1846e3d">rtabmap::CameraModel::K</a></div><div class="ttdeci">cv::Mat K() const</div><div class="ttdoc">Returns the rectified camera intrinsic matrix if the projection matrix P exists, otherwise returns th...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00203">CameraModel.h:203</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a637a730717e42939449cd9f09e20db26"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26">rtabmap::CameraModel::reproject</a></div><div class="ttdeci">void reproject(float x, float y, float z, float &u, float &v) const</div><div class="ttdoc">Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (floating-point).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a6f6dc18af13a777e89a75725ef3e8ab4"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a6f6dc18af13a777e89a75725ef3e8ab4">rtabmap::CameraModel::Tx</a></div><div class="ttdeci">double Tx() const</div><div class="ttdoc">Returns the x translation (usually fx * baseline in case of stereo, otherwise would be 0).</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00196">CameraModel.h:196</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a745c2d60ef6b460ca380aebd55b5d61c"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a745c2d60ef6b460ca380aebd55b5d61c">rtabmap::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel(const std::string &name, double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))</div><div class="ttdoc">Minimal constructor with name for saving.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a7b6db41415e085d52bf363d09d5e6d67"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a7b6db41415e085d52bf363d09d5e6d67">rtabmap::CameraModel::isValidForProjection</a></div><div class="ttdeci">bool isValidForProjection() const</div><div class="ttdoc">Checks if the model is valid for 2D->3D projection.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00164">CameraModel.h:164</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a80cacb16d347e89980369cb2e02f3d48"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a80cacb16d347e89980369cb2e02f3d48">rtabmap::CameraModel::isRectificationMapInitialized</a></div><div class="ttdeci">bool isRectificationMapInitialized() const</div><div class="ttdoc">Checks if the rectification map has been initialized.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00159">CameraModel.h:159</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a88ec7053f4d442c4b1b79803c2840f28"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a88ec7053f4d442c4b1b79803c2840f28">rtabmap::CameraModel::D_raw</a></div><div class="ttdeci">cv::Mat D_raw() const</div><div class="ttdoc">Returns the raw distortion coefficients (before rectification).</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00201">CameraModel.h:201</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a8a1712ca95bf08c71b2bf2da1d635bc8"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a8a1712ca95bf08c71b2bf2da1d635bc8">rtabmap::CameraModel::localTransform</a></div><div class="ttdeci">const Transform & localTransform() const</div><div class="ttdoc">Returns the local transform (base frame to optical frame).</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00214">CameraModel.h:214</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_a99204ef1a884478cf45b1503432b235b"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b">rtabmap::CameraModel::reproject</a></div><div class="ttdeci">void reproject(float x, float y, float z, int &u, int &v) const</div><div class="ttdoc">Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (rounded to int).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_aa07cbe07c7893e726c408392cf54d9ca"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#aa07cbe07c7893e726c408392cf54d9ca">rtabmap::CameraModel::inFrame</a></div><div class="ttdeci">bool inFrame(int u, int v) const</div><div class="ttdoc">Checks if a given pixel coordinate lies within the image bounds.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_aa1325c971f17d371553c3f75be7aeece"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#aa1325c971f17d371553c3f75be7aeece">rtabmap::CameraModel::setLocalTransform</a></div><div class="ttdeci">void setLocalTransform(const Transform &transform)</div><div class="ttdoc">Sets the local transform of the camera (base frame to optical frame).</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00212">CameraModel.h:212</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_aa152828f20e1cf0ffab7bb25178191b5"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#aa152828f20e1cf0ffab7bb25178191b5">rtabmap::CameraModel::name</a></div><div class="ttdeci">const std::string & name() const</div><div class="ttdoc">Returns the camera name.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00185">CameraModel.h:185</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_aa3a18f811d3e9db290d01371e078add3"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#aa3a18f811d3e9db290d01371e078add3">rtabmap::CameraModel::cy</a></div><div class="ttdeci">double cy() const</div><div class="ttdoc">Returns principal point y.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00194">CameraModel.h:194</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_aadb6b19ea8a94f3f6719ea0233196c34"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#aadb6b19ea8a94f3f6719ea0233196c34">rtabmap::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel(double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))</div><div class="ttdoc">Minimal constructor using intrinsic parameters. This assumes the images are already rectified.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_ab5ec6010459c4e642e162dc8914bccb9"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#ab5ec6010459c4e642e162dc8914bccb9">rtabmap::CameraModel::save</a></div><div class="ttdeci">bool save(const std::string &directory) const</div><div class="ttdoc">Saves the camera model parameters to a YAML calibration file in ROS format.