Class AIAC::Camera¶

Public Attributes¶

Type	Name
bool	FlipHorizontal = = false Flag indicating if the captured image should be flipped.
bool	FlipVertical = = false

Public Functions¶

Type	Name
	Camera ()
const std::string	GetCalibrationFilePath () const Get the path to the camera calibration parameters.
const cv::Mat	GetCameraMatrix () Get the camera matrix.
AIAC::Image &	GetCenterCroppedCurrentFrame (float ratioX=0.6f, float ratioY=0.75f) Get the raw current frame, but borders are set to black according to the specified ratio.
AIAC::Image &	GetColorCurrentFrame () Get the current color (calibrated) frame from the camera.
AIAC::Image &	GetCurrentFrame () Get the current grayscale (calibrated) frame from the camera.
const cv::Mat	GetDistortionCoef () Get the distortion coefficients matrix.
const std::pair< float, float >	GetFov () const Get the field of view (FOV) of the camera.
const uint32_t	GetHeight () const Get the calibrated height of the camera frame.
const AIAC::Image	GetNextFrame () Capture and preprocess the next frame from the camera.
AIAC::Image &	GetRawCurrentFrame () Get the current raw (uncalibrated) frame from the camera.
const uint32_t	GetRawHeight () const Get the raw (uncalibrated) height of the camera frame.
const uint32_t	GetRawWidth () const Get the raw (uncalibrated) width of the camera frame.
const uint32_t	GetWidth () const Get the calibrated width of the camera frame.
bool	IsOpened () const Check if the camera is opened.
bool	IsPhysicalAndParamWidthHeightMatched () const Check if the physical and parameterized width and height match.
bool	LoadCameraParams (const std::string & filePath) Loads camera parameters from a configuration file.
void	Open (int id) Open the camera with the specified id.
void	UpdateCameraParamFromFile (const std::string & filePath) Force to update the default camera param.
void	UpdateCameraParamFromSlamMap (const int paramWidth, const int paramHeight, const cv::Mat & cameraMatrix) Update the camera parameters from the SLAM-generated map.
void	UpdateFov () Update the field of view (FOV) values based on camera parameters.
	~Camera ()

Public Attributes Documentation¶

variable FlipHorizontal¶

Flag indicating if the captured image should be flipped.

bool AIAC::Camera::FlipHorizontal;

variable FlipVertical¶

bool AIAC::Camera::FlipVertical;

Public Functions Documentation¶

function Camera¶

AIAC::Camera::Camera ()

function GetCalibrationFilePath¶

Get the path to the camera calibration parameters.

inline const std::string AIAC::Camera::GetCalibrationFilePath () const

Returns:

A constant reference to the camera calibration file path.

function GetCameraMatrix¶

Get the camera matrix.

inline const cv::Mat AIAC::Camera::GetCameraMatrix ()

Returns:

A constant reference to the camera matrix.

function GetCenterCroppedCurrentFrame¶

Get the raw current frame, but borders are set to black according to the specified ratio.

AIAC::Image & AIAC::Camera::GetCenterCroppedCurrentFrame (
    float ratioX=0.6f,
    float ratioY=0.75f
)

Parameters:

ratioX How much of % the width of the image is kept. (default: 0.75, i.e. 75%).
ratioY How much of % the height of the image is kept. (default: 0.9, i.e. 90%).

Returns:

A reference to the center-cropped current frame image.

function GetColorCurrentFrame¶

Get the current color (calibrated) frame from the camera.

inline AIAC::Image & AIAC::Camera::GetColorCurrentFrame ()

Returns:

A reference to the current color frame image.

function GetCurrentFrame¶

Get the current grayscale (calibrated) frame from the camera.

inline AIAC::Image & AIAC::Camera::GetCurrentFrame ()

Returns:

A reference to the current grayscale frame image.

function GetDistortionCoef¶

Get the distortion coefficients matrix.

inline const cv::Mat AIAC::Camera::GetDistortionCoef ()

Returns:

A constant reference to the distortion coefficient matrix.

function GetFov¶

Get the field of view (FOV) of the camera.

inline const std::pair< float, float > AIAC::Camera::GetFov () const

Returns:

A pair of floats representing the horizontal and vertical FOV of the camera.

function GetHeight¶

Get the calibrated height of the camera frame.

inline const uint32_t AIAC::Camera::GetHeight () const

Returns:

The calibrated height of the camera frame as an unsigned 32-bit integer.

function GetNextFrame¶

Capture and preprocess the next frame from the camera.

const AIAC::Image AIAC::Camera::GetNextFrame ()

Returns:

A grayscale image representing the captured and processed frame.

function GetRawCurrentFrame¶

Get the current raw (uncalibrated) frame from the camera.

inline AIAC::Image & AIAC::Camera::GetRawCurrentFrame ()

Returns:

A reference to the current raw frame image.

function GetRawHeight¶

Get the raw (uncalibrated) height of the camera frame.

inline const uint32_t AIAC::Camera::GetRawHeight () const

Returns:

The raw height of the camera frame as an unsigned 32-bit integer.

function GetRawWidth¶

Get the raw (uncalibrated) width of the camera frame.

inline const uint32_t AIAC::Camera::GetRawWidth () const

Returns:

The raw width of the camera frame as an unsigned 32-bit integer.

function GetWidth¶

Get the calibrated width of the camera frame.

inline const uint32_t AIAC::Camera::GetWidth () const

Returns:

The calibrated width of the camera frame as an unsigned 32-bit integer.

function IsOpened¶

Check if the camera is opened.

inline bool AIAC::Camera::IsOpened () const

Returns:

True if the camera is opened, false otherwise.

function IsPhysicalAndParamWidthHeightMatched¶

Check if the physical and parameterized width and height match.

inline bool AIAC::Camera::IsPhysicalAndParamWidthHeightMatched () const

Returns:

True if the physical and parameterized width and height match, false otherwise.

function LoadCameraParams¶

Loads camera parameters from a configuration file.

bool AIAC::Camera::LoadCameraParams (
    const std::string & filePath
)

Parameters:

filePath The path to the camera parameter configuration file.

Returns:

True if the camera parameters are loaded successfully, false otherwise.

function Open¶

Open the camera with the specified id.

void AIAC::Camera::Open (
    int id
)

Parameters:

id The id of the camera to open.

function UpdateCameraParamFromFile¶

Force to update the default camera param.

void AIAC::Camera::UpdateCameraParamFromFile (
    const std::string & filePath
)

Parameters:

filePath The path to the camera param file.

function UpdateCameraParamFromSlamMap¶

Update the camera parameters from the SLAM-generated map.

void AIAC::Camera::UpdateCameraParamFromSlamMap (
    const int paramWidth,
    const int paramHeight,
    const cv::Mat & cameraMatrix
)

Parameters:

paramWidth Image width for camera calibration.
paramHeight Image height for camera calibration.
cameraMatrix The camera matrix

function UpdateFov¶

Update the field of view (FOV) values based on camera parameters.

inline void AIAC::Camera::UpdateFov ()

function ~Camera¶

inline AIAC::Camera::~Camera ()

The documentation for this class was generated from the following file src/AIAC/Camera.h