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<h1>TCamera.h</h1><a href="_t_camera_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef TCamera_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define TCamera_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_matrix_template_numeric_8h.html">mrpt/math/CMatrixTemplateNumeric.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_matrix_fixed_numeric_8h.html">mrpt/math/CMatrixFixedNumeric.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_loadable_options_8h.html">mrpt/utils/CLoadableOptions.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_config_file_base_8h.html">mrpt/utils/CConfigFileBase.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>utils
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <a class="code" href="_c_serializable_8h.html#ab89b7a3de0a1baf5a5af4454add7d0f8" title="This declaration must be inserted in all CSerializable classes definition, before...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE</a>( TCamera, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects...">mrpt::utils::CSerializable</a> )
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">/** Structure to hold the parameters of a pinhole camera model.</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * \sa mrpt::vision::CCamModel, the application <a href="http://www.mrpt.org/Application:camera-calib-gui" >camera-calib-gui</a> for calibrating a camera</span>
<a name="l00048"></a>00048 <span class="comment"> */</span>
<a name="l00049"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html">00049</a> class <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">TCamera</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects...">CSerializable</a>
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">TCamera</a> )
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="keyword">public</span>:
<a name="l00054"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#ace8a6176f56cd237d21ef5d80fb38207">00054</a> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">TCamera</a>() : ncols(640), nrows(480), focalLengthMeters(0)
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 intrinsicParams.set_unsafe(0,0,507.808);
<a name="l00057"></a>00057 intrinsicParams.set_unsafe(1,1,507.808);
<a name="l00058"></a>00058 intrinsicParams.set_unsafe(0,2,356.2368);
<a name="l00059"></a>00059 intrinsicParams.set_unsafe(1,2,252.9216);
<a name="l00060"></a>00060 intrinsicParams.set_unsafe(2,2,1);
<a name="l00061"></a>00061 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<5;i++)
<a name="l00062"></a>00062 dist[i] = 0;
<a name="l00063"></a>00063 }
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** @name Camera parameters</span>
<a name="l00066"></a>00066 <span class="comment"> @{ */</span>
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a4882544de58dafc4b12a62d6d86d8e13">00068</a> uint32_t ncols,nrows; <span class="comment">//!< Camera resolution</span>
<a name="l00069"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a1960e92075ca70228300e627f2965af7">00069</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> intrinsicParams; <span class="comment">//!< Matrix of intrinsic parameters (containing the focal length and principal point coordinates)</span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a30aaef098fc8bb51d47415d63470a343">00070</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1math_1_1_c_array_double.html">CArrayDouble<5></a> dist; <span class="comment">//!< [k1 k2 t1 t2 t3] -> k_i: parameters of radial distortion, t_i: parameters of tangential distortion (default=0)</span>
<a name="l00071"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a08127fe5bbd8fecf3e34cca2882f89fc">00071</a> <span class="comment"></span> <span class="keywordtype">double</span> focalLengthMeters; <span class="comment">//!< The focal length of the camera, in meters (can be used among 'intrinsicParams' to determine the pixel size).</span>
<a name="l00072"></a>00072 <span class="comment"></span><span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** @} */</span>
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Save as a config block:</span>
<a name="l00076"></a>00076 <span class="comment"> * \code</span>
<a name="l00077"></a>00077 <span class="comment"> * [SECTION]</span>
<a name="l00078"></a>00078 <span class="comment"> * resolution = [NCOLS NROWS]</span>
<a name="l00079"></a>00079 <span class="comment"> * cx = CX</span>
<a name="l00080"></a>00080 <span class="comment"> * cy = CY</span>
<a name="l00081"></a>00081 <span class="comment"> * fx = FX</span>
<a name="l00082"></a>00082 <span class="comment"> * fy = FY</span>
<a name="l00083"></a>00083 <span class="comment"> * dist = [K1 K2 T1 T2 T3]</span>
<a name="l00084"></a>00084 <span class="comment"> * focal_length = FOCAL_LENGTH</span>
<a name="l00085"></a>00085 <span class="comment"> * \endcode</span>
<a name="l00086"></a>00086 <span class="comment"> */</span>
<a name="l00087"></a>00087 <span class="keywordtype">void</span> saveToConfigFile( <span class="keyword">const</span> std::string &section, <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from...">mrpt::utils::CConfigFileBase</a> &cfg ) <span class="keyword">const</span>;
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** Load all the params from a config source, in the format used in saveToConfigFile(), that is:</span>
<a name="l00090"></a>00090 <span class="comment"> *</span>
<a name="l00091"></a>00091 <span class="comment"> * \code</span>
<a name="l00092"></a>00092 <span class="comment"> * [SECTION]</span>
