jafar::camera::CameraPinhole Class Reference

Camera Pinhole model. More...

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Detailed Description

Camera Pinhole model.

image frame: (u,v): column, row camera frame: (x,y,z): right, down, depth

Image and camera reference frame

Todo:

add a scale parameter to store how much the model was scaled

Definition at line 26 of file cameraPinhole.hpp.

#include <cameraPinhole.hpp>

Inheritance diagram for jafar::camera::CameraPinhole:

List of all members.

Public Member Functions
	CameraPinhole ()
	Default constructor.
	CameraPinhole (CameraPinhole const &c_)
	Copy constructor.
double	getApertureU () const
double	getApertureV () const
void	setParameters (int width_, int height_, double u0_, double v0_, double alphaU_, double alphaV_)
	Set the parameters of the perspective camera model.
void	applyScale (double scale)
	Scales the current model.
template<class Vec , class Pix >
bool	project (Vec const &v, Pix &pix) const
	Project a 3D point on the camera plane.
template<class Vec , class Pix >
bool	projectH (Vec const &v, Pix &pix) const
	Project a 3D point on the camera plane.This function works with homogeneous coordinates.
template<class Vec , class Mat >
void	projectJac (Vec const &v, Mat &J) const
	jacobian of project
template<class Vec , class Mat , class Pix >
void	projectJac (Vec const &v, Pix &pix, Mat &J) const
	project and jacobian of project
template<class Pix , class Vec >
void	imageToCameraFrame (Pix const &pix, Vec &v) const
	Pixel coordinate in camera frame.
template<class Pix , class Mat >
void	imageToCameraFrameJac (Pix const &pix, Mat &J) const
	Jacobian of imageToCameraFrame()
template<class Pix , class Vec >
void	imageToCameraFrameDirection (Pix const &pix_, Vec &v) const
	Pixel direction in camera frame.
template<class Pix , class Mat >
void	imageToCameraFrameDirectionJac (Pix const &pix, Mat &J) const
	Jacobian of directionInCameraFrame()
jblas::vec4	getIntrinsicParams ()
	Get intrinsic parameters vector.
Public Attributes
int	width
int	height
double	u0
double	v0
double	alphaU
double	alphaV
jblas::mat	Ph
	(3x4) projection matrix (homogeneous coordinates)
jblas::mat_range	P
	(2x3) projection matrix (euclidean coordinates)
Static Public Attributes
static const double	epsilon
Protected Member Functions
void	loadKeyValueFile (jafar::kernel::KeyValueFile const &keyValueFile)
	Implement this method calling repeatedly KeyValueFile::getItem() method.
Friends
class	StereoBench

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Member Function Documentation

jblas::vec4 jafar::camera::CameraPinhole::getIntrinsicParams

(

)

[inline]

Get intrinsic parameters vector.

Returns:

the intrinsic vector k = (u0, v0, alphaU, alphaV)

Definition at line 241 of file cameraPinhole.hpp.

template<class Vec , class Pix >

bool jafar::camera::CameraPinhole::project	(	Vec const &	v,
		Pix &	pix
	)		const [inline]

Project a 3D point on the camera plane.

This function works with euclidean coordinates.

Returns:

true if the point is visible.

Exceptions:

jafar::kernel::JafarException

with id NUMERIC_CONDITION if the projection cannot be computed.

Definition at line 77 of file cameraPinhole.hpp.

References JFR_NUMERIC, JFR_PRECOND, and P.

Referenced by projectJac().

template<class Vec , class Pix >

bool jafar::camera::CameraPinhole::projectH	(	Vec const &	v,
		Pix &	pix
	)		const [inline]

Project a 3D point on the camera plane.This function works with homogeneous coordinates.

Returns:

true if the point is visible.

Definition at line 107 of file cameraPinhole.hpp.

References JFR_PRECOND, and Ph.

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

• modules/camera/include/camera/cameraPinhole.hpp