#include <vpgl_affine_camera.h>
Public Member Functions | |
| vpgl_affine_camera () | |
| Default constructor creates the canonical affine camera. More... | |
| vpgl_affine_camera (const vnl_vector_fixed< T, 4 > &row1, const vnl_vector_fixed< T, 4 > &row2) | |
| Construct from the first two rows. More... | |
| vpgl_affine_camera (const vnl_matrix_fixed< T, 3, 4 > &camera_matrix) | |
| Construct from a 3x4 matrix, sets the last row to 0001. More... | |
| vpgl_affine_camera (vgl_vector_3d< T > ray, vgl_vector_3d< T > up, vgl_point_3d< T > stare_pt, T u0, T v0, T su, T sv) | |
| Construct from a ray direction, up vector, 3-d stare point: vgl interface. More... | |
| vpgl_affine_camera (vnl_vector_fixed< T, 3 > ray, vnl_vector_fixed< T, 3 > up, vnl_vector_fixed< T, 3 > stare_pt, T u0, T v0, T su, T sv) | |
| Construct from a ray direction, up vector, 3-d stare point: vnl interface. More... | |
| bool | set_matrix (const vnl_matrix_fixed< T, 3, 4 > &new_camera_matrix) override |
| Setters mirror the constructors and return true if the setting was successful. More... | |
| bool | set_matrix (const T *new_camera_matrix) override |
| std::string | type_name () const override |
| class identity functions for casting. More... | |
| void | set_rows (const vnl_vector_fixed< T, 4 > &row1, const vnl_vector_fixed< T, 4 > &row2) |
| Set the top two rows. More... | |
| void | set_viewing_distance (T dist) |
| set a finite viewing distance to allow the methods below to return finite objects. More... | |
| T | viewing_distance () const |
| void | orient_ray_direction (vgl_vector_3d< T > const &look_dir) |
| flip the ray direction so that dot product with look_dir is positive. More... | |
| bool | operator== (vpgl_affine_camera< T > const &that) const |
| Equality test. More... | |
| vgl_homg_point_3d< T > | camera_center () const override |
| Find the 3d coordinates of the center of the camera. Will be an ideal point with the sense of the ray direction. More... | |
| vgl_homg_line_3d_2_points< T > | backproject (const vgl_homg_point_2d< T > &image_point) const override |
| Find the 3d ray that goes through the camera center. More... | |
| vgl_ray_3d< T > | backproject_ray (const vgl_homg_point_2d< T > &image_point) const override |
| Find the 3d ray that goes through the camera center and the provided image point. More... | |
| vgl_homg_plane_3d< T > | principal_plane () const override |
| Find the world plane perpendicular to the camera rays at viewing distance from the origin. More... | |
| vpgl_affine_camera< T > * | clone (void) const override |
| Clone ‘this’: creation of a new object and initialization. More... | |
| bool | operator== (vpgl_proj_camera< T > const &that) const |
| Equality test. More... | |
| void | project (const T x, const T y, const T z, T &u, T &v) const override |
| Projection from base class. More... | |
| virtual vgl_homg_point_2d< T > | project (const vgl_homg_point_3d< T > &world_point) const |
| Project a point in world coordinates onto the image plane. More... | |
| vgl_homg_point_2d< T > | project (const vgl_point_3d< T > &world_point) const |
| Non-homogeneous version of the above. More... | |
| vgl_line_segment_2d< T > | project (const vgl_line_segment_3d< T > &world_line) const |
| Project a line in the world onto a line in the image plane. More... | |
| vgl_line_2d< T > | project (const vgl_infinite_line_3d< T > &world_line) const |
| Project an infinite line in the world onto an infinite line in the image plane. More... | |
| vgl_homg_point_2d< T > | operator() (const vgl_homg_point_3d< T > &world_point) const |
| A shortcut to the above function. More... | |
| vgl_line_segment_2d< T > | operator() (const vgl_line_segment_3d< T > &world_line) const |
| Standard () forward projection operator. More... | |
| vgl_line_2d< T > | operator() (const vgl_infinite_line_3d< T > &world_line) const |
| Standard () forward projection operator. More... | |
| vgl_homg_plane_3d< T > | backproject (const vgl_homg_line_2d< T > &image_line) const |
| Find the 3d plane that contains the camera center and the provided line in the image plane. More... | |
| vgl_homg_point_2d< T > | x_vanishing_point () const |
| Find the image coordinates of the vanishing points of the world coordinate axes. More... | |
| vgl_homg_point_2d< T > | y_vanishing_point () const |
| vgl_homg_point_2d< T > | z_vanishing_point () const |
| const vnl_matrix_fixed< T, 3, 4 > & | get_matrix () const |
| Return a copy of the camera matrix. More... | |
| vnl_svd< T > * | svd () const |
| Get a copy of the svd of the get_matrix. More... | |
| virtual void | save (std::string cam_path) |
| Save in ascii format. More... | |
| std::string | is_a () const |
| bool | is_class (std::string const &name) const |
| void | ref () |
| void | unref () |
| long | get_references () const |
| bool | is_referenced () const |
Private Attributes | |
| T | view_distance_ |
| vgl_vector_3d< T > | ray_dir_ |
Detailed Description
template<class T>
class vpgl_affine_camera< T >
Definition at line 24 of file vpgl_affine_camera.h.
Constructor & Destructor Documentation
◆ vpgl_affine_camera() [1/5]
| vpgl_affine_camera< T >::vpgl_affine_camera | ( | ) |
Default constructor creates the canonical affine camera.
Definition at line 21 of file vpgl_affine_camera.hxx.
◆ vpgl_affine_camera() [2/5]
| vpgl_affine_camera< T >::vpgl_affine_camera | ( | const vnl_vector_fixed< T, 4 > & | row1, |
| const vnl_vector_fixed< T, 4 > & | row2 | ||
| ) |
Construct from the first two rows.
Definition at line 32 of file vpgl_affine_camera.hxx.
◆ vpgl_affine_camera() [3/5]
| vpgl_affine_camera< T >::vpgl_affine_camera | ( | const vnl_matrix_fixed< T, 3, 4 > & | camera_matrix | ) |
Construct from a 3x4 matrix, sets the last row to 0001.
The bottom right entry had better not be 0.
Definition at line 42 of file vpgl_affine_camera.hxx.
◆ vpgl_affine_camera() [4/5]
| vpgl_affine_camera< T >::vpgl_affine_camera | ( | vgl_vector_3d< T > | ray, |
| vgl_vector_3d< T > | up, | ||
| vgl_point_3d< T > | stare_pt, | ||
| T | u0, | ||
| T | v0, | ||
| T | su, | ||
| T | sv | ||
| ) |
Construct from a ray direction, up vector, 3-d stare point: vgl interface.
p projects to (u0, v0), su and sv are calibration scale factors
Definition at line 57 of file vpgl_affine_camera.hxx.
◆ vpgl_affine_camera() [5/5]
|
inline |
Construct from a ray direction, up vector, 3-d stare point: vnl interface.
p projects to (u0, v0), su and sv are calibration scale factors
Definition at line 46 of file vpgl_affine_camera.h.
Member Function Documentation
◆ backproject() [1/2]
|
overridevirtual |
Find the 3d ray that goes through the camera center.
Find the 3d ray that goes through the camera center and the provided image point.
The finite point of the ray is at the viewing distance from the origin
Reimplemented from vpgl_proj_camera< T >.
Definition at line 170 of file vpgl_affine_camera.hxx.
◆ backproject() [2/2]
|
inherited |
Find the 3d plane that contains the camera center and the provided line in the image plane.
Definition at line 178 of file vpgl_proj_camera.hxx.
◆ backproject_ray()
|
overridevirtual |
Find the 3d ray that goes through the camera center and the provided image point.
Reimplemented from vpgl_proj_camera< T >.
Definition at line 191 of file vpgl_affine_camera.hxx.
◆ camera_center()
|
overridevirtual |
Find the 3d coordinates of the center of the camera. Will be an ideal point with the sense of the ray direction.
Reimplemented from vpgl_proj_camera< T >.
Definition at line 161 of file vpgl_affine_camera.hxx.
◆ clone()
|
overridevirtual |
Clone ‘this’: creation of a new object and initialization.
Reimplemented from vpgl_proj_camera< T >.
Definition at line 198 of file vpgl_affine_camera.hxx.
◆ get_matrix()
|
inlineinherited |
Return a copy of the camera matrix.
Definition at line 156 of file vpgl_proj_camera.h.
◆ is_a()
|
inlineinherited |
Definition at line 40 of file vpgl_camera.h.
◆ is_class()
|
inlineinherited |
Definition at line 41 of file vpgl_camera.h.
◆ operator()() [1/3]
|
inlineinherited |
A shortcut to the above function.
Definition at line 114 of file vpgl_proj_camera.h.
