jafar::camera::AbstractCameraHandler Class Reference

Class CameraHandler. More...

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Detailed Description

Class CameraHandler.

As it is impossible to create a generic Camera class I created this one. It provides only functions I need in bundler and premodeler modules.

Definition at line 20 of file cameraHandler.hpp.

#include <cameraHandler.hpp>

Inheritance diagram for jafar::camera::AbstractCameraHandler:

List of all members.

Public Member Functions
	AbstractCameraHandler ()
	constructor
virtual	~AbstractCameraHandler ()
	virtual destructor dummy but mandatory
virtual void	setParameters (const jblas::vec &params)=0
	sets camera parameters
virtual void	applyScale (double scale)=0
	applies a scale factor to the image
virtual bool	project (const jblas::vec3 &v, jblas::vec2 &pix)=0
	projects a point into a pixel
virtual void	projectJac (const jblas::vec3 &v, jblas::mat &J)=0
	returns jacaobian of point projection
virtual void	projectJac (const jblas::vec3 &v, jblas::vec2 &pix, jblas::mat &J)=0
	returns projection and its jacaobian of a point
virtual void	imageToCameraFrame (const jblas::vec2 &pixel, jblas::vec3 &position)=0
	returns the pixel position in camera frame
virtual void	imageToCameraFrameDirection (const jblas::vec2 &pixel, jblas::vec3 &direction)=0
	returns jacobian of pixel direction in camera frame
virtual void	imageToCameraFrameDirectionJac (const jblas::vec2 &pixel, jblas::mat &J)=0
	returns pixel direction's jacobian in camera frame
virtual void	imageToCameraFrameDirectionJac (const jblas::vec2 &pixel, jblas::vec3 &direction, jblas::mat &J)=0
	returns pixel direction and its jacobian in camera frame
virtual void	load (const std::string &configFile)=0
	loads key value file
virtual void	intrinsics (jblas::mat33 &intrinsic)=0
	returns pinhole intrinsics

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

• modules/camera/include/camera/cameraHandler.hpp