CameraHandle¶

template<IsSpectral TSpectral> class CameraModelHandle : public huira::Handle<CameraModel<TSpectral>>¶

Handle for manipulating a CameraModel in a scene.

Provides a safe, reference-like interface for configuring and querying a CameraModel instance within a scene graph. All operations are forwarded to the underlying CameraModel.

Template Parameters:: TSpectral – The spectral type (e.g., RGB, Visible8)

Public Functions

CameraModelHandle() = delete¶

void set_focal_length(units::Millimeter focal_length) const¶

Set the focal length of the camera (in millimeters).

Parameters:: focal_length – Focal length in millimeters

units::Millimeter focal_length() const¶

Get the focal length of the camera (in millimeters).

Returns:: units::Millimeter Focal length in millimeters

void set_fstop(float fstop) const¶

Set the f-stop (focal ratio) of the camera. The aperture diameter this gives is kept if the focal length later changes; see CameraModel::set_fstop().

Parameters:: fstop – F-stop value

float fstop() const¶

Get the f-stop (focal ratio) of the camera.

Returns:: float F-stop value

void set_aperture_diameter(units::Millimeter diameter) const¶

Set the aperture’s diameter, which is kept if the focal length changes. See CameraModel::set_aperture_diameter().

Parameters:: diameter – The aperture’s diameter.

units::Millimeter aperture_diameter() const¶: Get the aperture’s diameter.

template<IsDistortion<TSpectral> TDistortion, typename ...Args> void set_distortion(Args&&... args) const¶

Set the distortion model for the camera.

Template Parameters:

TDistortion – Distortion model type
Args – Constructor arguments for the distortion model

Parameters:

args – Arguments to construct the distortion model

void set_brown_conrady_distortion(BrownCoefficients coeffs) const¶

Set Brown-Conrady distortion coefficients.

Parameters:: coeffs – Brown distortion coefficients

void set_opencv_distortion(OpenCVCoefficients coeffs) const¶

Set OpenCV distortion coefficients.

Parameters:: coeffs – OpenCV distortion coefficients

void set_owen_distortion(OwenCoefficients coeffs) const¶

Set Owen distortion coefficients.

Parameters:: coeffs – Owen distortion coefficients

void delete_distortion() const¶: Delete the distortion model from the camera.

template<IsSensor<TSpectral> TSensor, typename ...Args> void set_sensor(Args&&... args) const¶

Set the sensor model for the camera.

Template Parameters:

TSensor – Sensor model type
Args – Constructor arguments for the sensor

Parameters:

args – Arguments to construct the sensor

void configure_sensor_from_pitch(const Resolution &resolution, units::Micrometer pitch_x, std::optional<units::Micrometer> pitch_y = std::nullopt, std::optional<float> cx = std::nullopt, std::optional<float> cy = std::nullopt)¶

Configure the sensor using pixel pitch and resolution.

This method sets the sensor resolution, pixel pitch, and principal point. It also computes the intrinsics based on the new configuration.

Parameters:

resolution – Sensor resolution
pitch_x – Pixel pitch in x direction (micrometers)
pitch_y – Pixel pitch in y direction (micrometers)
cx – Principal point x coordinate, in the camera’s pixel convention (see set_pixel_convention()). Defaults to the center of the sensor.
cy – Principal point y coordinate, likewise.

void configure_sensor_from_size(const Resolution &resolution, units::Millimeter width, std::optional<units::Millimeter> height = std::nullopt, std::optional<float> cx = std::nullopt, std::optional<float> cy = std::nullopt)¶

Configure the sensor using physical size and resolution.

This method sets the sensor resolution, physical size, and principal point. It also computes the intrinsics based on the new configuration.

Parameters:

resolution – Sensor resolution
width – Sensor width in millimeters
height – Sensor height in millimeters
cx – Principal point x coordinate, in the camera’s pixel convention (see set_pixel_convention()). Defaults to the center of the sensor.
cy – Principal point y coordinate, likewise.

void set_intrinsic_matrix(const Mat3<float> &intrinsic_matrix, const Resolution &resolution, units::Millimeter anchor_focal_length)¶

Set the intrinsic matrix for the camera. Mat3 is indexed K[column][row], so cx is K[2][0]; see CameraModel::set_intrinsic_matrix().

Parameters:

intrinsic_matrix – 3x3 intrinsic matrix
resolution – Sensor resolution
anchor_focal_length – Anchor focal length in millimeters

void set_intrinsics(float fx, float fy, float cx, float cy, const Resolution &resolution, units::Millimeter anchor_focal_length, float skew = 0.f)¶

Set the intrinsic parameters for the camera. See CameraModel::set_intrinsics().

Parameters:

fx – Focal length in x direction, in pixels
fy – Focal length in y direction, in pixels
cx – Principal point x coordinate, in the camera’s pixel convention
cy – Principal point y coordinate, in the camera’s pixel convention
resolution – Sensor resolution
anchor_focal_length – Anchor focal length in millimeters
skew – Skew, in pixels; 0 for perpendicular pixel axes.

Mat3<float> intrinsic_matrix() const¶: Get the camera matrix, in the camera’s pixel convention. See CameraModel::intrinsic_matrix().

Resolution resolution() const¶: Get the sensor’s resolution.

std::pair<units::Micrometer, units::Micrometer> pixel_pitch() const¶: Get the pixel pitch, along x and along y.

void set_sensor_quantum_efficiency(double qe) const¶

Set the sensor quantum efficiency.

Parameters:: qe – Quantum efficiency value

void set_sensor_quantum_efficiency(TSpectral qe) const¶

Set the sensor quantum efficiency.

Parameters:: qe – Quantum efficiency value

void set_sensor_full_well_capacity(float fwc) const¶

Set the sensor full well capacity.

Parameters:: fwc – Full well capacity value

void enable_sensor_noise(bool noise = true) const¶

Turn the sensor’s shot noise and read noise on (the default) or off.

Off, each pixel collects the expected number of electrons. The dark current’s electrons and the bias are still added, since they are not noise.

Parameters:: noise – True to simulate noise, false not to

void set_sensor_read_noise(float read_noise) const¶

Set the sensor read noise.

Parameters:: read_noise – Read noise value

void set_sensor_dark_current(float dark_current) const¶

Set the sensor dark current.

Parameters:: dark_current – Dark current value

void set_sensor_bias_level(float bias_level) const¶

Set the sensor bias level.

Parameters:: bias_level – Bias level value

void set_sensor_bit_depth(int bit_depth) const¶

Set the sensor bit depth.

Parameters:: bit_depth – Bit depth value

void set_sensor_conversion_gain(float gain) const¶

Set the sensor conversion gain (e-/ADU).

Sets the conversion gain of the sensor, which defines how many electrons correspond to one ADU (Analog-to-Digital Unit). This affects the sensor’s sensitivity and noise characteristics. This value is frequently found on sensor datasheets. A larger value will make the resulting image darker.