jafar::bundle::SBACamera Class Reference

class SBACamera Holds intrinsic and extrinsic camera parameters. More...

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Detailed Description

class SBACamera Holds intrinsic and extrinsic camera parameters.

• camera carteristics in
• camera poses in

Definition at line 122 of file sba.hpp.

#include <sba.hpp>

List of all members.

Public Types
typedef std::map< int, geom::T3DQuaternion > ::const_iterator	MotionsIterator
	defines a const iterator on camera motion
Public Member Functions
	SBACamera ()
	default constructor
	SBACamera (const jafar::camera::CameraPinhole &_camera)
	constructor with PinholeCamera as input parameter
	SBACamera (const SBACamera &sbaCam)
	copy constructor
void	setPinholeCamera (const jafar::camera::CameraPinhole &_camera)
	sets pinhole camera
jafar::camera::CameraPinhole	getPinholeCamera ()
	gets pinhole camera
void	insertPose (const int &poseIndex, const jafar::geom::T3D &pose)
	inserts new pose
jafar::geom::T3DQuaternion	getPose (const int &poseIndex)
	get extrinsic parameters of pose index poseIndex
int	motionSize () const
	camera's motion size
std::map< int, jafar::geom::T3DQuaternion > ::const_iterator	motionBegin () const
	const iterator on motion begin
std::map< int, jafar::geom::T3DQuaternion > ::const_iterator	motionEnd () const
	const iterator on motion end
void	toVector (jblas::vec &v, const int &poseIndex)
	express a SBACamera in a vector holding intrinsics and extrinsics given pose index
void	toVector (jblas::vec &v, jafar::geom::T3DQuaternion pose)
	express a SBACamera in a vector holding intrinsics and extrinsics given a T3DQuaternion
void	projectPointOnFrame (const jblas::vec3 &inWorldCoordinates, const jafar::geom::T3DQuaternion &pose, jblas::vec2 &projection, jblas::mat &transformJac, jblas::mat &projectionJac)
	project a point expressed in world frame into a pixel alongs with jacobians
void	projectPointOnFrame (const jblas::vec3 &inWorldCoordinates, const jafar::geom::T3DQuaternion &pose, jblas::vec2 &projection)
	project a point expressed in world frame into a pixel
Static Public Member Functions
static void	toTsaiNotation (const bundle::SBACamera &cam, double *jafarIntrinsics)
	converts pinhole camera's intrinsics to Tsai notation (5 params)
static void	toJafarNotation (bundle::SBACamera &cam, double *tsaiIntrinsics)
	converts pinhole camera's intrinsics to Jafar notation (see class camera::CameraPinhole)
static SBACamera	fromVector (jblas::vec &v, const int &poseId)
	returns a camera from a vector of [intrinsics] extrinsics
static SBACamera	fromVector (const jblas::vec &intrinsics, const jblas::vec &extrinsics, const int &poseId)
	returns a camera from a vector of intrinsics and a vector of extrinsics
Private Attributes
jafar::camera::CameraPinhole	camera
	pinhole camera used for capture
std::map< int, jafar::geom::T3DQuaternion >	cameraMotion
	camera motion over the images sequence
Friends
class	SBACameras
std::ostream &	operator<< (std::ostream &s, const jafar::bundle::SBACamera &c)

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

• modules/bundle/include/bundle/sba.hpp