vpgl_perspective_camera.h File Reference

A class for the perspective camera model. More...

#include <iosfwd>
#include <vnl/vnl_fwd.h>
#include <vgl/vgl_fwd.h>
#include <vgl/vgl_point_3d.h>
#include <vgl/vgl_homg_point_3d.h>
#include <vgl/algo/vgl_rotation_3d.h>
#include <vgl/vgl_ray_3d.h>
#include <vgl/vgl_frustum_3d.h>
#include "vpgl_proj_camera.h"
#include "vpgl_calibration_matrix.h"

Go to the source code of this file.

Classes
class	vpgl_perspective_camera< T >
	This class implements the perspective camera class as described in Hartley & Zisserman as a finite camera. More...

Functions
template<class Type >
std::ostream &	operator<< (std::ostream &s, vpgl_perspective_camera< Type > const &p)
	Write vpgl_perspective_camera to stream. More...
template<class Type >
std::istream &	operator>> (std::istream &s, vpgl_perspective_camera< Type > &p)
	Read vpgl_perspective_camera from stream. More...
template<class Type >
void	vrml_write (std::ostream &s, vpgl_perspective_camera< Type > const &p, double rad)
	Write vpgl_perspective_camera to a vrml file, does not write a vrml header, only the camera, the camera center sphere has radius rad. More...
template<class T >
bool	vpgl_perspective_decomposition (const vnl_matrix_fixed< T, 3, 4 > &camera_matrix, vpgl_perspective_camera< T > &p_camera)
	Decompose camera into parameter blocks. More...
template<class T >
vpgl_perspective_camera< T >	vpgl_align_down (const vpgl_perspective_camera< T > &p0, const vpgl_perspective_camera< T > &p1)
	Changes the coordinate system of camera p1 such that the same change would transform p0 to K[I|0]. More...
template<class T >
vpgl_perspective_camera< T >	vpgl_align_up (const vpgl_perspective_camera< T > &p0, const vpgl_perspective_camera< T > &p1)
	Changes the coordinate system of camera p1 such that the same change would transform K[I|0] to p0. More...
template<class T >
double	vpgl_persp_cam_distance (const vpgl_perspective_camera< T > &cam1, const vpgl_perspective_camera< T > &cam2)
template<class T >
vpgl_perspective_camera< T >	postmultiply (const vpgl_perspective_camera< T > &in_cam, const vgl_h_matrix_3d< T > &euclid_trans)
template<class T >
std::vector< vpgl_perspective_camera< T > >	cameras_from_directory (std::string dir, T)
	Return a list of camera's, loaded from the (name sorted) files from the given directory. More...
template<class T >
vgl_frustum_3d< T >	frustum (vpgl_perspective_camera< T > const &cam, T d_near, T d_far)
	compute the frustrum of the camera view cone. The near plane. More...
template<class T >
vgl_vector_3d< T >	vpgl_persp_cam_base_line_vector (const vpgl_perspective_camera< T > &cam1, const vpgl_perspective_camera< T > &cam2)
template<class T >
vgl_rotation_3d< T >	vpgl_persp_cam_relative_orientation (const vpgl_perspective_camera< T > &cam1, const vpgl_perspective_camera< T > &cam2)
	compute rotation such that principal_vector1 = R*principal_vector2. More...

Detailed Description

A class for the perspective camera model.

Author

Thomas Pollard

Date

Jan 28, 2005

Author

Joseph Mundy, Matt Leotta, Vishal Jain

  Modifications
   May 08, 2005  Ricardo Fabbri   Added binary I/O support
   May 08, 2005  Ricardo Fabbri   Added == operator
   Feb  8, 2007  Thomas Pollard   Added finite backproject method.
   Mar 16, 2007  Matt Leotta      Replaced vgl_h_matrix_3d with vgl_rotation_3d for rotation
   May 31, 2011  Peter Vanroose   Added homg-coord. "backproject()" method

Definition in file vpgl_perspective_camera.h.