◆ operator()() [2/3]
|
inlineinherited |
Standard () forward projection operator.
Definition at line 121 of file vpgl_proj_camera.h.
◆ operator()() [3/3]
|
inlineinherited |
Standard () forward projection operator.
Definition at line 128 of file vpgl_proj_camera.h.
◆ operator==() [1/2]
|
inline |
Equality test.
Definition at line 72 of file vpgl_affine_camera.h.
◆ operator==() [2/2]
|
inlineinherited |
Equality test.
Definition at line 98 of file vpgl_proj_camera.h.
◆ orient_ray_direction()
| void vpgl_affine_camera< T >::orient_ray_direction | ( | vgl_vector_3d< T > const & | look_dir | ) |
flip the ray direction so that dot product with look_dir is positive.
Definition at line 218 of file vpgl_affine_camera.hxx.
◆ principal_plane()
|
overridevirtual |
Find the world plane perpendicular to the camera rays at viewing distance from the origin.
Find the world plane parallel to the image plane intersecting the camera center.
Reimplemented from vpgl_proj_camera< T >.
Definition at line 207 of file vpgl_affine_camera.hxx.
◆ project() [1/5]
|
overridevirtualinherited |
Projection from base class.
Implements vpgl_camera< T >.
Definition at line 104 of file vpgl_proj_camera.hxx.
◆ project() [2/5]
|
virtualinherited |
Project a point in world coordinates onto the image plane.
Definition at line 85 of file vpgl_proj_camera.hxx.
◆ project() [3/5]
|
inlineinherited |
Non-homogeneous version of the above.
Definition at line 110 of file vpgl_proj_camera.h.
◆ project() [4/5]
|
inherited |
Project a line in the world onto a line in the image plane.
Definition at line 121 of file vpgl_proj_camera.hxx.
◆ project() [5/5]
|
inherited |
Project an infinite line in the world onto an infinite line in the image plane.
Definition at line 134 of file vpgl_proj_camera.hxx.
◆ save()
|
virtualinherited |
Save in ascii format.
Reimplemented in vpgl_perspective_camera< T >.
Definition at line 267 of file vpgl_proj_camera.hxx.
◆ set_matrix() [1/2]
|
overridevirtual |
Setters mirror the constructors and return true if the setting was successful.
In subclasses these should be redefined so that they won't allow setting of matrices with improper form.
Reimplemented from vpgl_proj_camera< T >.
Definition at line 133 of file vpgl_affine_camera.hxx.
◆ set_matrix() [2/2]
|
overridevirtual |
Reimplemented from vpgl_proj_camera< T >.
Definition at line 152 of file vpgl_affine_camera.hxx.
◆ set_rows()
| void vpgl_affine_camera< T >::set_rows | ( | const vnl_vector_fixed< T, 4 > & | row1, |
| const vnl_vector_fixed< T, 4 > & | row2 | ||
| ) |
Set the top two rows.
Definition at line 114 of file vpgl_affine_camera.hxx.
◆ set_viewing_distance()
|
inline |
set a finite viewing distance to allow the methods below to return finite objects.
Definition at line 65 of file vpgl_affine_camera.h.
◆ svd()
|
inherited |
Get a copy of the svd of the get_matrix.
The svd is cached when first computed and automatically recomputed when the matrix is changed.
Definition at line 203 of file vpgl_proj_camera.hxx.
◆ type_name()
|
inlineoverridevirtual |
class identity functions for casting.
Reimplemented from vpgl_camera< T >.
Definition at line 56 of file vpgl_affine_camera.h.
◆ viewing_distance()
|
inline |
Definition at line 66 of file vpgl_affine_camera.h.
◆ x_vanishing_point()
|
inlineinherited |
Find the image coordinates of the vanishing points of the world coordinate axes.
Definition at line 149 of file vpgl_proj_camera.h.
◆ y_vanishing_point()
|
inlineinherited |
Definition at line 150 of file vpgl_proj_camera.h.
◆ z_vanishing_point()
|
inlineinherited |
Definition at line 151 of file vpgl_proj_camera.h.
Member Data Documentation
◆ ray_dir_
|
private |
Definition at line 96 of file vpgl_affine_camera.h.
◆ view_distance_
|
private |
Definition at line 95 of file vpgl_affine_camera.h.
The documentation for this class was generated from the following files:
- core/vpgl/vpgl_affine_camera.h
- core/vpgl/vpgl_affine_camera.hxx
