ntk::RGBDCalibration Class Reference

#include <calibration.h>

List of all members.

Public Member Functions
	RGBDCalibration ()
	~RGBDCalibration ()
void	loadFromFile (const char *filename)
const cv::Size &	rgbSize () const
void	setRgbSize (cv::Size s)
const cv::Size &	rawRgbSize () const
void	setRawRgbSize (cv::Size s)
const cv::Size &	depthSize ()
Public Attributes
cv::Mat1d	rgb_intrinsics
cv::Mat1d	rgb_distortion
bool	zero_rgb_distortion
cv::Mat1d	depth_intrinsics
cv::Mat1d	depth_distortion
bool	zero_depth_distortion
cv::Mat1d	R
cv::Mat1d	T
Pose3D *	depth_pose
Pose3D *	rgb_pose
cv::Mat	rgb_undistort_map1
cv::Mat	rgb_undistort_map2
cv::Mat	depth_undistort_map1
cv::Mat	depth_undistort_map2
double	depth_baseline
double	depth_offset
cv::Size	raw_rgb_size
cv::Size	rgb_size
cv::Size	raw_depth_size
cv::Size	depth_size

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Detailed Description

Store calibration parameters for an RGB+Depth camera. The camera follows a pin-hole models with distortions.

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Constructor & Destructor Documentation

ntk::RGBDCalibration::RGBDCalibration

(

)

[inline]

ntk::RGBDCalibration::~RGBDCalibration

(

)

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Member Function Documentation

const cv::Size& ntk::RGBDCalibration::depthSize

(

)

[inline]

Size of the depth image.

void ntk::RGBDCalibration::loadFromFile

(

const char *

filename

)

Load calibration parameters from a yaml file.

const cv::Size& ntk::RGBDCalibration::rawRgbSize

(

)

const [inline]

Size of raw rgb images.

const cv::Size& ntk::RGBDCalibration::rgbSize

(

)

const [inline]

Size of postprocessed rgb images.

void ntk::RGBDCalibration::setRawRgbSize

(

cv::Size

s

)

[inline]

void ntk::RGBDCalibration::setRgbSize

(

cv::Size

s

)

[inline]

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Member Data Documentation

double ntk::RGBDCalibration::depth_baseline

Depth baseline parameter for Kinect depth computation. See http://www.ros.org/wiki/kinect_calibration/technical .

cv::Mat1d ntk::RGBDCalibration::depth_distortion

Distortion 1x5 matrix for depth channel.

cv::Mat1d ntk::RGBDCalibration::depth_intrinsics

Intrinsics 3x3 matrix for the depth channel

double ntk::RGBDCalibration::depth_offset

Depth offset parameter for Kinect depth computation. See http://www.ros.org/wiki/kinect_calibration/technical .

Pose3D* ntk::RGBDCalibration::depth_pose

Pose of the depth camera.

See also:

Pose3D.

cv::Size ntk::RGBDCalibration::depth_size

cv::Mat ntk::RGBDCalibration::depth_undistort_map1

cv::Mat ntk::RGBDCalibration::depth_undistort_map2

cv::Mat1d ntk::RGBDCalibration::R

Rotation and translation between RGB and Depth sensor. The depth sensor is the reference. R is a 3x3 rotation matrix, and T a 1x3 translation vector. This is estimated from OpenCV stereoCalibrate.

cv::Size ntk::RGBDCalibration::raw_depth_size

cv::Size ntk::RGBDCalibration::raw_rgb_size

cv::Mat1d ntk::RGBDCalibration::rgb_distortion

Distortion 1x5 matrix for rgb channel.

cv::Mat1d ntk::RGBDCalibration::rgb_intrinsics

Intrinsics 3x3 matrix for the rgb channel

Pose3D* ntk::RGBDCalibration::rgb_pose

Pose of the rgb camera.

See also:

Pose3D.

cv::Size ntk::RGBDCalibration::rgb_size

cv::Mat ntk::RGBDCalibration::rgb_undistort_map1

Distortion maps for cv::undistort.

cv::Mat ntk::RGBDCalibration::rgb_undistort_map2

cv::Mat1d ntk::RGBDCalibration::T

bool ntk::RGBDCalibration::zero_depth_distortion

Whether there are distortions for the depth image or not.

bool ntk::RGBDCalibration::zero_rgb_distortion

Whether there are distortions for the rgb image or not.

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

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/camera/calibration.h
• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/camera/calibration.cpp