CameraEC Class Reference

Version of Camera using external container. More...

#include <EC.h>

Inheritance diagram for CameraEC:

Public Member Functions
template<typename T >
void	Undistort (std::map< int, T > &container, int type_id=-1)
	Undistort the items with matching type_id.
template<typename T , typename F >
void	Undistort (std::map< int, T > &container, F &do_handle_test)
	Undistort the items matching the given functor.
template<typename T >
void	Distort (std::map< int, T > &container, int type_id=-1)
	Distort the items with matching type_id.
template<typename T , typename F >
void	Distort (std::map< int, T > &container, F &do_handle_test)
	Distort the items matching the given functor.
template<typename T >
bool	CalcExteriorOrientation (std::map< int, T > &container, Pose *pose, int type_id=-1)
	Calculate the pose using the items with matching type_id.
template<typename T , typename F >
bool	CalcExteriorOrientation (std::map< int, T > &container, Pose *pose, F do_handle_test)
	Calculate the pose using the items matching the given functor.
template<typename T >
bool	UpdatePose (std::map< int, T > &container, Pose *pose, int type_id=-1, std::map< int, double > *weights=0)
	Update the pose using the items with matching type_id.
template<typename T >
bool	UpdateRotation (std::map< int, T > &container, Pose *pose, int type_id=-1)
	Update the rotation in pose using the items with matching type_id.
template<typename T , typename F >
bool	UpdateRotation (std::map< int, T > &container, Pose *pose, F do_handle_test)
	Update the rotation in pose using the items matching the given functor.
template<typename T , typename F >
bool	UpdatePose (std::map< int, T > &container, Pose *pose, F do_handle_test, std::map< int, double > *weights=0)
	Update the pose using the items matching the given functor.
template<typename T >
float	Reproject (std::map< int, T > &container, Pose *pose, int type_id=-1, bool needs_has_p2d=false, bool needs_has_p3d=false, float average_outlier_limit=0.f)
	Projects p3d in the items matching with type_id into projected_p2d . If type_id == -1 doesn't test the type.
template<typename T , typename F >
float	Reproject (std::map< int, T > &container, Pose *pose, F do_handle_test, float average_outlier_limit=0.f)
	Projects p3d in the items matching with the given functor.
template<typename T >
int	EraseUsingReprojectionError (std::map< int, T > &container, float reprojection_error_limit, int type_id=-1, Pose *pose=0)
	Erases the items matching with type_id having large reprojection error. If type_id == -1 doesn't test the type. If pose is given calls Reproject() internally – otherwise assumes it has been called beforehands.
bool	UpdateRotation (const cv::Mat &object_points, cv::Mat &image_points, Pose *pose)
	Update pose rotations based on new observations.
bool	UpdateRotation (const cv::Mat &object_points, cv::Mat &image_points, cv::Mat &rot, cv::Mat &tra)
	Update pose rotations (in rodriques&tra) based on new observations.
bool	UpdatePose (const cv::Mat &object_points, cv::Mat &image_points, Pose *pose, cv::Mat &weights)
	Update existing pose based on new observations.
bool	UpdatePose (const cv::Mat &object_points, cv::Mat &image_points, cv::Mat &rodriques, cv::Mat &tra, cv::Mat &weights)
	Update existing pose (in rodriques&tra) based on new observations.
bool	ReconstructFeature (const Pose *pose1, const Pose *pose2, const cv::Point2f *u1, const cv::Point2f *u2, cv::Point3f *p3d, double limit)
	Reconstruct 3D point using two camera poses and corresponding undistorted image feature positions.
void	Get3dOnPlane (const Pose *pose, cv::Point2f p2d, cv::Point3f &p3d)
	Get 3D-coordinate for 2D feature on the plane defined by the pose (z == 0)
void	Get3dOnDepth (const Pose *pose, cv::Point2f p2d, float depth, cv::Point3f &p3d)
	Get 3D-coordinate for 2D feature assuming certain depth.
Public Member Functions inherited from Camera
std::string	SerializeId ()
