#include <turntable_camera.h>

Public Member Functions
	Turntable_camera ()

	Turntable_camera (const Perspective_camera &cam, const Vector &rotation_axis, const Vector &turntable_origin, int num_positions, bool clockwise=true)

template<typename Iterator >
	Turntable_camera (const Perspective_camera &cam, const Vector &rotation_axis, const Vector &turntable_origin, Iterator angles_begin, Iterator angles_end)

	Turntable_camera (const Turntable_camera &other)

Turntable_camera &	operator= (const Turntable_camera &other)

virtual void	swap (Turntable_camera &other)

const Vector &	get_principal_point () const

void	set_principal_point (const Vector &pt)

void	set_active_camera (size_t i) const

void	set_next ()

void	set_previous ()

void	pass_to_opengl (bool clean_buffers=false) const

const Perspective_camera &	get_neutral_camera () const

const Vector &	get_origin () const

const Vector &	get_rotation_axis () const

const std::vector< double > &	get_angles () const

size_t	get_current_index () const

const Perspective_camera &	get_current_camera () const

size_t	size () const

const std::vector< size_t > &	index_list ()

void	set_index_list (const Index_range &indices)
	If not all angles should be used, use this to specify the indices of angles to use. More...

void	evenly_space_cameras (size_t n)

virtual const Perspective_camera	operator[] (int i) const

std::vector< Perspective_camera >	to_cameras () const

Detailed Description

A class representing a collection of cameras, oriented in a turntable-style configuration.

This class is based on a set of assumptions that are true in turntable scenarios:

 * All cameras have same intrinsic parameters
 * All cameras positions are related by pure rotation around the same axis.
 * All camera orientations are related by rotation around the same axis.

This could also apply to a robot turning an object in it's hand.

Author: Kyle Simek

Constructor & Destructor Documentation

kjb::Turntable_camera::Turntable_camera ( )

Create a null Turntable camera. Attempting to use this camera as-is will result in an abort (in DEVELOPMENT mode) or undefined behavior (in PRODUCTION mode). As such, it must be initialized to a valid camera using the assignment operator before using.

kjb::Turntable_camera::Turntable_camera	(	const Perspective_camera &	cam,
		const Vector &	rotation_axis,
		const Vector &	turntable_origin,
		int	num_positions,
		bool	clockwise = `true`
	)

Create a turntable camera assuming equal spacing of cameras.

The "Neutral" camera, i.e. camera at position 0 A direction vector representing the turntable's rotation axis. A position vector representing the turntable's origin, i.e. the center of rotation. This can be any point lying on the rotation line. The number of positions where images were captured, a.k.a "number of cameras". This number of cameras will be evenly spaced around the 390 degree circle. Whether or not turntable rotation is clockwise. Clockwise-ness is determined by looking in the direction of the rotation axis. Flipping the direction of the rotation axis will require flipping the clockwise boolean.

Precondition: rotation_axis.size() == turntable_origin.size() == 3

template<typename Iterator >

kjb::Turntable_camera::Turntable_camera	(	const Perspective_camera &	cam,
		const Vector &	rotation_axis,
		const Vector &	turntable_origin,
		Iterator	angles_begin,
		Iterator	angles_end
	)

inline

Create a turntable camera from an arbitrary collection of angles. Angles are relative to the rotation axis direction, following a right-handed convention; i.e. positive angles correspond to counter-clockwise rotation when looking in the direction of the axis vector.

The call below will create a configuration with the world origin coinciding with the turntable origin; the turntable axis pointing upward; using the angles stored in the collection "angles":

Perspective_camera cam0;
cam0.set_intrinsic_parameters(...);
cam0.set_camera_centre(...);
cam0.set_orientation(Quaternion(...));
Vector angles(4);
angles[0] = 0.0;
angles[1] = M_PI / 2; 
angles[2] = 2 * M_PI / 2;
angles[3] = 3 * M_PI / 2;
Turntable_camera my_camera(
    cam0,
    Vector(0.0,0.0,1.0),
    Vector(3, 0.0),
    angles.begin(),
    angles.end();

Parameters

cam	The "Neutral" camera, i.e. camera at position 0
rotation_axis	A direction vector representing the turntable's rotation axis.
turntable_origin	A position vector representing the turntable's origin, i.e. the center of rotation. This can be any point lying on the rotation line.
angles_begin	An iterator representing the beginning of a sequence of angles.
angles_end	An iterator representing one-past-the-end of a sequence of angles.

Precondition: rotation_axis.size() == turntable_origin.size() == 3

kjb::Turntable_camera::Turntable_camera ( const Turntable_camera & other )

Standard copy constructor.

Member Function Documentation

void kjb::Turntable_camera::evenly_space_cameras ( size_t n )

const std::vector<double>& kjb::Turntable_camera::get_angles ( ) const

inline

const Perspective_camera& kjb::Turntable_camera::get_current_camera ( ) const

inline

size_t kjb::Turntable_camera::get_current_index ( ) const

inline

const Perspective_camera& kjb::Turntable_camera::get_neutral_camera ( ) const

inline

Returns the neutral camera, a.k.a. camera 0

const Vector& kjb::Turntable_camera::get_origin ( ) const

inline

const Vector& kjb::Turntable_camera::get_principal_point ( ) const

inline

Returns the principal point of the camera. Same for all cameras.

const Vector& kjb::Turntable_camera::get_rotation_axis ( ) const

inline

const std::vector<size_t>& kjb::Turntable_camera::index_list ( )

inline

Turntable_camera& kjb::Turntable_camera::operator= ( const Turntable_camera & other )

inline

Simple assignment

const Perspective_camera kjb::Turntable_camera::operator[] ( int i ) const

virtual

void kjb::Turntable_camera::pass_to_opengl ( bool clean_buffers = false ) const

inline

Send modelview and projection matrices to opengl corresponding to the active camera's extrinsic and intrinsic parameters.

Exceptions

Missing_dependency if code was compiled without OpenGL.

Precondition: Object is not a null camera

void kjb::Turntable_camera::set_active_camera ( size_t i ) const

Set the i-th camera to be active.

Precondition: This camera has been initialized (is not a Default-constructed camera).; This camera has at least one angle.

Exceptions

Index_out_of_bounds if i exceeds the number of turntable angles.

void kjb::Turntable_camera::set_index_list ( const Index_range & indices )

If not all angles should be used, use this to specify the indices of angles to use.

void kjb::Turntable_camera::set_next ( )

Set the next camera to be active, or if the last camera is active, activate the first camera.

Precondition: Object is not a null camera.

void kjb::Turntable_camera::set_previous ( )

Set the previous camera to be active, or if the first camera is active, activate the last camera.

Precondition: Object is not a null camera.

void kjb::Turntable_camera::set_principal_point ( const Vector & pt )

inline

Set the principal point of all cameras.

size_t kjb::Turntable_camera::size ( ) const

inline

void kjb::Turntable_camera::swap ( Turntable_camera & other )

virtual

Swap state with another Turntable_camera. Running time is O(c).

std::vector< Perspective_camera > kjb::Turntable_camera::to_cameras ( ) const

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

/work/kobus/src/lib/camera_cpp/turntable_camera.h
/work/kobus/src/lib/camera_cpp/turntable_camera.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation