Module camera

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Detailed Description

Version:

0.1

Author:

thomas.lemaire@laas.fr nizar.sallem@laas.fr

This module contains the models of camera

A CameraContainer can manage all of them using appropriate CameraHandler

Image and camera reference frame

History

• 0.1 (2006-10-24) - Initial version

Tcl interface (generated by swig)

The interface of the module is generated from the following files:

• camera.i defines the wrapped classes and functions,
• cameraException.i defines the try { } catch block for this module.

Classes
class	jafar::camera::CameraBarreto
	Barreto central catadiopttric camera model. More...
class	jafar::camera::CameraParabolicBarreto
	Barreto model specialized for a parabolic mirror. More...
class	jafar::camera::CameraContainer
	Class CameraContainer provides container for all available cameras. More...
class	jafar::camera::CameraException
	Base class for all exceptions defined in the module camera. More...
class	jafar::camera::AbstractCameraHandler
	Class CameraHandler. More...
class	jafar::camera::CameraHandler< CAMERA >
	Class CameraHandler. More...
class	jafar::camera::PinholeCameraHandler
	Class PinholeCameraHandler handles PinholeCamera. More...
class	jafar::camera::StereoBenchHandler
	Class StereoBenchHandler handles StereoBench WARNING project and imageToCameraFrame methodes uses left camera. More...
class	jafar::camera::ParabolicBarretoCameraHandler
	Class ParabolicBarretoCameraHandler handles ParabolicBarretoCamera. More...
class	jafar::camera::CameraPinhole
	Camera Pinhole model. More...
class	jafar::camera::StereoBench
	Stereo bench model. More...
class	jafar::camera::CameraMask
	This class is a generic camera mask. More...
class	jafar::camera::PanoMask
	DEPRECATED This class allows to mask useless part of a panoramic image. More...
Functions
template<typename _channeltype >
void	jafar::camera::univReprojectionCylindric (CameraBarreto const &cameraBarreto, const jafar::image::Image &src_, jafar::image::Image &dst_, int interpolation_)
	Image reprojection on a cylinder. NEW : This function works for any central catadioptric mirror We suppose that the robot forward is on the top of image. Under this assumption, we unroll panoramic image clockwise from the left of the robot.
bool	jafar::camera::pixelCyl2pixelPano (CameraBarreto const &cameraBarreto, const jafar::image::Image &cylIma, const jblas::vec2 &pixelCyl, jblas::vec2 &pixelPano)
	Pixel coordinates conversion from Cylindric Image to Omnidirectional image.
template<typename _channeltype >
void	jafar::camera::univReprojectionPerspective (CameraParabolicBarreto const &cameraBarreto, const jafar::image::Image &src_, jafar::image::Image &dst_, double elev_, double azim_, double roll_, double vOpen_, int interpolation_)
	Image reprojection emulating a perspective projection NEW : This function works for any central catadioptric mirror We suppose that the robot forward is on the top of image. Under this assumption, we unroll omnidirectional image clockwise from the left of the robot.

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Function Documentation

bool jafar::camera::pixelCyl2pixelPano	(	CameraBarreto const &	cameraBarreto,
		const jafar::image::Image &	cylIma,
		const jblas::vec2 &	pixelCyl,
		jblas::vec2 &	pixelPano
	)

Pixel coordinates conversion from Cylindric Image to Omnidirectional image.

Parameters:

\a	cameraBarreto catadioptric camera parameters
\a	cylIma Cylindric image
\a	pixelCyl pixel coordinates in the cylindric image (order : column, row)
\a	pixelPano corresponding pixel in the omnidirectional image (order : column, row)

Definition at line 125 of file univReprojection.hpp.

References jafar::image::Image::height(), jafar::camera::CameraBarreto::imageRadius, jafar::camera::CameraBarreto::imageToCameraFrameDirection(), JFR_PRECOND, jafar::camera::CameraBarreto::maskRadius, jafar::camera::CameraBarreto::mirrorCenterU, jafar::camera::CameraBarreto::mirrorCenterV, and jafar::image::Image::width().

template<typename _channeltype >

void jafar::camera::univReprojectionCylindric	(	CameraBarreto const &	cameraBarreto,
		const jafar::image::Image &	src_,
		jafar::image::Image &	dst_,
		int	interpolation_
	)

Image reprojection on a cylinder. NEW : This function works for any central catadioptric mirror We suppose that the robot forward is on the top of image. Under this assumption, we unroll panoramic image clockwise from the left of the robot.

Parameters:

\a	cameraBarreto catadioptric camera parameters
\a	src_ image catadioptric to rectify
\a	dst_ Reprojection result
\a	interpolation Indicates if src_ is interpolated

Definition at line 33 of file univReprojection.hpp.

References jafar::camera::CameraBarreto::camera, jafar::image::Image::channels(), jafar::image::Image::getPixelValue(), jafar::image::Image::getSubPixelValue(), jafar::image::Image::height(), jafar::camera::CameraBarreto::imageRadius, jafar::camera::CameraBarreto::imageToCameraFrameDirection(), JFR_PRECOND, jafar::camera::CameraBarreto::maskRadius, jafar::camera::CameraBarreto::mirrorCenterU, jafar::camera::CameraBarreto::mirrorCenterV, jafar::image::Image::setPixelValue(), jafar::image::Image::size(), jafar::image::Image::type(), and jafar::image::Image::width().

template<typename _channeltype >

void jafar::camera::univReprojectionPerspective	(	CameraParabolicBarreto const &	cameraBarreto,
		const jafar::image::Image &	src_,
		jafar::image::Image &	dst_,
		double	elev_,
		double	azim_,
		double	roll_,
		double	vOpen_,
		int	interpolation_
	)

Image reprojection emulating a perspective projection NEW : This function works for any central catadioptric mirror We suppose that the robot forward is on the top of image. Under this assumption, we unroll omnidirectional image clockwise from the left of the robot.

Parameters:

\a	cameraBarreto catadioptric camera parameters
\a	src_ image catadioptric to rectify
\a	dst_ Reprojection result
\a	elev_ elevation angle defined in the robot framework (in radians)
\a	azim_ azimuthal angle defined in the robot framework (in radians)
\a	roll_ roll angle around virtual camera optical axis (in radians)
\a	vopen_ Vertical overture angle. (in radians)
\a	interpolation Indicates if the source image is bilinearly interpolated

Definition at line 202 of file univReprojection.hpp.

References jafar::camera::CameraBarreto::camera, jafar::image::Image::channels(), jafar::image::Image::getPixelValue(), jafar::image::Image::getSubPixelValue(), jafar::image::Image::height(), jafar::camera::CameraPinhole::imageToCameraFrame(), JFR_PRECOND, jafar::camera::CameraPinhole::setParameters(), jafar::image::Image::setPixelValue(), jafar::image::Image::size(), jafar::image::Image::type(), and jafar::image::Image::width().