RGBDDataComponent Class Reference

#include <RGBD/Include/ImFusion/RGBD/RGBDDataComponent.h>

RGBDDataComponent stores all calibration and configuration parameters for an RGBD sensor. More...

Inheritance diagram for RGBDDataComponent:

Detailed Description

RGBDDataComponent stores all calibration and configuration parameters for an RGBD sensor.

This includes intrinsic and distortion parameters for both depth and color cameras, image sizes, and transformations between camera coordinate systems.

Intended usage:

• Attach this component to image sets or data objects representing RGBD sensor data.
• Use the setters to configure calibration and other parameters based on sensor specifications or calibration results.
• Use the getters to retrieve respective parameters for processing RGBD data

Important aspects:

• All parameters must be set to match the actual data for correct processing.
• The 4x4 matrices depthToColorTransform and sensorTransform are representing euclidean transformations (SE(3)).
• The component can be serialized/deserialized via Properties.
• Thread safety is not guaranteed.

Example 1:

CameraCalibrationDataComponent colorCalib, depthCalib;
// ... configure colorCalib and depthCalib ...
mat4 depthToColor; // transformation from depth to color camera
RGBDDataComponent comp(colorCalib, depthCalib, depthToColor);
if (comp.valid()) { /* use comp for further processing */ }

Example 2:

Note: All parameters are just set to some example values and do not represent a real sensor.

RGBDDataComponent comp;
comp.setDepthWidth(640);
comp.setDepthHeight(480);
comp.setDepthK(mat3()); // set intrinsic matrix
comp.setDepthDistortion(vec5::Zero());
comp.setColorWidth(640);
comp.setColorHeight(480);
comp.setColorK(mat3()); // set intrinsic matrix
comp.setColorDistortion(vec5::Zero());
comp.setDepthToColorTransform(mat4::Identity());

See also

CameraCalibrationDataComponent

Public Types
enum class	DistortionModel { None = 0 }
	Distortion model for depth camera.
enum class	TransformationConvention { CameraToWorld = 0 , WorldToCamera }
	Convention for pose transformations.

Public Member Functions
	RGBDDataComponent (const RGBDDataComponent &other)=default
	RGBDDataComponent (const CameraCalibrationDataComponent &camColor, const CameraCalibrationDataComponent &camDepth, const mat4 &depthToColorT=mat4::Identity())
RGBDDataComponent &	operator= (const RGBDDataComponent &other)=default
bool	operator== (const RGBDDataComponent &other) const
	Checks for exact equality of all parameters.
bool	isApprox (const RGBDDataComponent &other, double precision=std::numeric_limits< double >::epsilon()) const
	Checks for approximate equality of all parameters within a given precision.
std::string	id () const override
	Returns the component type identifier.
bool	valid (bool checkDepth=true, bool checkColor=true) const
	Checks if the component is valid (all required parameters set).
void	setDepthWidth (int v)
	Sets/gets the width of the depth image (pixels).
int	depthWidth () const
void	setDepthHeight (int v)
	Sets/gets the height of the depth image (pixels).
int	depthHeight () const
void	setDepthK (const mat3 &K)
	Sets/gets the intrinsic matrix of the depth camera.
mat3	depthK () const
void	setDepthDistortionModel (DistortionModel model)
DistortionModel	depthDistortionModel () const
void	setDepthDistortion (const vec5 &k)
	Sets/gets the distortion coefficients of the depth camera.
vec5	depthDistortion () const
void	setColorWidth (int v)
	Sets/gets the width of the color image (pixels).
int	colorWidth () const
void	setColorHeight (int v)
	Sets/gets the height of the color image (pixels).
int	colorHeight () const
void	setColorK (const mat3 &K)
	Sets/gets the intrinsic matrix of the color camera.
mat3	colorK () const
void	setColorDistortionModel (DistortionModel model)
	Distortion model for color camera.
DistortionModel	colorDistortionModel () const
void	setColorDistortion (const vec5 &k)
	Sets/gets the distortion coefficients of the color camera.
vec5	colorDistortion () const
void	setDepthToColorTransform (const mat4 &T)
	Sets/gets the transformation from depth camera to color camera coordinate system.
mat4	depthToColorTransform () const
void	setSensorTransform (const mat4 &T)
	Sets/gets the transformation from depth camera to reference coordinate system.
mat4	sensorTransform () const
void	setDescription (const std::string &description)
	Sets/gets a human-readable description of the sensor.
std::string	description () const
void	setPose (const mat4 &T, TransformationConvention conv)
	Sets/gets the transformation between world and camera coordinate system.
mat4	pose (TransformationConvention conv) const
void	setSerial (const std::string &serial)
	Sets/gets the device serial number.
std::string	serial () const
void	configure (const Properties *p) override
	Configures the component from a Properties object.
void	configuration (Properties *p) const override
	Serializes the component to a Properties object.
Public Member Functions inherited from DataComponent< RGBDDataComponent >
std::unique_ptr< DataComponentBase >	clone () const override
	Creates a clone of this data component.
std::unique_ptr< Subclass >	cloneDerived () const
bool	assign (const DataComponentBase &other) override
	Assigns the content of other to this data component.
bool	equals (const DataComponentBase &other) const override
	Compares this data component to other for equality.
Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Static Public Member Functions
static RGBDDataComponent *	fromProperties (Properties *p)
	Creates a component from a Properties object.

Additional Inherited Members
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Member Functions inherited from DataComponentBase
	DataComponentBase (const DataComponentBase &)=default
DataComponentBase &	operator= (const DataComponentBase &other)=default
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Function Documentation

id()

std::string id ( ) const

inlineoverridevirtual

Returns the component type identifier.

Implements DataComponentBase.

setPose()

void setPose	(	const mat4 &	T,
		TransformationConvention	conv )

Sets/gets the transformation between world and camera coordinate system.

Use with care; intended for advanced use cases.

configure()

void configure ( const Properties * p )

overridevirtual

Configures the component from a Properties object.

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Serializes the component to a Properties object.

Reimplemented from Configurable.

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

• RGBD/Include/ImFusion/RGBD/RGBDDataComponent.h