Pin-hole camera with projection to a planar image space. More...

#include <projection_camera.h>

Inheritance diagram for mf::projection_camera:

Classes
struct	image_parameters

Public Member Functions
	projection_camera (const pose &, const projection_view_frustum &, const image_parameters &)

	projection_camera (const pose &, const Eigen_mat3 &intrinsic, const depth_projection_parameters &, const ndsize< 2 > &)

	projection_camera (const projection_camera &)=default

projection_camera &	operator= (const projection_camera &)=default

const projection_view_frustum &	relative_frustum () const

const depth_projection_parameters &	depth_parameters () const

image_coordinates_type	project (const Eigen_vec3 &p) const override
	Project point p to image coordinates. More...

real	depth (const Eigen_vec3 &p) const override

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

Eigen_vec3	point (const image_coordinates_type &c, real depth) const override

Public Member Functions inherited from mf::depth_camera
virtual real	depth (const spherical_coordinates &sp) const

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 spherical_coordinates &sp) const
	Project point with spherical coordinates sp to image coordinates. 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
void	do_update_pose () override

Protected Member Functions inherited from mf::camera
	camera ()=default

	camera (const pose &)

Friends
Eigen_projective3	homography_transformation (const projection_camera &from, const projection_camera &to)

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...

Detailed Description

Pin-hole camera with projection to a planar image space.

Defined using projection_view_frustum. Image coordinates for points within frustum are in range [-1, +1].

Constructor & Destructor Documentation

mf::projection_camera::projection_camera	(	const pose &	ps,
		const projection_view_frustum &	fr,
		const image_parameters &	ipar
	)

mf::projection_camera::projection_camera	(	const pose &	ps,
		const Eigen_mat3 &	intrinsic,
		const depth_projection_parameters &	dpar,
		const ndsize< 2 > &	img_sz
	)

mf::projection_camera::projection_camera ( const projection_camera & )

default

Member Function Documentation

real mf::projection_camera::depth ( const Eigen_vec3 & p ) const

inlineoverridevirtual

Implements mf::depth_camera.

const depth_projection_parameters& mf::projection_camera::depth_parameters ( ) const

inline

void mf::projection_camera::do_update_pose ( )

overrideprotectedvirtual

Reimplemented from mf::space_object.

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

default

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

inlineoverridevirtual

Implements mf::depth_camera.

image_coordinates_type mf::projection_camera::project ( const Eigen_vec3 & p ) const

inlineoverridevirtual

Project point p to image coordinates.

Implemented by subclass.

Implements mf::camera.

Eigen_vec3 mf::projection_camera::ray_direction ( const image_coordinates_type & c ) const

inlineoverridevirtual

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

Implemented by subclass.

Implements mf::camera.

const projection_view_frustum& mf::projection_camera::relative_frustum ( ) const

inline

Friends And Related Function Documentation

Eigen_projective3 homography_transformation	(	const projection_camera &	from,
		const projection_camera &	to
	)

friend

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

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

Classes

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation