#include <calibrated_camera.h>

Inheritance diagram for kjb::Calibrated_camera:

Public Member Functions
	Calibrated_camera (double near=10, double far=10000)

	Calibrated_camera (const Matrix &camera_matrix, Calibration_descriptor cal, double near=10, double far=10000)

	Calibrated_camera (const Self &other)

virtual Self *	clone () const

virtual Self &	operator= (const Self &other)

void	initialize (const Matrix &intrinsic, Matrix rotation, Vector translation)

void	set_orientation (const Quaternion &orientation)
	Alias of set_angles_from_quaternion() More...

const Quaternion &	get_orientation () const

Public Member Functions inherited from kjb::Perspective_camera
	Perspective_camera (double inear=10, double ifar=10000)

	Perspective_camera (double icentre_x, double icentre_y, double icentre_z, double ipitch, double iyaw, double iroll, double ifocal_length, double iprincipal_point_x, double iprincipal_point_y, double iskew, double iaspect_ratio, double world_scale=1.0, double inear=10, double ifar=10000)

	Perspective_camera (const kjb::Vector &icamera_centre, double ipitch, double iyaw, double iroll, double ifocal_length, double iprincipal_point_x, double iprincipal_point_y, double iskew, double iaspect_ratio, double world_scale=1.0, double inear=10, double ifar=10000)

	Perspective_camera (const char *fname)
	Reads a camera from an input file. More...

	Perspective_camera (std::istream &in)
	Reads a camera from an input stream. More...

	Perspective_camera (const Perspective_camera &pc)

virtual Perspective_camera &	operator= (const Perspective_camera &pc)

virtual void	swap (Perspective_camera &other)

virtual	~Perspective_camera ()

virtual void	read (std::istream &in)
	Reads this camera from an input stream. More...

virtual void	read (const char *fname)
	Reads this camera from a file. More...

virtual void	write (std::ostream &out) const
	Writes this camera to an output stream. More...

virtual void	write (const char *fname) const
	Writes this camera to an output stream. More...

virtual void	update_rendering_interface () const
	This funcation makes sure that the rendering interface is consistent with the camera parameters stored in this class. More...

double	get_near () const
	get near plane z-distance from camera center (always positive) More...

void	set_near (double near)

double	get_far () const
	get farplane z-distance from camera center (always positive) More...

void	set_far (double far)

Vector	get_world_origin () const
	returns the world origin in camera coordinates More...

const kjb::Vector &	get_camera_centre () const
	returns the camera centre More...

double	get_camera_centre_x () const
	returns the x-coordinate of the camera centre More...

double	get_camera_centre_y () const
	returns the y-coordinate of the camera centre More...

double	get_camera_centre_z () const
	returns the y-coordinate of the camera centre More...

double	get_pitch () const
	returns the pitch angle in radian More...

double	get_yaw () const
	returns the yaw angle in radian More...

double	get_roll () const
	returns the roll angle in radian More...

const Vector &	get_rotation_angles () const
	returns the rotation angles [pitch, yaw, roll] More...

double	get_focal_length () const
	returns the focal length More...

const kjb::Vector &	get_principal_point () const
	returns the principal point More...

double	get_principal_point (unsigned int index) const
	returns the coordinate of the principal point specified by the input index More...

double	get_principal_point_x () const
	returns the x-coordinate of the principal point More...

double	get_principal_point_y () const
	returns the y-coordinate of the principal point More...

double	get_skew () const
	returns the skew in radian More...

double	get_aspect_ratio () const
	returns the aspect ratio More...

double	get_world_scale () const
	returns the world scale More...

void	set_world_origin (const kjb::Vector &origin)
	This returns a 3X4 camera matrix, built from the intrinsic and extrinsic parameters. More...

virtual void	set_camera_centre (const kjb::Vector &icentre)
	sets the camera centre More...

virtual void	set_camera_centre (unsigned int index, double ivalue)
	sets the coordinate of the camera centre specified by the input index More...

virtual void	set_camera_centre_x (double ix)
	sets the x-coordinate of the camera centre More...

virtual void	set_camera_centre_y (double iy)
	sets the y-coordinate of the camera centre More...

virtual void	set_camera_centre_z (double iz)
	sets the y-coordinate of the camera centre More...

virtual void	set_pitch (double ipitch)
	sets the pitch angle in radian More...

virtual void	set_yaw (double iyaw)
	sets the yaw angle in radian More...

virtual void	set_roll (double iroll)
	sets the roll angle in radian More...

virtual void	rotate_around_x_axis (double theta)
	rotates the camera around its x-axis More...

virtual void	rotate_around_y_axis (double theta)
	rotates the camera around its x-axis More...

virtual void	rotate_around_z_axis (double theta)
	rotates the camera around its x-axis More...

virtual void	rotate_around_camera_axes (double thetax, double thetay, double thetaz)
	rotates the camera around its x,y,z axes in this order More...

virtual void	set_rotation_angles (double ipitch, double iyaw, double iroll)
	sets pitch, yaw and roll for this camera, in radian More...

virtual void	set_focal_length (double ifocal)
	sets the focal length More...

virtual void	update_focal_with_scale (double ifocal)

virtual void	set_principal_point (const kjb::Vector &ip)
	sets the principal point More...

virtual void	set_principal_point (unsigned int index, double ip)
	sets the coordinate of the principal point specified by the input index More...

