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Version of Camera using external container. More...
#include <EC.h>
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. | |
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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 | |
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cv::Mat | calib_K |
double | calib_K_data [3][3] |
cv::Mat | calib_D |
double | calib_D_data [4] |
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int | calib_x_res |
int | calib_y_res |
int | x_res |
int | y_res |