jafar::camera::CameraHandler< CAMERA > Class Template Reference

Class CameraHandler. More...

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Detailed Description

template<class CAMERA = camera::CameraPinhole>
class jafar::camera::CameraHandler< CAMERA >

Class CameraHandler.

By default camera type is Pinhole. If other handlers are needed they must derive from the generic (not abstract) one and implement its methodes

Definition at line 67 of file cameraHandler.hpp.

#include <cameraHandler.hpp>

Inheritance diagram for jafar::camera::CameraHandler< CAMERA >:

List of all members.

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

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

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