<a name="l00093"></a>00093 <span class="comment"> * resolution = [NCOLS NROWS]</span>
<a name="l00094"></a>00094 <span class="comment"> * cx = CX</span>
<a name="l00095"></a>00095 <span class="comment"> * cy = CY</span>
<a name="l00096"></a>00096 <span class="comment"> * fx = FX</span>
<a name="l00097"></a>00097 <span class="comment"> * fy = FY</span>
<a name="l00098"></a>00098 <span class="comment"> * dist = [K1 K2 T1 T2 T3]</span>
<a name="l00099"></a>00099 <span class="comment"> * focal_length = FOCAL_LENGTH [optional field]</span>
<a name="l00100"></a>00100 <span class="comment"> * \endcode</span>
<a name="l00101"></a>00101 <span class="comment"> * \exception std::exception on missing fields</span>
<a name="l00102"></a>00102 <span class="comment"> */</span>
<a name="l00103"></a>00103 <span class="keywordtype">void</span> loadFromConfigFile(<span class="keyword">const</span> std::string &section, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from...">mrpt::utils::CConfigFileBase</a> &cfg );
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Set the matrix of intrinsic params of the camera from the individual values of focal length and principal point coordinates (in pixels)</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#af8e10f389d80abc279d3b5bf92aa273a">00108</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> setIntrinsicParamsFromValues ( <span class="keywordtype">double</span> fx, <span class="keywordtype">double</span> fy, <span class="keywordtype">double</span> cx, <span class="keywordtype">double</span> cy )
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 intrinsicParams.set_unsafe( 0, 0, fx );
<a name="l00111"></a>00111 intrinsicParams.set_unsafe( 1, 1, fy );
<a name="l00112"></a>00112 intrinsicParams.set_unsafe( 0, 2, cx );
<a name="l00113"></a>00113 intrinsicParams.set_unsafe( 1, 2, cy );
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** Get the vector of distortion params of the camera */</span>
<a name="l00117"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#aa2777c4ecf4f3317a64a427f2335723d">00117</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> getDistortionParamsVector ( <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixDouble15</a> &distParVector )<span class="keyword"> const</span>
<a name="l00118"></a>00118 <span class="keyword"> </span>{
<a name="l00119"></a>00119 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<5;i++)
<a name="l00120"></a>00120 distParVector.set_unsafe(0,i, dist[i]);
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** Get a vector with the distortion params of the camera */</span>
<a name="l00124"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a89eb00fcfad103a7068cd8a9356a7df5">00124</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_double</a> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a89eb00fcfad103a7068cd8a9356a7df5" title="Get a vector with the distortion params of the camera.">getDistortionParamsAsVector</a> ()<span class="keyword"> const </span>{
<a name="l00125"></a>00125 <a class="code" href="structmrpt_1_1mrpt__base__vector.html">mrpt::vector_double</a> v(5);
<a name="l00126"></a>00126 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<5;i++)
<a name="l00127"></a>00127 v[i] = dist[i];
<a name="l00128"></a>00128 <span class="keywordflow">return</span> v;
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130 <span class="comment"></span>
<a name="l00131"></a>00131 <span class="comment"> /** Set the whole vector of distortion params of the camera */</span>
<a name="l00132"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a1f40934d99e0b5cb6608f6319e9a00b6">00132</a> <span class="keywordtype">void</span> setDistortionParamsVector( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="A numeric matrix of compile-time fixed size.">CMatrixDouble15</a> &distParVector )
<a name="l00133"></a>00133 {
<a name="l00134"></a>00134 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<5;i++)
<a name="l00135"></a>00135 dist[i] = distParVector.get_unsafe(0,i);
<a name="l00136"></a>00136 }
<a name="l00137"></a>00137 <span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment"> /** Set the whole vector of distortion params of the camera from a 4 or 5-vector */</span>
<a name="l00139"></a>00139 <span class="keyword">template</span> <<span class="keyword">class</span> VECTORLIKE>
<a name="l00140"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a446d90343652279323c3ebe8c4284442">00140</a> <span class="keywordtype">void</span> setDistortionParamsVector( <span class="keyword">const</span> VECTORLIKE &distParVector )
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 <a class="code" href="utils__defs_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(distParVector.size()==4 || distParVector.size()==5)
<a name="l00143"></a>00143 dist[4] = 0; <span class="comment">// Default value</span>
<a name="l00144"></a>00144 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<distParVector.size();i++)
<a name="l00145"></a>00145 dist[i] = distParVector[i];
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147 <span class="comment"></span>
<a name="l00148"></a>00148 <span class="comment"> /** Set the vector of distortion params of the camera from the individual values of the distortion coefficients</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a55269b098f7bd227696431ce59c32b33">00150</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> setDistortionParamsFromValues( <span class="keywordtype">double</span> k1, <span class="keywordtype">double</span> k2, <span class="keywordtype">double</span> p1, <span class="keywordtype">double</span> p2, <span class="keywordtype">double</span> p3 = 0 )