	One of the two methods to make this class serializable by Serialization class.
bool	Serialize (Serialization *ser)
	One of the two methods to make this class serializable by Serialization class. More...
	Camera ()
	Constructor.
double	GetFovX ()
	Get x-direction FOV in radians.
double	GetFovY ()
	Get y-direction FOV in radians.
void	SetSimpleCalib (int _x_res, int _y_res, double f_fac=1.)
bool	SetCalib (const char *calibfile, int _x_res, int _y_res, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Set the calibration file and the current resolution for which the calibration is adjusted to. More...
bool	SaveCalib (const char *calibfile, FILE_FORMAT format=FILE_FORMAT_DEFAULT)
	Save the current calibration information to a file. More...
void	Calibrate (ProjPoints &pp)
	Calibrate using the collected ProjPoints.
void	SetRes (int _x_res, int _y_res)
	If we have no calibration file we can still adjust the default calibration to current resolution
void	GetOpenglProjectionMatrix (double proj_matrix[16], const int width, const int height, const float far_clip=1000.0f, const float near_clip=0.1f)
	Get OpenGL matrix Generates the OpenGL projection matrix based on OpenCV intrinsic camera matrix K. More...
void	SetOpenglProjectionMatrix (double proj_matrix[16], const int width, const int height)
	Invert operation for GetOpenglProjectionMatrix.
void	Undistort (std::vector< PointDouble > &points)
	Unapplys the lens distortion for points on image plane.
void	Undistort (PointDouble &point)
	Unapplys the lens distortion for one point on an image plane.
void	Undistort (cv::Point2f &point)
	Unapplys the lens distortion for one point on an image plane.
void	Distort (cv::Point2f &point)
	Applys the lens distortion for one point on an image plane.
void	Distort (std::vector< PointDouble > &points)
	Applys the lens distortion for points on image plane.
void	Distort (PointDouble &point)
	Applys the lens distortion for points on image plane.
void	CalcExteriorOrientation (const std::vector< cv::Point3d > &pw, const std::vector< PointDouble > &pi, cv::Mat &rodriques, cv::Mat &tra) const
	Calculate exterior orientation.
void	CalcExteriorOrientation (const std::vector< PointDouble > &pw, const std::vector< PointDouble > &pi, cv::Mat &rodriques, cv::Mat &tra) const
	Calculate exterior orientation.
void	CalcExteriorOrientation (const std::vector< PointDouble > &pw, const std::vector< PointDouble > &pi, Pose *pose) const
	Update existing pose (in rodriques&tra) based on new observations. Use (CV_32FC3 and CV_32FC2) for matrices.
void	CalcExteriorOrientation (std::vector< cv::Point3d > &pw, std::vector< cv::Point2d > &pi, Pose *pose)
bool	CalcExteriorOrientation (const cv::Mat &object_points, cv::Mat &image_points, Pose *pose)
bool	CalcExteriorOrientation (const cv::Mat &object_points, cv::Mat &image_points, cv::Mat &rodriques, cv::Mat &tra)
void	ProjectPoint (const cv::Point3d &pw, const Pose *pose, cv::Point2d &pi) const
	Project one point.
void	ProjectPoint (const cv::Point3f &pw, const Pose *pose, cv::Point2f &pi) const
	Project one point.
void	ProjectPoints (std::vector< cv::Point3d > &pw, Pose *pose, std::vector< cv::Point2d > &pi) const
	Project points.
void	ProjectPoints (const cv::Mat &object_points, const cv::Mat &rotation_vector, const cv::Mat &translation_vector, cv::Mat &image_points) const
	Project points.
void	ProjectPoints (const cv::Mat &object_points, double gl[16], cv::Mat &image_points) const
	Project points.
void	ProjectPoints (const cv::Mat &object_points, const Pose *pose, cv::Mat &image_points) const
	Project points

Additional Inherited Members
Public Attributes inherited from Camera
cv::Mat	calib_K
double	calib_K_data [3][3]
cv::Mat	calib_D
double	calib_D_data [4]
Protected Attributes inherited from Camera
int	calib_x_res
int	calib_y_res
int	x_res
int	y_res

Detailed Description

Version of Camera using external container.

Definition at line 491 of file EC.h.

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

• EC.h