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_abd4db4f23eb05d531a34ee44f7cdb687"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#abd4db4f23eb05d531a34ee44f7cdb687">rtabmap::CameraModel::isValidForReprojection</a></div><div class="ttdeci">bool isValidForReprojection() const</div><div class="ttdoc">Checks if the model is valid for 3D->2D reprojection.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00168">CameraModel.h:168</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_abe9b3c87c086fd33286c01361e454056"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#abe9b3c87c086fd33286c01361e454056">rtabmap::CameraModel::load</a></div><div class="ttdeci">bool load(const std::string &directory, const std::string &cameraName, bool initRectificationMaps=true)</div><div class="ttdoc">Loads the camera model by constructing a file path from a directory and camera name.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_ac3aa6835f8ae019de4dbf85eed849b75"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#ac3aa6835f8ae019de4dbf85eed849b75">rtabmap::CameraModel::fovX</a></div><div class="ttdeci">double fovX() const</div><div class="ttdoc">Returns the horizontal field of view (FoV) in radians.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_ac4089d34947b040205e281edae4151a1"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#ac4089d34947b040205e281edae4151a1">rtabmap::CameraModel::fy</a></div><div class="ttdeci">double fy() const</div><div class="ttdoc">Returns focal length in y.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00190">CameraModel.h:190</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_acda5d9c4eeeaaad69e950f5ea630430a"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#acda5d9c4eeeaaad69e950f5ea630430a">rtabmap::CameraModel::P</a></div><div class="ttdeci">cv::Mat P() const</div><div class="ttdoc">Returns the projection matrix.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00209">CameraModel.h:209</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_acea616d4e141804dbc5c6eda58bebf6b"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#acea616d4e141804dbc5c6eda58bebf6b">rtabmap::CameraModel::fx</a></div><div class="ttdeci">double fx() const</div><div class="ttdoc">Returns focal length in x.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00188">CameraModel.h:188</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_ad763246258ddf02c27873c2536901781"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#ad763246258ddf02c27873c2536901781">rtabmap::CameraModel::R</a></div><div class="ttdeci">cv::Mat R() const</div><div class="ttdoc">Returns the rectification matrix.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00207">CameraModel.h:207</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_ada626650b01d35b494016a5490efb31a"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#ada626650b01d35b494016a5490efb31a">rtabmap::CameraModel::K_raw</a></div><div class="ttdeci">cv::Mat K_raw() const</div><div class="ttdoc">Returns the raw intrinsic matrix (before rectification).</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00199">CameraModel.h:199</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_adad6652a711eecc9a50e544f14d276cd"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd">rtabmap::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel()</div><div class="ttdoc">Default constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_aecf2e87f260558dbf631e4803e1ed986"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#aecf2e87f260558dbf631e4803e1ed986">rtabmap::CameraModel::scaled</a></div><div class="ttdeci">CameraModel scaled(double scale) const</div><div class="ttdoc">Returns a new camera model with all intrinsic parameters scaled by a given factor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_af4df41cc8a613f3e03b1ed14fc0a887e"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#af4df41cc8a613f3e03b1ed14fc0a887e">rtabmap::CameraModel::fovY</a></div><div class="ttdeci">double fovY() const</div><div class="ttdoc">Returns the vertical field of view (FoV) in radians.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_af6226e43afcb69259b137bbe50099537"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#af6226e43afcb69259b137bbe50099537">rtabmap::CameraModel::verticalFOV</a></div><div class="ttdeci">double verticalFOV() const</div><div class="ttdoc">Returns the vertical field of view in degrees.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_af6f35e5071ef0070d3fae3ebaa33ce4c"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#af6f35e5071ef0070d3fae3ebaa33ce4c">rtabmap::CameraModel::~CameraModel</a></div><div class="ttdeci">virtual ~CameraModel()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00128">CameraModel.h:128</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html_af81ee9572d32f69bf0a66cd1f4671c20"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html#af81ee9572d32f69bf0a66cd1f4671c20">rtabmap::CameraModel::cx</a></div><div class="ttdeci">double cx() const</div><div class="ttdoc">Returns principal point x.</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00192">CameraModel.h:192</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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<div class="ttc" id="anamespacertabmap_html_a087b7a1b89acb679edee23883653f1a7"><div class="ttname"><a href="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7">rtabmap::operator<<</a></div><div class="ttdeci">RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)</div><div class="ttdoc">Stream operator for printing a camera model to an output stream.</div></div>
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