<a name="l00151"></a>00151 {
<a name="l00152"></a>00152 dist[0] = k1;
<a name="l00153"></a>00153 dist[1] = k2;
<a name="l00154"></a>00154 dist[2] = p1;
<a name="l00155"></a>00155 dist[3] = p2;
<a name="l00156"></a>00156 dist[4] = p3;
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158 <span class="comment"></span>
<a name="l00159"></a>00159 <span class="comment"> /** Get the value of the principal point x-coordinate (in pixels).</span>
<a name="l00160"></a>00160 <span class="comment"> */</span>
<a name="l00161"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#abe3a3d34f75e8dd554a9bf52c9ab6626">00161</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#abe3a3d34f75e8dd554a9bf52c9ab6626" title="Get the value of the principal point x-coordinate (in pixels).">cx</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> intrinsicParams.get_unsafe(0,2); }<span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment"> /** Get the value of the principal point y-coordinate (in pixels).</span>
<a name="l00163"></a>00163 <span class="comment"> */</span>
<a name="l00164"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#aaeba6c9dc0e4259ec9d435429c4a9e6e">00164</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#aaeba6c9dc0e4259ec9d435429c4a9e6e" title="Get the value of the principal point y-coordinate (in pixels).">cy</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> intrinsicParams.get_unsafe(1,2); }<span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"> /** Get the value of the focal length x-value (in pixels).</span>
<a name="l00166"></a>00166 <span class="comment"> */</span>
<a name="l00167"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a7566437233d844a551e3cce5effde1ea">00167</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a7566437233d844a551e3cce5effde1ea" title="Get the value of the focal length x-value (in pixels).">fx</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> intrinsicParams.get_unsafe(0,0); }<span class="comment"></span>
<a name="l00168"></a>00168 <span class="comment"> /** Get the value of the focal length y-value (in pixels).</span>
<a name="l00169"></a>00169 <span class="comment"> */</span>
<a name="l00170"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a75c5210381d62848b8c918a438991c55">00170</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a75c5210381d62848b8c918a438991c55" title="Get the value of the focal length y-value (in pixels).">fy</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> intrinsicParams.get_unsafe(1,1); }
<a name="l00171"></a>00171 <span class="comment"></span>
<a name="l00172"></a>00172 <span class="comment"> /** Get the value of the k1 distortion parameter.</span>
<a name="l00173"></a>00173 <span class="comment"> */</span>
<a name="l00174"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a2571bf5873d9035d9e3c027b31e80147">00174</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a2571bf5873d9035d9e3c027b31e80147" title="Get the value of the k1 distortion parameter.">k1</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> dist[0]; }<span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment"> /** Get the value of the k2 distortion parameter.</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a0e3bda9bf8939dff10e00d2259338abc">00177</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a0e3bda9bf8939dff10e00d2259338abc" title="Get the value of the k2 distortion parameter.">k2</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> dist[1]; }<span class="comment"></span>
<a name="l00178"></a>00178 <span class="comment"> /** Get the value of the p1 distortion parameter.</span>
<a name="l00179"></a>00179 <span class="comment"> */</span>
<a name="l00180"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a0c962f25e53d1aa57110fa8bd3563039">00180</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a0c962f25e53d1aa57110fa8bd3563039" title="Get the value of the p1 distortion parameter.">p1</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> dist[2]; }<span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment"> /** Get the value of the p2 distortion parameter.</span>
<a name="l00182"></a>00182 <span class="comment"> */</span>
<a name="l00183"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a96611a2321aac3af3aacdd78b3db17b9">00183</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#a96611a2321aac3af3aacdd78b3db17b9" title="Get the value of the p2 distortion parameter.">p2</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> dist[3]; }<span class="comment"></span>
<a name="l00184"></a>00184 <span class="comment"> /** Get the value of the p3 distortion parameter.</span>
<a name="l00185"></a>00185 <span class="comment"> */</span>
<a name="l00186"></a><a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#aee80fa3120f7d9505ce469bac1e0b887">00186</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html#aee80fa3120f7d9505ce469bac1e0b887" title="Get the value of the p3 distortion parameter.">p3</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> dist[4]; }
<a name="l00187"></a>00187
<a name="l00188"></a>00188 };
<a name="l00189"></a>00189
<a name="l00190"></a>00190 } <span class="comment">// End of namespace</span>
<a name="l00191"></a>00191 } <span class="comment">// end of namespace</span>
<a name="l00192"></a>00192 <span class="preprocessor">#endif</span>
</pre></div></div>
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