jafar::camera::StereoBenchHandler Class Reference

Class StereoBenchHandler handles StereoBench WARNING project and imageToCameraFrame methodes uses left camera. More...

---

Detailed Description

Class StereoBenchHandler handles StereoBench WARNING project and imageToCameraFrame methodes uses left camera.

Definition at line 171 of file cameraHandler.hpp.

#include <cameraHandler.hpp>

Inheritance diagram for jafar::camera::StereoBenchHandler:

List of all members.

Public Member Functions
	StereoBenchHandler (const camera::StereoBench &_camera)
void	setParameters (const jblas::vec &params)
	sets camera parameters
void	imageToCameraFrame (const jblas::vec2 &pixel, const double &disparity, jblas::vec3 &position)
void	imageToCameraFrameJac (const jblas::vec2 &pixel, const double &disparity, jblas::mat &J)
void	imageToCameraFrameJac (const jblas::vec2 &pixel, const double &disparity, jblas::vec3 &position, jblas::mat &J)
bool	project (const jblas::vec3 &v, jblas::vec2 &pix)
	projects a point into a pixel
void	projectJac (const jblas::vec3 &v, jblas::mat &J)
	returns jacaobian of point projection
void	projectJac (const jblas::vec3 &v, jblas::vec2 &pix, jblas::mat &J)
	returns projection and its jacaobian of a point
void	imageToCameraFrameDirection (const jblas::vec2 &pixel, jblas::vec3 &direction)
	returns jacobian of pixel direction in camera frame
void	imageToCameraFrameDirectionJac (const jblas::vec2 &pixel, jblas::mat &J)
	returns pixel direction's jacobian in camera frame
void	imageToCameraFrameDirectionJac (const jblas::vec2 &pixel, jblas::vec3 &direction, jblas::mat &J)
	returns pixel direction and its jacobian in camera frame
void	intrinsics (jblas::mat33 &intrinsic)
	returns pinhole intrinsics

---

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

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