This class represents a calibrated camera.The camera space is right-handed, i.e.: x -> points right y -> points up z -> points away through screen. More...
#include <camera.h>
Public Member Functions | |
| PerspectiveProjection () | |
| PerspectiveProjection (int w, int h, double f, double g, double cx, double, double s=0) | |
| void | set (int w, int h, double f, double g, double cx, double cy, double s=0) |
| void | eyeToImage (const double eye[3], double uv[2]) const |
| void | imageToEye (const double uv[2], double eye[3], double w=0) const |
| void | imageToEye (double u, double v, double eye[3], double w=0) const |
| void | setGlProjection () const |
| bool | setPlanes (double near, double far) |
| bool | getUndistortMap (CvMat *xmap, CvMat *ymap) |
| void | cmpEyeToImageMat () |
| void | flip () |
Public Attributes | |
| double | f |
| double | g |
| double | cx |
| double | cy |
| double | s |
| double | distortion |
| Mat3x3 | eyeToImageMat |
| int | width |
| int | height |
| double | farPlane |
| double | nearPlane |
Detailed Description
This class represents a calibrated camera.
The camera space is right-handed, i.e.: x -> points right y -> points up z -> points away through screen.
The image space origin is bottom-left, and the y axis points up.
For square pixels s should be 0 and f==g.
Projection equation of the 3D point P:
![\[u = \frac{(f * Px + s * Py)}{Pz + cx}\]](form_0.png)
![\[v = \frac{g * Py}{Pz + cy}\]](form_1.png)
Constructor & Destructor Documentation
| PerspectiveProjection::PerspectiveProjection | ( | ) |
Definition at line 32 of file camera.cpp.
| PerspectiveProjection::PerspectiveProjection | ( | int | w, |
| int | h, | ||
| double | f, | ||
| double | g, | ||
| double | cx, | ||
| double | cy, | ||
| double | s = 0 |
||
| ) |
Definition at line 37 of file camera.cpp.
Member Function Documentation
| void PerspectiveProjection::cmpEyeToImageMat | ( | ) |
Definition at line 147 of file camera.cpp.
| void PerspectiveProjection::eyeToImage | ( | const double | eye[3], |
| double | uv[2] | ||
| ) | const |
Project eye coordinates to image coordinates. uv[0] is the horizontal axis (left -> right) and uv[1] is the vertical axis, pointing up.
Definition at line 78 of file camera.cpp.
| void PerspectiveProjection::flip | ( | ) |
Inverse V axis (projected image upside/down)
- Examples:
- multigl.cpp.
Definition at line 162 of file camera.cpp.
Referenced by photo_draw().
| bool PerspectiveProjection::getUndistortMap | ( | CvMat * | xmap, |
| CvMat * | ymap | ||
| ) |
Definition at line 169 of file camera.cpp.
| void PerspectiveProjection::imageToEye | ( | const double | uv[2], |
| double | eye[3], | ||
| double | w = 0 |
||
| ) | const |
Definition at line 103 of file camera.cpp.
| void PerspectiveProjection::imageToEye | ( | double | u, |
| double | v, | ||
| double | eye[3], | ||
| double | w = 0 |
||
| ) | const |
Find the 3D eye coordinate of a given pixel. u is the horizontal axis (left -> right) and v is the vertical axis, pointing up.
Definition at line 88 of file camera.cpp.
| void PerspectiveProjection::set | ( | int | w, |
| int | h, | ||
| double | f, | ||
| double | g, | ||
| double | cx, | ||
| double | cy, | ||
| double | s = 0 |
||
| ) |
Definition at line 42 of file camera.cpp.
| void PerspectiveProjection::setGlProjection | ( | ) | const |
This will produce the exact same projection in the case s=0. Otherwise, there might be some clipping problems.
The trick is to remember that OpenGL has a negative Z projection. You should glScale(1,1,-1); if you use positive Z.
OpenGl, after projection, clips coordinates to [-1, 1] on all axis. It is converted then to window coordinates.
- Examples:
- multigl.cpp.
Definition at line 118 of file camera.cpp.
Referenced by photo_draw().
| bool PerspectiveProjection::setPlanes | ( | double | nearPlane, |
| double | farPlane | ||
| ) |
Set near and far clipping planes. Both values have to be positive. Far should also be larger than near. If the values are incorrect, the near and far are not modified.
- Returns
- true if near and far are valid and accepted, false otherwise.
- Examples:
- multigl.cpp.
Definition at line 63 of file camera.cpp.
Referenced by photo_draw().
Member Data Documentation
| double PerspectiveProjection::cx |
Definition at line 43 of file camera.h.
Referenced by operator<<().
| double PerspectiveProjection::cy |
Definition at line 43 of file camera.h.
Referenced by operator<<().
| double PerspectiveProjection::f |
Definition at line 43 of file camera.h.
Referenced by operator<<().
| double PerspectiveProjection::farPlane |
Definition at line 47 of file camera.h.
Referenced by operator<<().
| double PerspectiveProjection::g |
Definition at line 43 of file camera.h.
Referenced by operator<<().
| int PerspectiveProjection::height |
Definition at line 46 of file camera.h.
Referenced by operator<<().
| double PerspectiveProjection::nearPlane |
Definition at line 47 of file camera.h.
Referenced by operator<<().
| double PerspectiveProjection::s |
Definition at line 43 of file camera.h.
Referenced by operator<<().
| int PerspectiveProjection::width |
Definition at line 46 of file camera.h.
Referenced by operator<<().
The documentation for this class was generated from the following files:
- /home/adrien/Téléchargements/bazar/bazar-1.3.1/garfeild/calib/camera.h
- /home/adrien/Téléchargements/bazar/bazar-1.3.1/garfeild/calib/camera.cpp
