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 (aperture ratio) of the camera.

Parameters:: fstop – F-stop value

float fstop() const¶

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

Returns:: float F-stop value

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 (must be within resolution bounds)
cy – Principal point y coordinate (must be within resolution bounds)

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 (must be within resolution bounds)
cy – Principal point y coordinate (must be within resolution bounds)

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

Set the intrinsic matrix for the camera.

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)¶

Set the intrinsic parameters for the camera.

Parameters:

fx – Focal length in x direction
fy – Focal length in y direction
cx – Principal point x coordinate
cy – Principal point y coordinate
resolution – Sensor resolution
anchor_focal_length – Anchor focal length in millimeters

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 set_sensor_simulate_noise(bool simulate_noise) const¶

Enable or disable sensor noise simulation.

Parameters:: simulate_noise – True to enable noise simulation, false to disable

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.