virtual void	set_principal_point_x (double ix)
	sets the x-coordinate of the principal point More...

virtual void	set_principal_point_y (double iy)
	sets the y-coordinate of the principal point More...

virtual void	set_skew (double is)
	sets the skew angle More...

virtual void	set_aspect_ratio (double iar)
	sets the aspect ratio More...

virtual void	set_world_scale (double iscale)
	sets the world scale More...

virtual void	set_look_at (double deyex, double deyey, double deyez, double dlookx, double dlooky, double dlookz, double dupx, double dupy, double dupz)
	sets the position and orientation with the semantics similar to gluLookAt More...

virtual void	set_look_at (const kjb::Vector &eye, const kjb::Vector &look, const kjb::Vector &up)
	sets the position and orientation with the semantics similar to gluLookAt in a more convenient form More...

virtual void	translate (double dx, double dy, double dz, unsigned int frame=FRAME_CAMERA_WORLD_COORDINATES)

virtual void	prepare_for_rendering (bool clean_buffers) const

const Matrix &	get_modelview_matrix () const

const Matrix &	get_projection_matrix () const

Matrix	get_gl_projection_matrix () const

void	mult_projection_matrix () const

void	mult_modelview_matrix () const

virtual Parametric_camera_gl_interface &	get_rendering_interface () const

void	set_rotation_mode (kjb::Quaternion::Euler_mode imode)

virtual void	set_angles_from_quaternion (const kjb::Quaternion &q)
	sets the rotation angles from an input quaternion More...

const kjb::Quaternion &	get_rotations_as_a_quaternion () const
	returns the rotations of this camera as a quaternion More...

const kjb::Quaternion &	get_orientation () const
	Alias of get_angles_as_a_quaternion() More...

void	rotate_point_to_camera_frame (kjb::Vector &ipoint)
	Rotates the input point into the camera coordinate system. More...

void	get_point_in_world_coordinates (const kjb::Vector &point_in_camera_coordinates, kjb::Vector &point_in_world_coordinates) const
	Given a point in camera coordinates, it converts it to world coordinates. More...

bool	is_point_in_camera_frustum (const kjb::Vector &point_in_world_coordinates, double &x_, double &y_, unsigned int num_image_rows, unsigned int num_image_cols) const
	Given a point in world coordinates, it returns true if the point is in the viewing frustum, false otherwise. Notice that the OpenGL context will be set in this function, since it is needed for the computation. More...

void	get_point_in_camera_coordinates (kjb::Vector &io_point) const
	Given a point in world coordinates, it converts it to camera coordinates. More...

void	compute_new_euler_angles_on_rotations (double dpitch, double dyaw, double droll)

const Matrix &	get_camera_matrix () const

const Matrix &	build_camera_matrix () const

Vector	to_camera_coordinates (const Vector &v) const

Public Member Functions inherited from kjb::Cloneable
virtual	~Cloneable ()
	Deletes this Cloneable. More...

Public Member Functions inherited from kjb::Readable
virtual	~Readable ()
	Deletes this Readable. More...

Public Member Functions inherited from kjb::Writeable
virtual	~Writeable ()
	Deletes this Writeable. More...

Additional Inherited Members
Static Public Member Functions inherited from kjb::Readable
static const char *	read_field_value (std::istream &in, const char field_name, char field_buf, size_t buf_len, char separator=':')
	Reads a line off in into a buffer and returns a pointer to the field value in the buffer. More...

static const char *	read_field_value (std::istream &in, const char *field_name, char separator=':')
	Reads a line off in into an internal buffer and returns a pointer to the field value in the buffer. More...

Protected Attributes inherited from kjb::Perspective_camera
Parametric_camera_gl_interface	rendering_interface

bool	intrinsic_dirty

bool	extrinsic_dirty

bool	cam_matrix_dirty

Matrix	m_camera_matrix

Detailed Description

A perspective camera whose parameters are defined by a camera calibration matrix.

Author: Kyle Simek

Constructor & Destructor Documentation

kjb::Calibrated_camera::Calibrated_camera	(	double	near = `10`,
		double	far = `10000`
	)

inline

kjb::Calibrated_camera::Calibrated_camera	(	const Matrix &	camera_matrix,
		Calibration_descriptor	cal,
		double	near = `10`,
		double	far = `10000`
	)

inline

kjb::Calibrated_camera::Calibrated_camera ( const Self & other )

inline

Member Function Documentation

virtual Self* kjb::Calibrated_camera::clone ( ) const

inlinevirtual

Virtual copy contructor

Reimplemented from kjb::Perspective_camera.

const Quaternion& kjb::Calibrated_camera::get_orientation ( ) const

inline

void kjb::Calibrated_camera::initialize	(	const Matrix &	intrinsic,
		Matrix	rotation,
		Vector	translation
	)

inline

Precondition: intrinsic, rotation and translation are in "Standard" form, as defined in the documentation of kjb::standardize_camera_matrices.

virtual Self& kjb::Calibrated_camera::operator= ( const Self & other )

inlinevirtual

void kjb::Calibrated_camera::set_orientation ( const Quaternion & q )

inlinevirtual

Alias of set_angles_from_quaternion()

Reimplemented from kjb::Perspective_camera.

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

/work/kobus/src/lib/camera_cpp/calibrated_camera.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation