Pin-hole camera with mapping onto image pixel coordinates. More...

#include <projection_image_camera.h>

Inheritance diagram for mf::projection_image_camera< Depth >:

Public Member Functions
	projection_image_camera (const projection_camera &cam, ndsize< 2 > sz)

	projection_image_camera (const projection_image_camera &)=default

projection_image_camera &	operator= (const projection_image_camera &)=default

Public Member Functions inherited from mf::projection_camera
	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

Public Member Functions inherited from mf::depth_image_camera< Depth >
	depth_image_camera ()=default

	depth_image_camera (const ndsize< 2 > &image_size, real origin, real range)

bool	in_depth_bounds (real d) const
	Verifies whether d is in bounds of valid depth values. More...

pixel_depth_type	to_pixel_depth (real d) const
	Map depth value to pixel depth value. More...

pixel_depth_type	to_pixel_depth_clamp (real d) const
	Map depth value to pixel depth value, and clamp to bounds. More...

real	to_depth (pixel_depth_type pixd) const
	Map pixel depth value to depth value in range defined by depth projection parameter. More...

Public Member Functions inherited from mf::image_camera
	image_camera (const image_camera &)=default

real	image_aspect_ratio () const

const ndsize< 2 > &	image_size () const

std::size_t	image_number_of_pixels () const

bool	pixel_coordinates_flipped () const

void	flip_pixel_coordinates ()

void	set_image_width (std::size_t)
	Set image width, and adjust height to keep same aspect ratio. More...

void	set_image_height (std::size_t)
	Set image height, and adjust width to keep same aspect ratio. More...

ndspan< 2 >	image_span () const

image_coordinates_type	to_image (pixel_coordinates_type pix) const

pixel_coordinates_type	to_pixel (image_coordinates_type im) 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...

Public Types inherited from mf::depth_image_camera< Depth >
using	pixel_depth_type = Depth
	Pixel depth value integer type. More...

Public Types inherited from mf::image_camera
using	pixel_coordinates_type = ndptrdiff< 2 >

using	image_coordinates_type = typename camera::image_coordinates_type

Protected Member Functions inherited from mf::projection_camera
void	do_update_pose () override

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

	camera (const pose &)

Protected Member Functions inherited from mf::image_camera
	image_camera (const ndsize< 2 > &)

Detailed Description

template<typename Depth>
class mf::projection_image_camera< Depth >

Pin-hole camera with mapping onto image pixel coordinates.

Constructor & Destructor Documentation

template<typename Depth >

mf::projection_image_camera< Depth >::projection_image_camera	(	const projection_camera &	cam,
		ndsize< 2 >	sz
	)

template<typename Depth >

mf::projection_image_camera< Depth >::projection_image_camera ( const projection_image_camera< Depth > & )

default

Member Function Documentation

template<typename Depth >

projection_image_camera& mf::projection_image_camera< Depth >::operator= ( const projection_image_camera< Depth > & )

default

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

src/camera/projection_image_camera.h
src/camera/projection_image_camera.tcc

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename Depth> class mf::projection_image_camera< Depth >

Constructor & Destructor Documentation

Member Function Documentation

template<typename Depth>
class mf::projection_image_camera< Depth >