mf::depth_camera Class Reference

Camera which maps 3D coordinates of point to depth value in addition to the 2D image coordinates. More...

#include <depth_camera.h>

Inheritance diagram for mf::depth_camera:

Public Member Functions
virtual real	depth (const Eigen_vec3 &p) const =0
virtual real	depth (const spherical_coordinates &sp) const
virtual Eigen_vec3	point (const image_coordinates_type &c, real depth) const =0
Public Member Functions inherited from mf::camera
	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

Additional Inherited Members
Public Types inherited from mf::camera
using	image_coordinates_type = Eigen_vec2
	2D image coordinates, range and scale defined by subclass. More...
Protected Member Functions inherited from mf::camera
	camera ()=default
	camera (const pose &)
Protected Member Functions inherited from mf::space_object
virtual void	do_update_pose ()

Detailed Description

Camera which maps 3D coordinates of point to depth value in addition to the 2D image coordinates.

Member Function Documentation

virtual real mf::depth_camera::depth ( const Eigen_vec3 &  p ) const

pure virtual

Implemented in mf::projection_camera.

virtual real mf::depth_camera::depth ( const spherical_coordinates &  sp ) const

inlinevirtual

virtual Eigen_vec3 mf::depth_camera::point ( const image_coordinates_type &  c, real  depth  ) const

pure virtual

Implemented in mf::projection_camera.

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

• src/camera/depth_camera.h