Function Documentation

cameras_from_directory()

template<class T >

std::vector<vpgl_perspective_camera<T> > cameras_from_directory	(	std::string	dir,
		T
	)

Return a list of camera's, loaded from the (name sorted) files from the given directory.

Definition at line 531 of file vpgl_perspective_camera.hxx.

frustum()

template<class T >

vgl_frustum_3d<T> frustum	(	vpgl_perspective_camera< T > const &	cam,
		T	d_near,
		T	d_far
	)

compute the frustrum of the camera view cone. The near plane.

the far plane distances are user defined.

Definition at line 595 of file vpgl_perspective_camera.hxx.

operator<<()

template<class Type >

std::ostream& operator<<	(	std::ostream &	s,
		vpgl_perspective_camera< Type > const &	p
	)

Write vpgl_perspective_camera to stream.

Definition at line 426 of file vpgl_perspective_camera.hxx.

operator>>()

template<class Type >

std::istream& operator>>	(	std::istream &	s,
		vpgl_perspective_camera< Type > &	p
	)

Read vpgl_perspective_camera from stream.

postmultiply()

template<class T >

vpgl_perspective_camera<T> postmultiply	(	const vpgl_perspective_camera< T > &	in_cam,
		const vgl_h_matrix_3d< T > &	euclid_trans
	)

Definition at line 218 of file vpgl_perspective_camera.h.

vpgl_align_down()

template<class T >

vpgl_perspective_camera<T> vpgl_align_down	(	const vpgl_perspective_camera< T > &	p0,
		const vpgl_perspective_camera< T > &	p1
	)

Changes the coordinate system of camera p1 such that the same change would transform p0 to K[I|0].

Definition at line 340 of file vpgl_perspective_camera.hxx.

vpgl_align_up()

template<class T >

vpgl_perspective_camera<T> vpgl_align_up	(	const vpgl_perspective_camera< T > &	p0,
		const vpgl_perspective_camera< T > &	p1
	)

Changes the coordinate system of camera p1 such that the same change would transform K[I|0] to p0.

Definition at line 359 of file vpgl_perspective_camera.hxx.

vpgl_persp_cam_base_line_vector()

template<class T >

vgl_vector_3d<T> vpgl_persp_cam_base_line_vector	(	const vpgl_perspective_camera< T > &	cam1,
		const vpgl_perspective_camera< T > &	cam2
	)

Definition at line 578 of file vpgl_perspective_camera.hxx.

vpgl_persp_cam_distance()

template<class T >

double vpgl_persp_cam_distance	(	const vpgl_perspective_camera< T > &	cam1,
		const vpgl_perspective_camera< T > &	cam2
	)

Definition at line 567 of file vpgl_perspective_camera.hxx.

vpgl_persp_cam_relative_orientation()

template<class T >

vgl_rotation_3d<T> vpgl_persp_cam_relative_orientation	(	const vpgl_perspective_camera< T > &	cam1,
		const vpgl_perspective_camera< T > &	cam2
	)

compute rotation such that principal_vector1 = R*principal_vector2.

Definition at line 585 of file vpgl_perspective_camera.hxx.

vpgl_perspective_decomposition()

template<class T >

bool vpgl_perspective_decomposition	(	const vnl_matrix_fixed< T, 3, 4 > &	camera_matrix,
		vpgl_perspective_camera< T > &	p_camera
	)

Decompose camera into parameter blocks.

Attempts to decompose a 3x4 camera matrix into the parameter blocks that describe a perspective camera, but will only work if the supplied matrix has a left 3x3 submatrix with rank 3.

Definition at line 270 of file vpgl_perspective_camera.hxx.

vrml_write()

template<class Type >

void vrml_write	(	std::ostream &	str,
		vpgl_perspective_camera< Type > const &	p,
		double	rad
	)

Write vpgl_perspective_camera to a vrml file, does not write a vrml header, only the camera, the camera center sphere has radius rad.

Write vpgl_perspective_camera to a vrml file, does not write a vrml header, only the camera, the camera center sphere has radius rad.

Definition at line 473 of file vpgl_perspective_camera.hxx.