Camera which defines mapping from 3D spatial coordinates to 2D image coordinates. More...

#include <camera.h>

Inheritance diagram for mf::camera:

Public Types
using	image_coordinates_type = Eigen_vec2
	2D image coordinates, range and scale defined by subclass. More...

Public Member Functions
	camera (const camera &)=default

camera &	operator= (const camera &)=default

virtual	~camera ()=default

Eigen_affine3	view_transformation () const
	Extrinsic parameters of camera. More...

Eigen_vec3	center_ray_direction () const
	Direction vector of ray -Z pointing straight out camera. More...

Eigen_vec3	ray_direction (const spherical_coordinates &sp) const
	Direction vector of ray pointing to point with spherical coordinates sp. More...

Eigen_vec3	ray_direction (const Eigen_vec3 &p) const
	Direction vector of ray pointing to point p. More...

float	distance_sq (const Eigen_vec3 &p) const
	Squared distance of 3D point p to camera center. More...

float	distance (const Eigen_vec3 &p) const
	Distance of 3D point p to camera center. More...

spherical_coordinates	to_spherical (const Eigen_vec3 &p) const
	Convert 3D point cartesian coordinates p to spherical. More...

Eigen_vec3	point (const spherical_coordinates &sp) const
	Convert 3D point spherical coordinates sp to cartesian. More...

virtual image_coordinates_type	project (const Eigen_vec3 &p) const =0
	Project point p to image coordinates. More...

virtual image_coordinates_type	project (const spherical_coordinates &sp) const
	Project point with spherical coordinates sp to image coordinates. More...

virtual Eigen_vec3	ray_direction (const image_coordinates_type &c) const =0
	Direction vector of ray pointing to point corresponding to image coordinates c. More...

Public Member Functions inherited from mf::space_object
	space_object (const pose &=pose())

	space_object (const pose &, space_object &par)

	space_object (const space_object &)

space_object &	operator= (const space_object &)

virtual	~space_object ()

bool	has_parent_space_object () const

const space_object &	parent_space_object () const

space_object &	parent_space_object ()

const pose &	relative_pose () const

pose	absolute_pose () const

void	set_relative_pose (const pose &)

void	set_no_relative_pose ()

Eigen_affine3	transformation_from (const space_object &) const

Eigen_affine3	transformation_to (const space_object &) const

void	set_parent (space_object &, const pose &new_relative_pose=pose())

void	set_no_parent (const pose &new_pose=pose())

void	make_sibling (const space_object &, const pose &new_pose=pose())

template<typename Transformation >
void	transform (const Transformation &t)

template<typename Transformation >
void	transform (const Transformation &rt, const space_object &relative_to)

void	move (const Eigen_vec3 &t)

void	move (float x, float y, float z)

void	move_x (float x)

void	move_y (float y)

void	move_z (float z)

void	rotate_x_axis (angle a, const Eigen_vec3 &c=Eigen_vec3::Zero())

void	rotate_y_axis (angle a, const Eigen_vec3 &c=Eigen_vec3::Zero())

void	rotate_z_axis (angle a, const Eigen_vec3 &c=Eigen_vec3::Zero())

void	look_at (const space_object &)

virtual bounding_box	box () const

Protected Member Functions
	camera ()=default

	camera (const pose &)

Protected Member Functions inherited from mf::space_object
virtual void	do_update_pose ()

Detailed Description

Camera which defines mapping from 3D spatial coordinates to 2D image coordinates.

Inherited space object pose defines extrinsic camera parameters. Camera points in -Z or +Z direction in its coordinate system. 3D points taken as function arguments are always in coordinate system of parent space object.

Member Typedef Documentation

using mf::camera::image_coordinates_type = Eigen_vec2

2D image coordinates, range and scale defined by subclass.

Constructor & Destructor Documentation

mf::camera::camera ( )

protecteddefault

mf::camera::camera ( const pose & ps )

explicitprotected

mf::camera::camera ( const camera & )

default

virtual mf::camera::~camera ( )

virtualdefault

Member Function Documentation

Eigen_vec3 mf::camera::center_ray_direction ( ) const

inline

Direction vector of ray -Z pointing straight out camera.

Relative to parent space object coordinate system.

float mf::camera::distance ( const Eigen_vec3 & p ) const

Distance of 3D point p to camera center.

float mf::camera::distance_sq ( const Eigen_vec3 & p ) const

Squared distance of 3D point p to camera center.

camera& mf::camera::operator= ( const camera & )

default

Eigen_vec3 mf::camera::point ( const spherical_coordinates & sp ) const

Convert 3D point spherical coordinates sp to cartesian.

virtual image_coordinates_type mf::camera::project ( const Eigen_vec3 & p ) const

pure virtual

Project point p to image coordinates.

Implemented by subclass.

Implemented in mf::projection_camera.

virtual image_coordinates_type mf::camera::project ( const spherical_coordinates & sp ) const

inlinevirtual

Project point with spherical coordinates sp to image coordinates.

Subclass may implemented more efficient version.

Eigen_vec3 mf::camera::ray_direction ( const spherical_coordinates & sp ) const

inline

Direction vector of ray pointing to point with spherical coordinates sp.

Eigen_vec3 mf::camera::ray_direction ( const Eigen_vec3 & p ) const

Direction vector of ray pointing to point p.

virtual Eigen_vec3 mf::camera::ray_direction ( const image_coordinates_type & c ) const

pure virtual

Direction vector of ray pointing to point corresponding to image coordinates c.

Implemented by subclass.

Implemented in mf::projection_camera.

spherical_coordinates mf::camera::to_spherical ( const Eigen_vec3 & p ) const

Convert 3D point cartesian coordinates p to spherical.

Eigen_affine3 mf::camera::view_transformation ( ) const

Extrinsic parameters of camera.

Transformation from parent space object coordinate system to coordinate system of the camera.

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

src/camera/camera.h
src/camera/camera.cc

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation