#include <camera.h>

Inheritance diagram for PerspectiveCamera:

Collaboration diagram for PerspectiveCamera:

Public Member Functions
	PerspectiveCamera ()
void	worldToImage (const double p[3], double uvw[3]) const
void	worldToImage (const Vec3 &p, Vec3 &uvw) const
void	worldToEye (const Vec3 &src, Vec3 &dst) const
void	worldToEye (const double src[3], double dst[3]) const
void	eyeToWorld (const Vec3 &uvw, Vec3 &w) const
void	imageToWorld (double u, double v, Vec3 &w, double z=0) const
void	setGlModelView () const
void	setByTarget (const Vec3 pos, const Vec3 target, double roll)
void	loadTdir (const double tdir[3][4], int w, int h)
bool	loadTdir (const char *tdir, int w, int h)
bool	loadTdir (const char *tdir)
void	clearExternalParams ()
void	translate (double dx, double dy, double dz)
	translate the camera relative to eye coordinates (z means "move forward").
void	setWorldToEyeMat (const Mat3x4 &m)
const Mat3x4 &	getWorldToEyeMat () const
const Mat3x4 &	getEyeToWorldMat () const
const Mat3x4 &	getWorldToImageMat () const
void	cmpWorldToImageMat ()
bool	saveTdir (const char *file)
	Save the camera in a tdir file. Returns true on success, false on failure.
Public Member Functions inherited from PerspectiveProjection
	PerspectiveProjection ()
	PerspectiveProjection (int w, int h, double f, double g, double cx, double, double s=0)
void	set (int w, int h, double f, double g, double cx, double cy, double s=0)
void	eyeToImage (const double eye[3], double uv[2]) const
void	imageToEye (const double uv[2], double eye[3], double w=0) const
void	imageToEye (double u, double v, double eye[3], double w=0) const
void	setGlProjection () const
bool	setPlanes (double near, double far)
bool	getUndistortMap (CvMat xmap, CvMat ymap)
void	cmpEyeToImageMat ()
void	flip ()

Protected Attributes
Mat3x4	worldToEyeMat
Mat3x4	eyeToWorldMat
Mat3x4	worldToImageMat

Additional Inherited Members
Public Attributes inherited from PerspectiveProjection
double	f
double	g
double	cx
double	cy
double	s
double	distortion
Mat3x3	eyeToImageMat
int	width
int	height
double	farPlane
double	nearPlane

Detailed Description

Perspective camera: a projection located in space.

Examples:: multigl.cpp.

Definition at line 56 of file camera.h.

Constructor & Destructor Documentation

PerspectiveCamera::PerspectiveCamera ( )

Definition at line 191 of file camera.cpp.

Member Function Documentation

void PerspectiveCamera::clearExternalParams ( )

Definition at line 484 of file camera.cpp.

void PerspectiveCamera::cmpWorldToImageMat ( )

Definition at line 490 of file camera.cpp.

void PerspectiveCamera::eyeToWorld	(	const Vec3 &	uvw,
		Vec3 &	w
	)		const

Definition at line 496 of file camera.cpp.

References Vec3::setMul().

const Mat3x4& PerspectiveCamera::getEyeToWorldMat ( ) const

inline

Definition at line 78 of file camera.h.

References eyeToWorldMat.

const Mat3x4& PerspectiveCamera::getWorldToEyeMat ( ) const

inline

Examples:: multigl.cpp.

Definition at line 77 of file camera.h.

References worldToEyeMat.

Referenced by operator<<(), and photo_draw().

const Mat3x4& PerspectiveCamera::getWorldToImageMat ( ) const

inline

Definition at line 79 of file camera.h.

References worldToImageMat.

void PerspectiveCamera::imageToWorld	(	double	u,
		double	v,
		Vec3 &	w,
		double	z = `0`
	)		const

Definition at line 501 of file camera.cpp.

References Vec3::v.

void PerspectiveCamera::loadTdir	(	const double	_tdir[3][4],
		int	w,
		int	h
	)

This function separate intrinsic and extrinsic parameters from a single projection matrix. The resulting rotation matrix (worldToEyeMat) determinant is always positive.

Examples:: multigl.cpp.

Definition at line 295 of file camera.cpp.

References get3x3MulWithTransposed().

Referenced by photo_draw().

bool PerspectiveCamera::loadTdir	(	const char *	tdirFile,
		int	w,
		int	h
	)

Load external and internal parameters from a tdir file. The w and h specify the size of the projection rectangle.

Returns: true on success, false on failure.

Definition at line 356 of file camera.cpp.

bool PerspectiveCamera::loadTdir ( const char * tdirFile )

Load external and internal parameters from a tdir file, estimating image width and height.

THE WIDTH AND HEIGHT ESTIMATION MIGHT BE WRONG!

Returns: true on success, false on failure.

Definition at line 450 of file camera.cpp.

References diagDiff(), GuessMode::h, and GuessMode::w.

bool PerspectiveCamera::saveTdir ( const char * file )

Save the camera in a tdir file. Returns true on success, false on failure.

Definition at line 522 of file camera.cpp.

void PerspectiveCamera::setByTarget	(	const Vec3	pos,
		const Vec3	target,
		double	roll
	)

Definition at line 238 of file camera.cpp.

References Vec3::normalize(), Vec3::setCross(), and Vec3::setSub().

void PerspectiveCamera::setGlModelView ( ) const

Examples:: multigl.cpp.

Definition at line 219 of file camera.cpp.

Referenced by photo_draw().

void PerspectiveCamera::setWorldToEyeMat ( const Mat3x4 & m )

Examples:: multigl.cpp.

Definition at line 516 of file camera.cpp.

Referenced by photo_draw().

void PerspectiveCamera::translate	(	double	dx,
		double	dy,
		double	dz
	)

translate the camera relative to eye coordinates (z means "move forward").

Definition at line 508 of file camera.cpp.

void PerspectiveCamera::worldToEye	(	const Vec3 &	src,
		Vec3 &	dst
	)		const

Definition at line 209 of file camera.cpp.

References Vec3::setMul().

void PerspectiveCamera::worldToEye	(	const double	src[3],
		double	dst[3]
	)		const

Definition at line 214 of file camera.cpp.

void PerspectiveCamera::worldToImage	(	const double	p[3],
		double	uvw[3]
	)		const

Definition at line 204 of file camera.cpp.

void PerspectiveCamera::worldToImage	(	const Vec3 &	p,
		Vec3 &	uvw
	)		const

Definition at line 197 of file camera.cpp.

References Vec3::setMul(), and Vec3::v.

Member Data Documentation

Mat3x4 PerspectiveCamera::eyeToWorldMat

protected

Definition at line 89 of file camera.h.

Referenced by getEyeToWorldMat().

Mat3x4 PerspectiveCamera::worldToEyeMat

protected

Definition at line 88 of file camera.h.

Referenced by getWorldToEyeMat().

Mat3x4 PerspectiveCamera::worldToImageMat

protected

Definition at line 90 of file camera.h.

Referenced by getWorldToImageMat().

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

/home/adrien/Téléchargements/bazar/bazar-1.3.1/garfeild/calib/camera.h
/home/adrien/Téléchargements/bazar/bazar-1.3.1/garfeild/calib/camera.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation