camera parameters which define the mapping between rays in the camera coordinate system and pixels in the image as well as external pose More...

#include <Geometry/ProjectionParametersPerspective.hh>

Inheritance diagram for BIAS::ProjectionParametersPerspective:

Collaboration diagram for BIAS::ProjectionParametersPerspective:

Public Member Functions
virtual ProjectionParametersPerspective *	Clone () const
	covariant virtual copy constructor for use in Projection More...

virtual bool	CValid () const
	Check of current projection center is valid. More...

virtual bool	Distort (BIAS::HomgPoint2D &point2d) const
	Using the Matlab camera calibration toolbox parameters for a distortion of undistorted coordinates. More...

int	DistortNormalized (BIAS::HomgPoint2D &point2d) const
	Undistort distorted coordinates using the standard distortion parameters and the parameter describing the second constant root of the distortion polynomial of the radial symmetric distortion. More...

virtual bool	DoesPointProjectIntoImage (const HomgPoint3D &X, HomgPoint2D &x, bool IgnoreDistortion=false) const
	Checks if 3D point projects into specified image and returns belonging 2D image point. More...

bool	DoesPointProjectIntoImageLocal (const Vector3< double > &localX, HomgPoint2D &x, bool IgnoreDistortion=false) const
	Checks if 3D point projects into specified image and returns belonging 2D image point. More...

virtual const bool	DoExtrinsicsDiffer (const ProjectionParametersBase *p) const

virtual const bool	DoIntrinsicsDiffer (const ProjectionParametersBase *p) const

virtual double	GetAspectratio () const
	Return aspectratio (i.e. More...

virtual BIAS::Vector3< double >	GetC () const
	Get projection center. More...

virtual BIAS::Matrix< POSE_TYPE >	GetCov () const
	Return pose covariance as 7x7 matrix with respect to C, Q. More...

virtual BIAS::Vector< double >	GetCQ () const
	Return pose as 7 vector (first projection center C, then unit quaternion Q representing orientation). More...

bool	GetCutOutParameters (const Vector2< int > &centerPoint, const unsigned int halfWidth, const unsigned int halfHeight, ProjectionParametersPerspective &cutOutParams) const
	Shifts the principle point so that imagePoint-(halfWidth, halfHeight) is mapped to (0,0). More...

BIAS_ProjParaPersp_DISTORTION_TYPE	GetDistortionType () const
	Get type of distortion parameters. More...

virtual BIAS::Matrix3x4< double >	GetExternals () const
	Return cached 3x4 representation of external matrix [R\|C]. More...

virtual BIAS::KMatrix	GetFakeKMatrix (double &imgsize, int resolution=0, const double &maxangle=1.4) const
	Returns a fake KMatrix for the camera. More...

virtual BIAS::KMatrix	GetFakeKMatrix (int resolution=0, const double &maxangle=1.4) const

virtual void	GetFirstBorderPixel (PixelIterator &it)
	call this to start a run at the outer boundary of an image. More...

virtual void	GetFirstEdgePosition (PixelIterator &it)
	call this to start a run at the outer boundary of an image. More...

void	GetFocalLength (double &f) const
	Get the current camera focal length. More...

double	GetFocalLength () const
	Returns the focal length. More...

Matrix4x4< double >	GetGLModelviewProjectionMatrix (const double zNear, const double zFar, const bool flip, const bool transpose=false)
	Calculates an ModelViewProjection matrix useable in OpenGL. More...

Matrix4x4< double >	GetGLProjectionMatrix (const double zNear, const double zFar, const bool flip, const bool transpose=false)
	Calculates an projection matrix useable in OpenGL. More...

Matrix4x4< double >	GetGLProjectionMatrix (const double zNear, const double zFar, const Vector2< unsigned int > upperLeft, const unsigned int width, const unsigned int height, const bool flip, const bool transpose=false)
	Calculates an projection matrix useable in OpenGL. More...

void	GetIdealImageSize (unsigned int &width, unsigned int &height) const

void	GetIdealK (KMatrix &K) const

virtual std::string	GetIdentifier () const

virtual const unsigned int &	GetImageHeight () const
	Returns the image height. More...

virtual int	GetImageSize (unsigned int &Width, unsigned int &Height) const
	Obtain image dimensions. More...

virtual const unsigned int &	GetImageWidth () const
	Returns the image width. More...

virtual BIAS::KMatrix	GetK () const

virtual BIAS::KMatrix	GetKinv () const

virtual int	GetMinimalAngularSamplingStep (double &minAngleStep)
	Delivers the assumed minimal angular distance between two optical rays belonging to integer image coordinates within the FoV. More...

double	GetMinZLocal () const
	minimum z value of ray in image (if computed already) More...

virtual bool	GetNextBorderPixel (PixelIterator &it)
	call this iteratively to run at the outer boundary of an image. More...

virtual bool	GetNextEdgePosition (PixelIterator &it)
	call this iteratively to run at the outer edge of an image. More...

virtual BIAS::PMatrix	GetP () const

virtual const BIAS::Pose &	GetPose () const
	Return complete pose object. More...

virtual BIAS::PoseParametrization	GetPoseParametrization () const
	Return copy of pose parametrization object. More...

virtual int	GetPrincipal (double &PrincipalX, double &PrincipalY) const
	Get principal point (in pixels relative to top left corner). More...

virtual BIAS::Quaternion< double >	GetQ () const
	Get orientation as unit quaternion. More...

virtual BIAS::RMatrix	GetR () const
	Get orientation as rotation matrix R. More...

double	GetSkew () const
	Obtain the current camera skew factor. More...

virtual int	GetSphericalViewingRange (const CoordinateTransform3D &sphericalReferenceFrame, double &minPhi, double &maxPhi, double &centerPhi, double &minTheta, double &maxTheta)
	Determines the maximal and minimal viewing range in means of spherical coordinates. More...

void	GetUndistortion (double &kc1, double &kc2, double &kc3, double &kc4) const

void	GetUndistortion (double &kc1, double &kc2, double &kc3, double &kc4, double r0) const

void	GetUndistortionBrown (double &kc1, double &kc2, double &kc3, double &kc4, double &r0) const
	Get the lens undistortion parameters including the parameter describing root of the polynomial. More...

void	GetUndistortionInverseRad (double &kc1, double &kc2, double &kc3, double &kc4) const

void	GetUndistortionInvRad3 (double &kc1, double &kc2, double &kc3)

void	GetUndistortionRad3 (double &kc1, double &kc2, double &kc3)

virtual int	GetUnProjectionJacobian (const HomgPoint2D &x, Matrix2x2< double > &Jac, const bool homogenized=true) const
	Get warp (local magnification/shear/...) when going from the real image to ideal image with focal length = 1. More...

virtual std::string	GetVideoSourceType () const

virtual void	InvalidatePose ()
	Invalidate currently set pose. More...

bool	IsDistorted () const

bool	IsLeftOf (const ProjectionParametersBase &ppb) const
	Returns true if the camera represented by this ProjectionParametersBase is left of the given one. More...

const bool	LookAt (const Vector3< double > &eye, const Vector3< double > &center, const Vector3< double > &up)
	Looks at given point, similar to gluLookAt. More...

const bool	LookAt (const Vector3< double > &center, const Vector3< double > &up)
	Looks at given point, similar to gluLookAt. More...

const bool	LookAtGL (const Vector3< double > &eye, const Vector3< double > &center, const Vector3< double > &up)
	Looks at given point, similar to gluLookAt. More...

const bool	LookAtGL (const Vector3< double > &center, const Vector3< double > &up)
	Looks at given point, similar to gluLookAt. More...

ProjectionParametersPerspective &	operator= (const ProjectionParametersPerspective &P)

virtual bool	PoseValid () const
	Check if current pose is valid. More...

virtual HomgPoint2D	Project (const HomgPoint3D &X, bool IgnoreDistortion=false) const
	calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera !warning! the function my return an invalid point (0,0,0) in certain cases (3d point) behind camera or 3d point to close to camera center More...

virtual int	Project (const HomgPoint3D &X, HomgPoint2D &p2d, bool IgnoreDistortion=false) const
	calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera. More...

	ProjectionParametersPerspective (const unsigned int width=0, const unsigned int height=0)

	ProjectionParametersPerspective (const BIAS::PMatrix &P, const unsigned int width=10000, const unsigned int height=10000)

	ProjectionParametersPerspective (const ProjectionParametersPerspective &P)

virtual HomgPoint2D	ProjectLocal (const Vector3< double > &point, bool IgnoreDistortion=false) const
	calculates the projection of a point in the camera coordinate system to a pixel in the image plane of the camera with lens distortion In the simplest case perspective pinhole projection x = K * y where y is the projection of X using y = (R^T \| -R^T C) X More...

virtual int	ProjectLocal (const Vector3< double > &point, HomgPoint2D &p2d, bool IgnoreDistortion=false) const
	calculates the projection of a point in the local camera coordinate system to a pixel in the image plane of the camera. More...

virtual bool	QValid () const
	Check if current orientation is valid. More...

virtual void	Rescale (double ratio, const double offset=0.0)
	Adapt internal parameters to resampled image. More...

virtual void	Rescale (unsigned int width, unsigned int height)
	Adapt internal parameters to resampled image. More...

virtual void	SetAspectratio (const double AspectRatio)
	Set CCD cell-size in meter, virtual overload to recalculate K_. More...

virtual void	SetC (const BIAS::Vector3< double > &C)
	Set projection center. More...

virtual void	SetCov (const Matrix< POSE_TYPE > &Cov)
	Set pose covariance matrix with respect to C, Q. More...

void	SetDistortionType (BIAS_ProjParaPersp_DISTORTION_TYPE distype)
	Set type of distortion parameters. More...

void	SetFocalLengthAndAspect (double f, double AspectRatio)
	Set the current camera focal length in pixel and the a spect ratio. More...

void	SetIdealImageSize (unsigned int width, unsigned int height)

virtual void	SetIdentifier (std::string name)
	Set the identification string. More...

virtual void	SetImageSize (const unsigned int w, const unsigned int h)
	Set image dimensions (in pixels). More...

int	SetIntrinsics (double minPhi, double maxPhi, double minTheta, double maxTheta, double angleStep, double aspectratio=1.0)
	Method calculates K-Matrix and image size from specified angles. More...

int	SetIntrinsics (Vector3< double > &p, Vector3< double > &q, unsigned int width, unsigned int height)

virtual void	SetK (const KMatrix &K)
	sets the internal parameters from a given KMatrix and updates the cached K and its inverse More...

void	SetMinZLocal (const double &minz)
	sets minimum z value of unit-ray in local CCS to be accepted as in front of camera (e.g. More...

virtual void	SetP (const PMatrix &P)
	set from P More...

virtual void	SetPose (const BIAS::Pose pose)
	Set pose from pose object. More...

virtual void	SetPoseParametrization (const BIAS::PoseParametrization &pp)
	Set pose from pose parametrization. More...

virtual void	SetPrincipal (const double x, const double y)
	Set principal point in pixels relative to top left corner, virtual overload to recalculate K_. More...

virtual void	SetQ (const BIAS::Quaternion< double > &Q)
	Set orientation from unit quaternion Q. More...

virtual void	SetQC (const BIAS::Quaternion< double > &Q, const BIAS::Vector3< double > &C)
	Set pose from unit quaternion Q and projection center C. More...

virtual void	SetR (const BIAS::RMatrix &R)
	Set orientation from rotation matrix R. More...

void	SetSimplePerspective (const double FoV=M_PI/2, const unsigned int width=512, const unsigned int height=512)
	Sets the parameters for a simple perspective camera with imagesize 512x512, focal length 512 (fov = 90 deg.), princ.point (255.5,255.5) and without distortion. More...

void	SetSkew (double skew)
	Set the current camera skew factor. More...

void	SetUndistortion (double kc1, double kc2)

void	SetUndistortion (double kc1, double kc2, double kc3, double kc4)
	Set the lens undistortion parameters. More...

void	SetUndistortionBrown (double kc1, double kc2, double kc3, double kc4, double r0)
	Set the lens undistortion parameters including the root of the polynomial. More...

void	SetUndistortionInverseRad (double kc1, double kc2, double kc3, double kc4)

void	SetUndistortionInverseRad3 (double kc1, double kc2, double kc3)

void	SetUndistortionRad3 (double kc1, double kc2, double kc3)

virtual void	SetVideoSourceType (const std::string &name)
	Set the camera source type. More...

virtual int	Transform_ (const Vector< double > &src, Vector< double > &dst) const
	Worker function for Unscented Transform. More...

int	TransformCartesianToPolarCoordinates (const BIAS::Image< float > &cartesianDepth, BIAS::Image< float > &polarDepth)
	transforms an image from cartesian coordinates to polar coordinates More...

float	TransformCartesianToPolarCoordinates (const HomgPoint2D &pos, const float depthCartesian)
	transforms a depth value from cartesian coordinates to polar coordinates More...

int	TransformPolarToCartesianCoordinates (const BIAS::Image< float > &polarDepth, BIAS::Image< float > &cartesianDepth)
	transforms an image from polar coordinates to cartesian coordinates More...

float	TransformPolarToCartesianCoordinates (const HomgPoint2D &pos, const float depthPolar)
	transforms a depth value from polar coodinates to cartesian coordinates More...

virtual bool	Undistort (BIAS::HomgPoint2D &point2d) const
	Using the Matlab camera calibration toolbox parameters for an undistortion of distorted coordinates. More...

virtual Matrix3x3< double >	UnProjectCovLocal (const HomgPoint2D &pos, const Matrix3x3< double > &cov2D, bool IgnoreDistortion=false, bool Normalize=false)
	unprojects the covariance matrices to K=Identity camera Fast implementation for IgnorDistortion = true and Normalize = false More...

virtual void	UnProjectLocal (const HomgPoint2D &pos, Vector3< double > &pointOnRay, Vector3< double > &direction, bool IgnoreDistortion=false) const
	calculates the viewing ray from the camera center (in the camera coordinate system) which belongs to the image position pos with lens distortion e.g. More...

HomgPoint3D	UnProjectToImagePlane (const HomgPoint2D &pos, const double &depth=1.0, bool IgnoreDistortion=false) const
	map points from image onto unit diameter image plane in 3D. More...

virtual HomgPoint3D	UnProjectToPoint (const HomgPoint2D &pos, double depth, bool IgnoreDistortion=false) const
	calculates a 3D point in the global (not the rig) coordinate system, which belongs to the image position pos with distance depth to the camera center. More...

virtual HomgPoint3D	UnProjectToPoint (const HomgPoint2D &pos, const double depth, const ProjectionParametersBase &proj, bool IgnoreDistortion=false) const

virtual HomgPoint3D	UnProjectToPointByZ (const HomgPoint2D &pos, const double &zDistance, bool IgnoreDistortion=false) const

virtual Vector3< double >	UnProjectToPointLocal (const HomgPoint2D &pos, const double &depth, bool IgnoreDistortion=false) const
	calculates a 3D point in the local camera coordinate system, which belongs to the image position pos in cam with distance depth to the camera center cam. More...

virtual void	UnProjectToRay (const HomgPoint2D &pos, Vector3< double > &origin, Vector3< double > &direction, bool ignoreDistortion=false) const
	Calculates the view ray, which belongs to the given position on the image plane, in global coordinates. More...

virtual void	UnProjectToRay (const HomgPoint2D &pos, Vector3< double > &direction, bool ignoreDistortion=false) const
	Calculates the view ray, which belongs to the given position on the image plane, in global coordinates. More...

virtual void	UnProjectToRay (const HomgPoint2D &pos, Vector3< double > &origin, Vector3< double > &direction, const ProjectionParametersBase &proj, bool ignoreDistortion=false) const
	Calculates the view ray, which belongs to the given position on the image plane, using the given projection. More...

void	UpdateMinZLocal ()
	run along image border and compute maximum field of view, save in minzlocal More...

virtual void	ValidatePose ()
	Validate currently set pose. More...

virtual double	ViewDifference (const ProjectionParametersBase *pPPB) const
	compute scalar dissimilarity between two cameras based upon rough approximation of field of view overlap for pure rotation and penalty term for translation: 0=identical More...

xmlNodePtr	XMLAdd (const xmlNodePtr Node, XMLIO &XMLObject) const
	call this to add the class to a node of a given xml tree More...

virtual int	XMLGetClassName (std::string &TopLevelTag, double &Version) const
	specialization of XML block name function More...

virtual int	XMLIn (const xmlNodePtr Node, XMLIO &XMLObject)
	specialization of XML read function More...

virtual int	XMLOut (const xmlNodePtr Node, XMLIO &XMLObject) const
	specialization of XML write function More...

int	XMLRead (const std::string &Filename)
	derived classes must implement the function XMLIn which is called by this function XMLRead to read everything with name Filename into (*this). More...

int	XMLReadFromString (const std::string &str)
	reconstruct xml tree from string More...

int	XMLWrite (const std::string &Filename, int CompressionLevel=0, bool AutoAddCompressionSuffix=true, std::string encoding="UTF-8") const
	call this to add the class to a new xml tree and write it to the file Filename. More...

int	XMLWriteToString (std::string &str, std::string encoding="UTF-8") const
	serialize xml tree to string More...

virtual	~ProjectionParametersPerspective ()

Static Public Member Functions
static std::string	GetRadialDistModelString (BIAS_ProjParaPersp_DISTORTION_TYPE model)

Protected Member Functions
void	AddDebugLevel (const long int lv)

void	AddDebugLevel (const std::string &name)

void	ComputeK_ ()
	computes the cached KMatrix and its inverse call after every parameter change More...

int	ComputeSigmaPoints_ (const Vector< double > &src_mean, const Matrix< double > &src_cov, std::vector< WeightedSigmaPoint > &sigma_points) const
	The covariance of a n-dimensional vector is approximated using 2n+1 so called sigma points with associated weights. More...

long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel More...

bool	DebugLevelIsSet (const long int lv) const

bool	DebugLevelIsSet (const std::string &name) const

void	Distort_ (const double x, const double y, double &dist_x, double &dist_y) const

int	GetDebugLevel () const

std::ostream &	GetDebugStream () const

void	GetDebugStream (std::ostream &os) const

int	GetMinimalAngleInCorner_ (const HomgPoint2D &corner, double &minAngle)
	Helper function for minimal angle step calculation. More...

void	InitParams_ ()
	called from constructors to set zeros to most values More...

long int	Name2DebugLevel (const std::string &name) const
	looks up a debuglevel in the internal map, returns 0 if not found More...

long int	NewDebugLevel (const std::string &name)
	creates a new debuglevel More...

void	PrintDebugLevel (std::ostream &os=std::cout) const

void	RemoveDebugLevel (const long int lv)

void	RemoveDebugLevel (const std::string &name)

void	SetAlpha (const double alpha)
	Sets the alpha parameter. More...

void	SetBeta (const double beta)
	Sets the beta parameter. More...

void	SetDebugLevel (const long int lv)

void	SetDebugLevel (const std::string &name)

void	SetDebugStream (const std::ostream &os)

void	SetUseSVD (const bool use_svd)

void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...

int	Transform (const Vector< double > &src_mean, const Matrix< double > &src_cov, Vector< double > &dst_mean, Matrix< double > &dst_cov) const
	computes the second order approximation of the transformations of the mean and the associated covariance for the point transformation Transform_(). More...

bool	Undistort_ (const double dist_x, const double dist_y, double &x, double &y) const

Static Protected Member Functions
static long int	GetGlobalDebugLevel ()

static void	SetGlobalDebugLevel (long int lev)

Protected Attributes
long int	_liDebugLevel

long int	_liNextDebugLevel
	new concept, debuglevel are managed here in the debug class More...

std::map< std::string, long int >	_String2Debuglevel

double	Alpha_
	the alpha parameter determines the spread of the sigma points More...

double	aspectratio_
	aspect ratio of the camera CCD More...

double	Beta_
	beta is used to incorporate prior knowledge of the distribution of x. More...

bool	CValid_

BIAS_ProjParaPersp_DISTORTION_TYPE	distType_

double	focallength_
	focal length is stored in pixel for cellSizeX More...

unsigned int	height_
	height of image in pixels More...

unsigned int	idealImageHeight_

unsigned int	idealImageWidth_
	ideal image size More...

std::string	identifier_
	Multifunctional identifier. More...

KMatrix	invK_

KMatrix	K_
	focal length, aspect ratio, principal point in K_, inverse in invK_ More...

double	Kappa_
	kappa is a secondary scaling parameter. More...

double	kc1_
	lens undistortion parameters after Bouquet also used as parameters for distortion after Brown(?) More...

double	kc2_

double	kc3_

double	kc4_

double	minZlocal_
	rigorously clip unit rays in CCS with z smaller than this values More...

Pose	Pose_
	pose More...

double	principalX_
	principal point in pixel coordinates (one for all zoom settings) More...

double	principalY_

bool	QValid_
	validity flag for orientation and position More...

double	r0_

double	skew_
	skew calibration parameter More...

bool	UseSVD_

bool	ustIgnoreDistortion_

bool	ustNormalize_

bool	ustTransformIntoImage_
	unscented transform worker variables More...

std::string	videoSourceType_

unsigned int	width_
	width of image in pixels More...

Static Protected Attributes
static std::ostream	_zDebugStream

static long int	GlobalDebugLevel = 0

Friends
std::ostream &	operator<< (std::ostream &os, const ProjectionParametersPerspective &p)

Detailed Description

camera parameters which define the mapping between rays in the camera coordinate system and pixels in the image as well as external pose

Author: koeser/evers/streckel

Examples:: ExampleExtractKFromMipImage.cpp, ExampleMultipleDepthWarp.cpp, ExampleProjection.cpp, ExampleProjectionMapping.cpp, ExampleProjectionParametersPerspective.cpp, ExampleProjectionParametersPerspective2.cpp, ExampleStencilBuffer.cpp, ExampleTransformToCartesian.cpp, ExampleTriangleMeshQuad.cpp, ExampleUndistort.cpp, ExampleVRMLOutProjection.cpp, ExampleXB3Rectification.cpp, and TestCalibratedPyramid.cpp.

Definition at line 57 of file ProjectionParametersPerspective.hh.

Constructor & Destructor Documentation

BIAS::ProjectionParametersPerspective::ProjectionParametersPerspective	(	const unsigned int	width = `0`,
		const unsigned int	height = `0`
	)

inline

Definition at line 61 of file ProjectionParametersPerspective.hh.

BIAS::ProjectionParametersPerspective::ProjectionParametersPerspective	(	const BIAS::PMatrix &	P,
		const unsigned int	width = `10000`,
		const unsigned int	height = `10000`
	)

inlineexplicit

Definition at line 68 of file ProjectionParametersPerspective.hh.

BIAS::ProjectionParametersPerspective::ProjectionParametersPerspective ( const ProjectionParametersPerspective & P )

inline

Definition at line 77 of file ProjectionParametersPerspective.hh.

virtual BIAS::ProjectionParametersPerspective::~ProjectionParametersPerspective ( )

inlinevirtual

Definition at line 122 of file ProjectionParametersPerspective.hh.

Member Function Documentation

void BIAS::Debug::AddDebugLevel ( const long int lv )

inlineinherited

Examples:: EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string & name )

inlineinherited

Definition at line 362 of file Debug.hh.

virtual ProjectionParametersPerspective* BIAS::ProjectionParametersPerspective::Clone ( ) const

inlinevirtual

covariant virtual copy constructor for use in Projection

Implements BIAS::ProjectionParametersBase.

Reimplemented in BIAS::ProjectionParametersPerspectiveDepth.

Definition at line 228 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::Projection::Load().

void ProjectionParametersPerspective::ComputeK_ ( )

protected

computes the cached KMatrix and its inverse call after every parameter change

Definition at line 760 of file ProjectionParametersPerspective.cpp.

int UnscentedTransform::ComputeSigmaPoints_	(	const Vector< double > &	src_mean,
		const Matrix< double > &	src_cov,
		std::vector< WeightedSigmaPoint > &	sigma_points
	)		const

protectedinherited

The covariance of a n-dimensional vector is approximated using 2n+1 so called sigma points with associated weights.

The points and weights are computed in this function

Returns: 0=ok, <0 on error (bad cov, ...)

Definition at line 138 of file UnscentedTransform.cpp.

References BIAS::UnscentedTransform::Alpha_, BIAS::UnscentedTransform::Beta_, BIAS::Debug::DebugLevelIsSet(), BIAS::Matrix< T >::GetCol(), BIAS::Matrix< T >::GetCols(), BIAS::UnscentedTransform::Kappa_, Lapack_Cholesky_SymmetricPositiveDefinit(), BIAS::Less(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::Vector< T >::Size(), BIAS::SVD::SqrtT(), and BIAS::UnscentedTransform::UseSVD_.

Referenced by BIAS::UnscentedTransform::Transform().

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )

inlineprotectedinherited

returns the next available debuglevel

Author: woelk 09/2006

Definition at line 521 of file Debug.hh.

virtual bool BIAS::ProjectionParametersBase::CValid ( ) const

inlinevirtualinherited

Check of current projection center is valid.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 673 of file ProjectionParametersBase.hh.

bool BIAS::Debug::DebugLevelIsSet ( const long int lv ) const

inlineinherited

Examples:: ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string & name ) const

inlineinherited

Definition at line 350 of file Debug.hh.

bool ProjectionParametersPerspective::Distort ( BIAS::HomgPoint2D & point2d ) const

virtual

Using the Matlab camera calibration toolbox parameters for a distortion of undistorted coordinates.

Inverse to the undistort function. TODO: faster implementation via Lookup-table

Author: streckel 06/2004

Implements BIAS::ProjectionParametersBase.

Definition at line 313 of file ProjectionParametersPerspective.cpp.

References BIAS::DISTYPE_INVERSE_RAD.

void BIAS::ProjectionParametersPerspective::Distort_	(	const double	x,
		const double	y,
		double &	dist_x,
		double &	dist_y
	)		const

inlineprotected

Definition at line 758 of file ProjectionParametersPerspective.hh.

References distType_, BIAS::DISTYPE_BROWN, BIAS::DISTYPE_DEF, BIAS::DISTYPE_INVERSE_RAD, BIAS::DISTYPE_INVRAD3, BIAS::DISTYPE_NONE, BIAS::DISTYPE_RAD3, BIAS::DISTYPE_RADIAL, kc1_, kc2_, kc3_, kc4_, and r0_.

int ProjectionParametersPerspective::DistortNormalized ( BIAS::HomgPoint2D & point2d ) const

Undistort distorted coordinates using the standard distortion parameters and the parameter describing the second constant root of the distortion polynomial of the radial symmetric distortion.

In contrast to the the bouguet way of calculating the radial symmetric distortion by using the polynomial raddist = 1 + kc1 * r^2 + kc2 * r^4 the "brown" way uses a modyfied polynomial which has a second root. the second constant root of the polynomial is implemented by subtracting the constant term rc from raddist with rc = kc1 * r0^2 + kc2 * r0^4 r0 is the parameter describing the root of the polynomial. (For details see: Luhmann, Nahbereichsphotogrammetrie. page. 121 )

Author: grauel 09/2007 Distort undistorted coordinates using the; grauel 09/2007 distortion of a normalized point; woelk 11/2006

Definition at line 293 of file ProjectionParametersPerspective.cpp.

References BIAS::DISTYPE_INVERSE_RAD, BIAS::HomgPoint2D::Homogenize(), and BIAS::HomgPoint2D::IsAtInfinity().

bool ProjectionParametersBase::DoesPointProjectIntoImage	(	const HomgPoint3D &	X,
		HomgPoint2D &	x,
		bool	IgnoreDistortion = `false`
	)		const

virtualinherited

Checks if 3D point projects into specified image and returns belonging 2D image point.

Parameters

X	assumes homogenized point!

Author: bartczak

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 223 of file ProjectionParametersBase.cpp.

References BIAS::HomgPoint3D::GetEuclidean().

Referenced by BIAS::ImageBlender::BlendImages(), BIAS::ImageBlenderIncremental::BlendImages(), BIAS::ImageBlender::CheckFov(), BIAS::ImageBlenderIncremental::CheckFov_(), and BIAS::EpipolarLine::DrawDistortedLine().

bool ProjectionParametersPerspective::DoesPointProjectIntoImageLocal	(	const Vector3< double > &	localX,
		HomgPoint2D &	x,
		bool	IgnoreDistortion = `false`
	)		const

virtual

Checks if 3D point projects into specified image and returns belonging 2D image point.

Parameters

localX assumes homogenized point!

Author: bartczak

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 169 of file ProjectionParametersPerspective.cpp.

References BIAS::Vector3< T >::NormL2().

const bool ProjectionParametersBase::DoExtrinsicsDiffer ( const ProjectionParametersBase * p ) const

virtualinherited

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Definition at line 257 of file ProjectionParametersBase.cpp.

References BIAS::ProjectionParametersBase::CValid_, BIAS::Equal(), BIAS::ProjectionParametersBase::GetC(), BIAS::ProjectionParametersBase::GetR(), and BIAS::ProjectionParametersBase::QValid_.

const bool ProjectionParametersPerspective::DoIntrinsicsDiffer ( const ProjectionParametersBase * p ) const

virtual

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 148 of file ProjectionParametersPerspective.cpp.

References BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), focallength_, kc1_, kc2_, kc3_, and kc4_.

virtual double BIAS::ProjectionParametersBase::GetAspectratio ( ) const

inlinevirtualinherited

Return aspectratio (i.e.

cellsizeX / cellsizeY).

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 582 of file ProjectionParametersBase.hh.

Referenced by BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_(), BIAS::VideoSource_Controller_Kinect::OnLoadCalib(), and BIAS::operator<<().

virtual BIAS::Vector3<double> BIAS::ProjectionParametersBase::GetC ( ) const

inlinevirtualinherited

Get projection center.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Examples:: ExampleMultipleDepthWarp.cpp, and ExampleRectification.cpp.

Definition at line 464 of file ProjectionParametersBase.hh.

Referenced by BIAS::GLProjectionParametersBase::Assign(), BIAS::clfTrimmedICP::Compute(), BIAS::RectificationViaProjectionMappingBase< InputStorageType, OutputStorageType >::Disp2Depth(), BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::TriangleMesh::GenerateTexturedCamera(), BIAS::GLProjectionParametersBase::GetExtrinsics(), BIAS::ProjectionParametersBase::IsLeftOf(), BIAS::glfMatrix::MakeViewMatrix(), BIAS::operator<<(), BIAS::RenderContextBase::Render(), BIAS::Projection3DData::Set(), BIAS::MultipleDepthWarp::SetupNViewsWarp(), BIAS::Triangulation::Triangulate(), BIAS::PMDWarp::UseProjectiveTexturing(), BIAS::ProjectionParametersCylindric::ViewDifference(), BIAS::ProjectionParametersSphericalFast::ViewDifference(), BIAS::ProjectionParametersSpherical::ViewDifference(), BIAS::ProjectionParametersProjective::ViewDifference(), and ViewDifference().

virtual BIAS::Matrix<POSE_TYPE> BIAS::ProjectionParametersBase::GetCov ( ) const

inlinevirtualinherited

Return pose covariance as 7x7 matrix with respect to C, Q.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 500 of file ProjectionParametersBase.hh.

virtual BIAS::Vector<double> BIAS::ProjectionParametersBase::GetCQ ( ) const

inlinevirtualinherited

Return pose as 7 vector (first projection center C, then unit quaternion Q representing orientation).

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Definition at line 485 of file ProjectionParametersBase.hh.

bool ProjectionParametersPerspective::GetCutOutParameters	(	const Vector2< int > &	centerPoint,
		const unsigned int	halfWidth,
		const unsigned int	halfHeight,
		ProjectionParametersPerspective &	cutOutParams
	)		const

Shifts the principle point so that imagePoint-(halfWidth, halfHeight) is mapped to (0,0).

Image size is adapted to halfWidth*2+1 and halfHeight*2+1. Distortion parameters are applied in normalized coords hence they keep their validity.

Returns: true only if whole cutout lies in image.

Definition at line 34 of file ProjectionParametersPerspective.cpp.

References BIAS::ProjectionParametersBase::height_, SetPrincipal(), and BIAS::ProjectionParametersBase::width_.

int BIAS::Debug::GetDebugLevel ( ) const

inlineinherited

Examples:: ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const

inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream & os ) const

inlineinherited

Definition at line 414 of file Debug.hh.

BIAS_ProjParaPersp_DISTORTION_TYPE BIAS::ProjectionParametersPerspective::GetDistortionType ( ) const

inline

Get type of distortion parameters.

Author: grauel

Examples:: ExampleProjectionParametersPerspective.cpp.

Definition at line 358 of file ProjectionParametersPerspective.hh.

virtual BIAS::Matrix3x4<double> BIAS::ProjectionParametersBase::GetExternals ( ) const

inlinevirtualinherited

Return cached 3x4 representation of external matrix [R|C].

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Examples:: ExampleProjection.cpp.

Definition at line 533 of file ProjectionParametersBase.hh.

Referenced by BIAS::EpipolarLine::ProjectEpipolarPlane().

KMatrix ProjectionParametersBase::GetFakeKMatrix	(	double &	imgsize,
		int	resolution = `0`,
		const double &	maxangle = `1.4`
	)		const

virtualinherited

Returns a fake KMatrix for the camera.

Attention: Stolen from PPSpherical, since this is a general issue. THERE MAY BE PROBLEMS FOR OTHER THAN FISHEYE CAMERAS (UNTESTED) If this implementation is not correct for your derived projection parameters you have to reimplement it in the derived class.

The FoV of the KMatrix is specified by maxangle (PI*80/180 for 160deg) or the max angle, if this is <160deg.

Parameters

resolution	The resolution parameter influences the Resolution of the perspective image that is represented by the camera. 0 - The perspective image has the same size as the this image 1 - The perspective image has the same resolution as this image in the center (highest resolution) 2 - The perspective image has the same resolution as this image near the border (lowest resolution)
imgsize	returns the image size
maxangle	maximum theta in rad, e.g. (PI*80/180 for 160deg fov)

Author: streckel 05/2006 (moved here by koeser)

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, BIAS::ProjectionParametersSpherical, and BIAS::ProjectionParametersSphericalFast.

Definition at line 544 of file ProjectionParametersBase.cpp.

References BIAS::Vector3< T >::Set(), and BIAS::Matrix3x3< T >::SetIdentity().

Referenced by BIAS::ProjectionParametersSphericalFast::GetFakeKMatrix(), and BIAS::ProjectionParametersSpherical::GetFakeKMatrix().

virtual BIAS::KMatrix BIAS::ProjectionParametersBase::GetFakeKMatrix	(	int	resolution = `0`,
		const double &	maxangle = `1.4`
	)		const

virtualinherited

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, BIAS::ProjectionParametersSpherical, and BIAS::ProjectionParametersSphericalFast.

void ProjectionParametersBase::GetFirstBorderPixel ( PixelIterator & it )

virtualinherited

call this to start a run at the outer boundary of an image.

You get the first boundary position in it, e.g. (0,0) for a perspective image. Feed this into GetNextBorderPixel to get the next position.

Author: koeser 09/2007

Reimplemented in BIAS::ProjectionParametersSphericalFast, BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersSpherical.

Definition at line 67 of file ProjectionParametersBase.cpp.

References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.

Referenced by BIAS::ImageBlender::BlendImages(), BIAS::ImageBlenderIncremental::BlendImages(), BIAS::ImageBlender::CheckFov(), and BIAS::ImageBlenderIncremental::CheckFov_().

void ProjectionParametersBase::GetFirstEdgePosition ( PixelIterator & it )

virtualinherited

call this to start a run at the outer boundary of an image.

You get the first edge position i.e. (-0.5, -0.5) for a perspective image. Feed this into GetNextBorderPixel to get the next position.

Author: bartczak 06/2009

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 107 of file ProjectionParametersBase.cpp.

References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.

void BIAS::ProjectionParametersPerspective::GetFocalLength ( double & f ) const

inline

Get the current camera focal length.

Author: buck

Examples:: ExampleProjectionMapping.cpp.

Definition at line 246 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::VideoSource_Controller_Kinect::OnLoadCalib().

double BIAS::ProjectionParametersPerspective::GetFocalLength ( ) const

inline

Returns the focal length.

Author: rwulff

Date: 07/2010

Definition at line 255 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::GLProjectionParametersPerspective::DrawWithMatchedParamsAndViewport_().

Matrix4x4< double > ProjectionParametersPerspective::GetGLModelviewProjectionMatrix	(	const double	zNear,
		const double	zFar,
		const bool	flip,
		const bool	transpose = `false`
	)

Calculates an ModelViewProjection matrix useable in OpenGL.

Parameters

zNear	defines the near z-clipping plane.
zFar	defines the far z-clipping plane.
flip	reading out the framebuffer into a bias image implicitly flips the image, when this can be remedied by (pre)flipping in the projection matrix - however when rendering onscreen, the visible image will be flipped then.

Definition at line 963 of file ProjectionParametersPerspective.cpp.

References BIAS::Matrix4x4< T >::Mult(), and BIAS::Matrix4x4< T >::Transpose().

static long int BIAS::Debug::GetGlobalDebugLevel ( )

inlinestaticinherited

Definition at line 431 of file Debug.hh.

Matrix4x4< double > ProjectionParametersPerspective::GetGLProjectionMatrix	(	const double	zNear,
		const double	zFar,
		const bool	flip,
		const bool	transpose = `false`
	)

Calculates an projection matrix useable in OpenGL.

Parameters

zNear	defines the near z-clipping plane.
zFar	defines the far z-clipping plane.
flip	reading out the framebuffer into a bias image implicitly flips the image, when this can be remedied by (pre)flipping in the projection matrix - however when rendering onscreen, the visible image will be flipped then.

Definition at line 981 of file ProjectionParametersPerspective.cpp.

Matrix4x4< double > ProjectionParametersPerspective::GetGLProjectionMatrix	(	const double	zNear,
		const double	zFar,
		const Vector2< unsigned int >	upperLeft,
		const unsigned int	width,
		const unsigned int	height,
		const bool	flip,
		const bool	transpose = `false`
	)

Calculates an projection matrix useable in OpenGL.

The viewing frustum encloses the image all optical rays passing through the image region specified by the parameters upperLeft, width and height.

Parameters

zNear	defines the near z-clipping plane.
zFar	defines the far z-clipping plane.
upperLeft	specifies the image positions of the upper left "visible" optical ray.
width	specifies the x-component of the image position of the lower right "visible" optical ray.
height	specifies the y-component of the image position of the lower right "visible" optical ray.
flip	reading out the framebuffer into a bias image implicitly flips the image, when this can be remedied by (pre)flipping in the projection matrix - however when rendering onscreen, the visible image will be flipped then.

Definition at line 991 of file ProjectionParametersPerspective.cpp.

References BIAS::Matrix< T >::SetZero(), and BIAS::Matrix4x4< T >::Transpose().

void ProjectionParametersPerspective::GetIdealImageSize	(	unsigned int &	width,
		unsigned int &	height
	)		const

Definition at line 753 of file ProjectionParametersPerspective.cpp.

Referenced by BIAS::DistortionRendering::Init(), BIAS::glfMatrix::MakeProjectionMatrix(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

void ProjectionParametersPerspective::GetIdealK ( KMatrix & K ) const

Definition at line 527 of file ProjectionParametersPerspective.cpp.

References BIAS::HomgPoint2D, BIAS::HomgPoint2D::Homogenize(), and BIAS::Matrix3x3< T >::SetIdentity().

Referenced by BIAS::OutputLensDistortion::CreateLookupTable(), BIAS::DistortionRendering::Init(), BIAS::glfMatrix::MakeProjectionMatrix(), BIAS::glfMatrix::MakeProjectionMatrixNew(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

virtual std::string BIAS::ProjectionParametersBase::GetIdentifier ( ) const

inlinevirtualinherited

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 573 of file ProjectionParametersBase.hh.

Referenced by BIAS::operator<<(), and BIAS::wxProjectionPanel::SetProjection().

virtual const unsigned int& BIAS::ProjectionParametersBase::GetImageHeight ( ) const

inlinevirtualinherited

Returns the image height.

Returns: the image height

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 568 of file ProjectionParametersBase.hh.

virtual int BIAS::ProjectionParametersBase::GetImageSize	(	unsigned int &	Width,
		unsigned int &	Height
	)		const

inlinevirtualinherited

Obtain image dimensions.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:: ExampleEstimateFisheyePolynomial.cpp, ExampleMultipleDepthWarp.cpp, ExampleProjectionMapping.cpp, ExampleRectification.cpp, ExampleTriangleMesh.cpp, and ExampleXB3Rectification.cpp.

Definition at line 545 of file ProjectionParametersBase.hh.

Referenced by BIAS::MultipleDepthWarp::ChangeTargetCam(), BIAS::OutputLensDistortion::CreateLookupTable(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesCylindric_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesPerspective_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::RectificationViaProjectionMappingBase< InputStorageType, OutputStorageType >::Disp2Depth(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::PMDImageProc::FitDepthTo2DImage(), BIAS::TriangleMesh::GenerateSimplifiedMesh(), BIAS::TriangleMesh::GenerateTexturedCamera(), BIAS::DistortionRendering::Init(), BIAS::ImageWarper< StorageType >::Init(), BIAS::PMDWarp::Init(), BIAS::Primitives::LocalNormalizedPointCloud(), BIAS::Primitives::LocalNormalizedTriangleMesh(), BIAS::Primitives::LocalNormalizedTriangleStrip(), BIAS::Primitives::LocalNormalizedVertexCloud(), BIAS::Primitives::LocalPerspectivePatches(), BIAS::Primitives::LocalPerspectivePatchOverLine(), BIAS::Primitives::LocalPerspectiveQuad(), BIAS::glfMatrix::MakeProjectionMatrix(), BIAS::glfMatrix::MakeProjectionMatrixNew(), BIAS::glfMatrix::MakeTextureMatrix(), BIAS::glfMatrix::MakeTextureMatrixNew(), BIAS::operator<<(), BIAS::Projection3DData::Set(), BIAS::GLProjectionParametersPerspective::SetGLMatrices(), BIAS::ImageBlenderIncremental::SetOutputParameters(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetSinkCam(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetSourceCam(), BIAS::ImageWarper< StorageType >::SetTargetCamera(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

virtual const unsigned int& BIAS::ProjectionParametersBase::GetImageWidth ( ) const

inlinevirtualinherited

Returns the image width.

Returns: the image width

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 557 of file ProjectionParametersBase.hh.

virtual BIAS::KMatrix BIAS::ProjectionParametersPerspective::GetK ( ) const

inlinevirtual

Examples:: ExampleExtractKFromMipImage.cpp, and ExampleMultipleDepthWarp.cpp.

Definition at line 488 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::OutputLensDistortion::CreateLookupTable(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::DistortionRendering::Init(), BIAS::glfMatrix::MakeProjectionMatrixNew(), BIAS::glfMatrix::MakeTextureMatrix(), BIAS::glfMatrix::MakeTextureMatrixNew(), and BIAS::operator<<().

virtual BIAS::KMatrix BIAS::ProjectionParametersPerspective::GetKinv ( ) const

inlinevirtual

Definition at line 494 of file ProjectionParametersPerspective.hh.

int ProjectionParametersPerspective::GetMinimalAngleInCorner_	(	const HomgPoint2D &	corner,
		double &	minAngle
	)

protected

Helper function for minimal angle step calculation.

Definition at line 54 of file ProjectionParametersPerspective.cpp.

References BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), and BIAS::Vector3< T >::ScalarProduct().

int ProjectionParametersPerspective::GetMinimalAngularSamplingStep ( double & minAngleStep )

virtual

Delivers the assumed minimal angular distance between two optical rays belonging to integer image coordinates within the FoV.

Author: bartczak 10/2007

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 110 of file ProjectionParametersPerspective.cpp.

Referenced by BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_().

double BIAS::ProjectionParametersPerspective::GetMinZLocal ( ) const

inline

minimum z value of ray in image (if computed already)

Definition at line 589 of file ProjectionParametersPerspective.hh.

bool ProjectionParametersBase::GetNextBorderPixel ( PixelIterator & it )

virtualinherited

call this iteratively to run at the outer boundary of an image.

All returned coordinates must have valid local rays in the camera coordinate system (e.g. in fisheye cams, we run at the fov circle) and must be in the image. Two subsequent coordinates must not be more distant than 1 pixel.

Parameters

it	must be initialized by GetFirstBorderPixel

Returns: false if the returned position closes the loop around the image

Author: koeser 09/2007

Reimplemented in BIAS::ProjectionParametersSphericalFast, BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersSpherical.

Definition at line 74 of file ProjectionParametersBase.cpp.

References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.

Referenced by BIAS::ImageBlender::BlendImages(), BIAS::ImageBlenderIncremental::BlendImages(), BIAS::ImageBlender::CheckFov(), and BIAS::ImageBlenderIncremental::CheckFov_().

bool ProjectionParametersBase::GetNextEdgePosition ( PixelIterator & it )

virtualinherited

call this iteratively to run at the outer edge of an image.

Like the GetNextBorderPixel() method, however runs along the outer rim of an image, i.e. the coordinate range (-0.5, -0.5) and (W-0.5, H-0.5). The positions returned are the upper left corner of the pixels. These are at the same time the upper right corners of the neighboring pixel.

Parameters

it	must be initialized by GetFirstBorderPixel

Returns: false if the returned position closes the loop around the image

Author: bartczak 06/2009

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 114 of file ProjectionParametersBase.cpp.

References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.

virtual BIAS::PMatrix BIAS::ProjectionParametersPerspective::GetP ( ) const

inlinevirtual

Examples:: ExampleTriangleMeshQuad.cpp.

Definition at line 482 of file ProjectionParametersPerspective.hh.

References BIAS::PMatrix.

virtual const BIAS::Pose& BIAS::ProjectionParametersBase::GetPose ( ) const

inlinevirtualinherited

Return complete pose object.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Examples:: ExampleEstimateFisheyePolynomial.cpp.

Definition at line 505 of file ProjectionParametersBase.hh.

Referenced by BIAS::Projection::AddAbsoluteCamera(), BIAS::ThreeDOut::AddProjection(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesCylindric_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesPerspective_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::CylindricDepthPanorama::Init(), BIAS::glfMatrix::MakeTextureMatrix(), BIAS::glfMatrix::MakeTextureMatrixNew(), BIAS::glfMatrix::MakeViewMatrixNew(), BIAS::operator<<(), BIAS::CylindricDepthTrackingPanorama::ProcessCylindricProjection(), BIAS::GLProjectionParametersPerspective::SetIntrinsics(), and BIAS::PMDWarp::UseProjectiveTexturing().

virtual BIAS::PoseParametrization BIAS::ProjectionParametersBase::GetPoseParametrization ( ) const

inlinevirtualinherited

Return copy of pose parametrization object.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Definition at line 517 of file ProjectionParametersBase.hh.

virtual int BIAS::ProjectionParametersBase::GetPrincipal	(	double &	PrincipalX,
		double &	PrincipalY
	)		const

inlinevirtualinherited

Get principal point (in pixels relative to top left corner).

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:: ExampleEstimateFisheyePolynomial.cpp.

Definition at line 587 of file ProjectionParametersBase.hh.

Referenced by BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::ProjectionParametersPerspectiveDepth::DistortReflectivity(), BIAS::GLProjectionParametersPerspective::DrawWithMatchedParamsAndViewport_(), BIAS::VideoSource_Controller_Kinect::OnLoadCalib(), and BIAS::ProjectionParametersPerspectiveDepth::UnDistortReflectivity().

virtual BIAS::Quaternion<double> BIAS::ProjectionParametersBase::GetQ ( ) const

inlinevirtualinherited

Get orientation as unit quaternion.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Definition at line 474 of file ProjectionParametersBase.hh.

Referenced by BIAS::operator<<().

RMatrix ProjectionParametersBase::GetR ( ) const

virtualinherited

Get orientation as rotation matrix R.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Definition at line 282 of file ProjectionParametersBase.cpp.

References BIAS::RMatrixBase::SetFromQuaternion().

Referenced by BIAS::GLProjectionParametersBase::Assign(), BIAS::clfTrimmedICP::Compute(), BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::GLProjectionParametersBase::GetExtrinsics(), BIAS::glfMatrix::MakeViewMatrix(), BIAS::Projection3DData::Set(), BIAS::ProjectionParametersSphericalSimple::ValidatePose(), BIAS::ProjectionParametersCylindric::ViewDifference(), BIAS::ProjectionParametersSphericalFast::ViewDifference(), BIAS::ProjectionParametersSpherical::ViewDifference(), ViewDifference(), and BIAS::ProjectionParametersSphericalSimple::XMLIn().

std::string ProjectionParametersPerspective::GetRadialDistModelString ( BIAS_ProjParaPersp_DISTORTION_TYPE model )

static

Definition at line 375 of file ProjectionParametersPerspective.cpp.

References BIAS::DISTYPE_BROWN, BIAS::DISTYPE_DEF, BIAS::DISTYPE_INVERSE_RAD, BIAS::DISTYPE_NONE, and BIAS::DISTYPE_RADIAL.

double BIAS::ProjectionParametersPerspective::GetSkew ( ) const

inline

Obtain the current camera skew factor.

Definition at line 329 of file ProjectionParametersPerspective.hh.

int ProjectionParametersBase::GetSphericalViewingRange	(	const CoordinateTransform3D &	sphericalReferenceFrame,
		double &	minPhi,
		double &	maxPhi,
		double &	centerPhi,
		double &	minTheta,
		double &	maxTheta
	)

virtualinherited

Determines the maximal and minimal viewing range in means of spherical coordinates.

The spherical coordinates are calculated relatively to the passed coordinate frame. The method is using the class SphericalCoordinates, see also the documentation there in order to understand the meaning of the sphericalReferenceFrame.

Attention: in order to make sense the sphericalReferenceFrame must have the same origin as the ProjectionParameters.

Parameters

sphericalReferenceFrame reference frame for the calculation of spherical coordinates belonging to optical rays, must be defined in the same coordinate frame like the local frame of the ProjectionParameters.

Returns: minPhi phi angle from (-M_PI, M_PI] with smallest value within viewing range.; maxPhi phi angle from (-M_PI, M_PI] with largest value within viewing range.; centerPhi phi angle from (-M_PI, M_PI] belonging to the optical ray passing through the image center. This angle allows to determine which direction the camera was facing in the sphericalReferenceFrame.; minTheta theta angle from [0, M_PI] with smallest value within viewing range.; maxTheta theta angle from [0, M_PI] with largest value within viewing range.

Author: bartczak 10/2007

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:: ExampleXB3Rectification.cpp.

Definition at line 148 of file ProjectionParametersBase.cpp.

References BIAS::CoordinateTransform3D::BecomeRelativeTransform(), BIAS::CoordinateTransform3D::GetC(), BIAS::SphericalCoordinates::GetCartesianRayFromFullPhi(), BIAS::HomgPoint3D::GetEuclidean(), BIAS::SphericalCoordinates::GetSphericalCoordinatesFullPhi(), BIAS::Vector3< T >::NormL2(), BIAS::HomgPoint3D::Set(), BIAS::SphericalCoordinates::SetAffineBase(), BIAS::PixelIterator::x, and BIAS::PixelIterator::y.

Referenced by BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_().

void BIAS::ProjectionParametersPerspective::GetUndistortion	(	double &	kc1,
		double &	kc2,
		double &	kc3,
		double &	kc4
	)		const

inline

Definition at line 259 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::GLProjectionParametersPerspective::InitShaders_(), BIAS::PMDWarp::SetTargetCameraParameters(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

void BIAS::ProjectionParametersPerspective::GetUndistortion	(	double &	kc1,
		double &	kc2,
		double &	kc3,
		double &	kc4,
		double	r0
	)		const

inline

Definition at line 268 of file ProjectionParametersPerspective.hh.

void BIAS::ProjectionParametersPerspective::GetUndistortionBrown	(	double &	kc1,
		double &	kc2,
		double &	kc3,
		double &	kc4,
		double &	r0
	)		const

inline

Get the lens undistortion parameters including the parameter describing root of the polynomial.

Author: grauel 9/2007

Examples:: ExampleProjectionParametersPerspective.cpp.

Definition at line 441 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_BROWN.

void BIAS::ProjectionParametersPerspective::GetUndistortionInverseRad	(	double &	kc1,
		double &	kc2,
		double &	kc3,
		double &	kc4
	)		const

inline

Definition at line 425 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_INVERSE_RAD.

void BIAS::ProjectionParametersPerspective::GetUndistortionInvRad3	(	double &	kc1,
		double &	kc2,
		double &	kc3
	)

inline

Definition at line 468 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_INVRAD3.

void BIAS::ProjectionParametersPerspective::GetUndistortionRad3	(	double &	kc1,
		double &	kc2,
		double &	kc3
	)

inline

Definition at line 457 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_RAD3.

int ProjectionParametersBase::GetUnProjectionJacobian	(	const HomgPoint2D &	x,
		Matrix2x2< double > &	Jac,
		const bool	homogenized = `true`
	)		const

virtualinherited

Get warp (local magnification/shear/...) when going from the real image to ideal image with focal length = 1.

When an image is undistorted to an ideal perspective camera with K=id, the region around each pixel must be warped. For perspective cameras without radial distortion this is the undoing (inverse) of the upper 2x2 part of the KMatrix (simply a rescale of coordinates). If radial distortion is present, the local warp depends on the image position. Same for most other camera models. This matrix is closely related to the absolute local image resolution.

Instead of going to the w=1 (homogenized) ideal image, we can as well go to a tangent image. This can be steered by the parameter homogenized (if false, we use normalized mode).

Author: koeser 06/2008

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Definition at line 632 of file ProjectionParametersBase.cpp.

References BIAS::Vector3< T >::CrossProduct(), BIAS::HomgPoint2D::IsHomogenized(), BIAS::MatrixIdentity, BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), and BIAS::RMatrixBase::Set().

virtual std::string BIAS::ProjectionParametersBase::GetVideoSourceType ( ) const

inlinevirtualinherited

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 577 of file ProjectionParametersBase.hh.

void BIAS::ProjectionParametersPerspective::InitParams_ ( )

inlineprotected

called from constructors to set zeros to most values

Definition at line 658 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_DEF.

virtual void BIAS::ProjectionParametersBase::InvalidatePose ( )

inlinevirtualinherited

Invalidate currently set pose.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 683 of file ProjectionParametersBase.hh.

bool BIAS::ProjectionParametersPerspective::IsDistorted ( ) const

inline

Definition at line 279 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::EpipolarLine::DrawDistortedLine().

bool ProjectionParametersBase::IsLeftOf ( const ProjectionParametersBase & ppb ) const

inherited

Returns true if the camera represented by this ProjectionParametersBase is left of the given one.

Computes the baseline vector and rotates it so that this cam would have zero rotation. This cam is left of the given one if the x component of the transformed baseline is non-negative.

Note that the orientation of the given camere is not considered, only its position.

Parameters

ppb	the parameters of the cam to compare this to

Author: rwulff

Date: 09/2011

Definition at line 711 of file ProjectionParametersBase.cpp.

References BIAS::ProjectionParametersBase::GetC(), and BIAS::Matrix3x3< T >::GetInverse().

const bool BIAS::ProjectionParametersBase::LookAt	(	const Vector3< double > &	eye,
		const Vector3< double > &	center,
		const Vector3< double > &	up
	)

inlineinherited

Looks at given point, similar to gluLookAt.

Parameters

eye	Eye coordinate
center	3D point to look at
up	Up vector of the camera

Returns: true, if everything is fine - false, otherwise

Definition at line 751 of file ProjectionParametersBase.hh.

const bool BIAS::ProjectionParametersBase::LookAt	(	const Vector3< double > &	center,
		const Vector3< double > &	up
	)

inlineinherited

Looks at given point, similar to gluLookAt.

Parameters

center	3D point to look at
up	Up vector of the camera

Returns: true, if everythings fine - false, otherwise

Definition at line 760 of file ProjectionParametersBase.hh.

const bool BIAS::ProjectionParametersBase::LookAtGL	(	const Vector3< double > &	eye,
		const Vector3< double > &	center,
		const Vector3< double > &	up
	)

inlineinherited

Looks at given point, similar to gluLookAt.

Parameters

eye	Eye coordinate
center	3D point to look at
up	Up vector of the camera

Returns: true, if everything is fine - false, otherwise

Definition at line 770 of file ProjectionParametersBase.hh.

const bool BIAS::ProjectionParametersBase::LookAtGL	(	const Vector3< double > &	center,
		const Vector3< double > &	up
	)

inlineinherited

Looks at given point, similar to gluLookAt.

Parameters

center	3D point to look at
up	Up vector of the camera

Returns: true, if everythings fine - false, otherwise

Definition at line 779 of file ProjectionParametersBase.hh.

long int BIAS::Debug::Name2DebugLevel ( const std::string & name ) const

inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author: woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string & name )

inlineinherited

creates a new debuglevel

Author: woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

ProjectionParametersPerspective& BIAS::ProjectionParametersPerspective::operator= ( const ProjectionParametersPerspective & P )

inline

virtual bool BIAS::ProjectionParametersBase::PoseValid ( ) const

inlinevirtualinherited

Check if current pose is valid.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 679 of file ProjectionParametersBase.hh.

Referenced by BIAS::IOUtils::GetProjection(), and BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam().

void BIAS::Debug::PrintDebugLevel ( std::ostream & os = std::cout ) const

inlineinherited

Definition at line 383 of file Debug.hh.

virtual HomgPoint2D BIAS::ProjectionParametersBase::Project	(	const HomgPoint3D &	X,
		bool	IgnoreDistortion = `false`
	)		const

inlinevirtualinherited

calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera !warning! the function my return an invalid point (0,0,0) in certain cases (3d point) behind camera or 3d point to close to camera center

Author: woelk 05/2006

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Examples:: ExampleEstimateFisheyePolynomial.cpp, and ExampleProjectionParametersPerspective2.cpp.

Definition at line 221 of file ProjectionParametersBase.hh.

References BIAS::Vector3< T >::Mult().

virtual int BIAS::ProjectionParametersBase::Project	(	const HomgPoint3D &	X,
		HomgPoint2D &	p2d,
		bool	IgnoreDistortion = `false`
	)		const

inlinevirtualinherited

calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera.

The only case when this function may not compute the 2d point is when the camera center and the 3d point coincide. This case must be indicated by a negative return value. In all other cases, a valid 2d point is computed, particularily when the 3d point is behind the camera or when the resulting 2d point is at infinity. returns negative, when 3d point and camera center coincide

Author: woelk 05/2006

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Definition at line 237 of file ProjectionParametersBase.hh.

References BIAS::Vector3< T >::Mult().

HomgPoint2D ProjectionParametersPerspective::ProjectLocal	(	const Vector3< double > &	point,
		bool	IgnoreDistortion = `false`
	)		const

virtual

calculates the projection of a point in the camera coordinate system to a pixel in the image plane of the camera with lens distortion In the simplest case perspective pinhole projection x = K * y where y is the projection of X using y = (R^T | -R^T C) X

Implements BIAS::ProjectionParametersBase.

Definition at line 194 of file ProjectionParametersPerspective.cpp.

References BIAS::DISTYPE_INVERSE_RAD, BIAS::HomgPoint2D, and BIAS::HomgPoint2D::Homogenize().

Referenced by BIAS::EpipolarLine::DrawDistortedLine().

int ProjectionParametersPerspective::ProjectLocal	(	const Vector3< double > &	point,
		HomgPoint2D &	p2d,
		bool	IgnoreDistortion = `false`
	)		const

virtual

calculates the projection of a point in the local camera coordinate system to a pixel in the image plane of the camera.

The only case when this function may not compute the 2d point is when the camera center and the 3d point coincide. This case must be indicated by a negative return value. In all other cases, a 2d point must be computed, particularily when the 3d point is behind the camera or when the resulting 2d point is at infinity.

In the simplest case perspective pinhole projection x = K * point where point is transformed of X using point = (R^T | -R^T C) X

Author: woelk 08/2008 (c) www.vision-n.de

Implements BIAS::ProjectionParametersBase.

Definition at line 217 of file ProjectionParametersPerspective.cpp.

References BIAS::HomgPoint2D::Homogenize(), BIAS::Vector3< T >::NormL2(), and BIAS::HomgPoint2D::Set().

virtual bool BIAS::ProjectionParametersBase::QValid ( ) const

inlinevirtualinherited

Check if current orientation is valid.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 676 of file ProjectionParametersBase.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int lv )

inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string & name )

inlineinherited

Definition at line 376 of file Debug.hh.

virtual void BIAS::ProjectionParametersPerspective::Rescale	(	double	ratio,
		const double	offset = `0.0`
	)

inlinevirtual

Adapt internal parameters to resampled image.

Parameters

ratio	2.0 = downsample by 2, 0.5 = upsample by 2
offset	Offset for principal point (applied before down/upsampling!)

Attention: Delivers only correct results if ratio is chosen to rescale image size to integral image dimensions in both directions. Image size is rounded!

Reimplemented from BIAS::ProjectionParametersBase.

Examples:: ExampleMultipleDepthWarp.cpp.

Definition at line 526 of file ProjectionParametersPerspective.hh.

References BIAS::ProjectionParametersBase::Rescale().

Referenced by BIAS::GLProjectionParametersPerspective::Rescale_().

virtual void BIAS::ProjectionParametersPerspective::Rescale	(	unsigned int	width,
		unsigned int	height
	)

inlinevirtual

Adapt internal parameters to resampled image.

Allows to rescale to different aspect ratio.

Parameters

width	new image width
height	new image height

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 539 of file ProjectionParametersPerspective.hh.

References BIAS::ProjectionParametersBase::Rescale().

void BIAS::UnscentedTransform::SetAlpha ( const double alpha )

inlineinherited

Sets the alpha parameter.

The alpha parameter determines the spread of the sigma points

Definition at line 80 of file UnscentedTransform.hh.

virtual void BIAS::ProjectionParametersPerspective::SetAspectratio ( const double AspectRatio )

inlinevirtual

Set CCD cell-size in meter, virtual overload to recalculate K_.

Author: streckel

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 344 of file ProjectionParametersPerspective.hh.

References BIAS::ProjectionParametersBase::SetAspectratio().

void BIAS::UnscentedTransform::SetBeta ( const double beta )

inlineinherited

Sets the beta parameter.

beta is used to incorporate prior knowledge of the distribution of x. For Gaussian distributions beta = 2.0 is optiomal

Definition at line 86 of file UnscentedTransform.hh.

virtual void BIAS::ProjectionParametersBase::SetC ( const BIAS::Vector3< double > & C )

inlinevirtualinherited

Set projection center.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Examples:: ExampleMultipleDepthWarp.cpp, ExampleProjectionParametersFactory.cpp, ExampleStencilBuffer.cpp, ExampleVRMLOutProjection.cpp, and ExampleXB3Rectification.cpp.

Definition at line 648 of file ProjectionParametersBase.hh.

Referenced by BIAS::clfTrimmedICP::Compute(), BIAS::ImageBlender::ComputeCylCamGeometry(), BIAS::ImageBlenderIncremental::ComputeCylCamGeometry_(), BIAS::ProjectionParametersFactory::Create(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::GLProjectionParametersBase::SetExtrinsics(), BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam(), and BIAS::MultipleDepthWarp::SetupNViewsWarp().

virtual void BIAS::ProjectionParametersBase::SetCov ( const Matrix< POSE_TYPE > & Cov )

inlinevirtualinherited

Set pose covariance matrix with respect to C, Q.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 669 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters().

void BIAS::Debug::SetDebugLevel ( const long int lv )

inlineinherited

void BIAS::Debug::SetDebugLevel ( const std::string & name )

inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream & os )

inlineinherited

Definition at line 398 of file Debug.hh.

void BIAS::ProjectionParametersPerspective::SetDistortionType ( BIAS_ProjParaPersp_DISTORTION_TYPE distype )

inline

Set type of distortion parameters.

Author: grauel

Definition at line 351 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::Projection::CreatePerspective().

void BIAS::ProjectionParametersPerspective::SetFocalLengthAndAspect	(	double	f,
		double	AspectRatio
	)

inline

Set the current camera focal length in pixel and the a spect ratio.

Examples:: ExampleProjectionMapping.cpp, ExampleProjectionParametersPerspective.cpp, ExampleTransformToCartesian.cpp, and ExampleVRMLOutProjection.cpp.

Definition at line 315 of file ProjectionParametersPerspective.hh.

References BIAS::ProjectionParametersBase::SetAspectratio().

Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::Projection::CreatePerspective(), BIAS::GLProjectionParametersPerspective::DrawWithMatchedParamsAndViewport_(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), and BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters().

static void BIAS::Debug::SetGlobalDebugLevel ( long int lev )

inlinestaticinherited

Definition at line 424 of file Debug.hh.

void ProjectionParametersPerspective::SetIdealImageSize	(	unsigned int	width,
		unsigned int	height
	)

Examples:: ExampleProjectionParametersPerspective.cpp, and ExampleProjectionParametersPerspective2.cpp.

Definition at line 593 of file ProjectionParametersPerspective.cpp.

Referenced by BIAS::GLProjectionParametersPerspective::DrawWithMatchedParamsAndViewport_(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

virtual void BIAS::ProjectionParametersBase::SetIdentifier ( std::string name )

inlinevirtualinherited

Set the identification string.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 616 of file ProjectionParametersBase.hh.

virtual void BIAS::ProjectionParametersBase::SetImageSize	(	const unsigned int	w,
		const unsigned int	h
	)

inlinevirtualinherited

Set image dimensions (in pixels).

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:: ExampleEstimateFisheyePolynomial.cpp, ExampleProjectionMapping.cpp, ExampleProjectionParametersProjective.cpp, ExampleProjectionParametersSpherical.cpp, and ExampleVRMLOutProjection.cpp.

Definition at line 609 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::Projection::CreatePerspective(), BIAS::Projection::CreateSpherical(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::GLProjectionParametersPerspective::DrawWithMatchedParamsAndViewport_(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters(), BIAS::Projection::Load(), BIAS::Camera< StorageType >::ParseMetaData(), BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

int ProjectionParametersPerspective::SetIntrinsics	(	double	minPhi,
		double	maxPhi,
		double	minTheta,
		double	maxTheta,
		double	angleStep,
		double	aspectratio = `1.0`
	)

Method calculates K-Matrix and image size from specified angles.

Angle phi is determining the opening angle and the principle point shift in y direction, while theta is determining the opening angle and the principle point shift in x direction. angleStep is used to derive the resolution, hence the focallength and the aspectratio. The K-Matrix is free of skew.

Valid values for phi are (-M_PI/2, M_PI/2), while theta must lie within (0,M_PI). Phi's reference direction is the A-Vector, theta's is the -H-Vector (negated H-Vector). The extrinsics are left unchanged (which you certainly guessed already).

Returns: -1 if angle values made no sense to the method.

Author: bartczak 10/2007

Examples:: ExampleMultipleDepthWarp.cpp, and ExampleXB3Rectification.cpp.

Definition at line 600 of file ProjectionParametersPerspective.cpp.

References BIAS::SphericalCoordinates::GetCartesianRayFromFullPhi(), BIAS::HomgPoint3D::GetEuclidean(), BIAS::CoordinateTransform3D::RotateLocalFrame(), and BIAS::SphericalCoordinates::SetAffineBase().

Referenced by BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_(), and BIAS::MultipleDepthWarp::SetupNViewsWarp().

int ProjectionParametersPerspective::SetIntrinsics	(	Vector3< double > &	p,
		Vector3< double > &	q,
		unsigned int	width,
		unsigned int	height
	)

Definition at line 701 of file ProjectionParametersPerspective.cpp.

virtual void BIAS::ProjectionParametersPerspective::SetK ( const KMatrix & K )

inlinevirtual

sets the internal parameters from a given KMatrix and updates the cached K and its inverse

Examples:: TestCalibratedPyramid.cpp.

Definition at line 500 of file ProjectionParametersPerspective.hh.

References BIAS::KMatrix::Invert(), BIAS::ProjectionParametersBase::SetAspectratio(), and BIAS::ProjectionParametersBase::SetPrincipal().

Referenced by BIAS::EpipolarLine::DrawDistortedLine(), BIAS::glfMatrix::MakeProjectionMatrix(), BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

void BIAS::ProjectionParametersPerspective::SetMinZLocal ( const double & minz )

inline

sets minimum z value of unit-ray in local CCS to be accepted as in front of camera (e.g.

DoesPointProjectIntoImage)

Definition at line 584 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::ImageBlender::CheckFov(), BIAS::ImageBlenderIncremental::CheckFov_(), and BIAS::EpipolarLine::DrawDistortedLine().

virtual void BIAS::ProjectionParametersPerspective::SetP ( const PMatrix & P )

inlinevirtual

set from P

Examples:: ExampleProjectionParametersPerspective2.cpp.

Definition at line 511 of file ProjectionParametersPerspective.hh.

References BIAS::PMatrix::GetC(), BIAS::PMatrix::GetK(), and BIAS::PMatrix::GetR().

Referenced by BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::Projection::Load(), and BIAS::Camera< StorageType >::ParseMetaData().

virtual void BIAS::ProjectionParametersBase::SetPose ( const BIAS::Pose pose )

inlinevirtualinherited

Set pose from pose object.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.

Examples:: ExampleEstimateFisheyePolynomial.cpp.

Definition at line 657 of file ProjectionParametersBase.hh.

Referenced by BIAS::Projection::AddAbsoluteCamera(), BIAS::Projection::CreatePerspective(), BIAS::Projection::CreateSpherical(), BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), BIAS::CylindricDepthPanorama::Init(), BIAS::CylindricDepthTrackingPanorama::ProcessCylindricProjection(), BIAS::GLProjectionParametersPerspective::SetIntrinsics(), BIAS::ProjectionParametersSphericalSimple::SetPose(), and BIAS::PMDWarp::UseProjectiveTexturing().

virtual void BIAS::ProjectionParametersBase::SetPoseParametrization ( const BIAS::PoseParametrization & pp )

inlinevirtualinherited

Set pose from pose parametrization.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.

Definition at line 529 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersSphericalSimple::SetPoseParametrization().

virtual void BIAS::ProjectionParametersPerspective::SetPrincipal	(	const double	x,
		const double	y
	)

inlinevirtual

Set principal point in pixels relative to top left corner, virtual overload to recalculate K_.

Author: streckel

Reimplemented from BIAS::ProjectionParametersBase.

Examples:: ExampleProjectionMapping.cpp, and ExampleProjectionParametersPerspective.cpp.

Definition at line 336 of file ProjectionParametersPerspective.hh.

References BIAS::ProjectionParametersBase::SetPrincipal().

Referenced by BIAS::Projection::CreatePerspective(), BIAS::GLProjectionParametersPerspective::DrawWithMatchedParamsAndViewport_(), GetCutOutParameters(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), and BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters().

virtual void BIAS::ProjectionParametersBase::SetQ ( const BIAS::Quaternion< double > & Q )

inlinevirtualinherited

Set orientation from unit quaternion Q.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.

Examples:: ExampleProjectionParametersFactory.cpp, ExampleVRMLOutProjection.cpp, and ExampleXB3Rectification.cpp.

Definition at line 644 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::GLProjectionParametersBase::SetExtrinsics(), and BIAS::ProjectionParametersSphericalSimple::SetQ().

virtual void BIAS::ProjectionParametersBase::SetQC	(	const BIAS::Quaternion< double > &	Q,
		const BIAS::Vector3< double > &	C
	)

inlinevirtualinherited

Set pose from unit quaternion Q and projection center C.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.

Definition at line 652 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters(), BIAS::GLProjectionParametersBase::SetExtrinsics(), and BIAS::ProjectionParametersSphericalSimple::SetQC().

virtual void BIAS::ProjectionParametersBase::SetR ( const BIAS::RMatrix & R )

inlinevirtualinherited

Set orientation from rotation matrix R.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.

Examples:: ExampleProjectionMapping.cpp, and ExampleStencilBuffer.cpp.

Definition at line 661 of file ProjectionParametersBase.hh.

References BIAS::RMatrixBase::GetQuaternion().

Referenced by BIAS::clfTrimmedICP::Compute(), BIAS::ImageBlender::ComputeCylCamGeometry(), BIAS::ImageBlenderIncremental::ComputeCylCamGeometry_(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::GLProjectionParametersBase::SetExtrinsics(), BIAS::ProjectionParametersSphericalSimple::SetR(), and BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam().

void BIAS::ProjectionParametersPerspective::SetSimplePerspective	(	const double	FoV = `M_PI/2`,
		const unsigned int	width = `512`,
		const unsigned int	height = `512`
	)

inline

Sets the parameters for a simple perspective camera with imagesize 512x512, focal length 512 (fov = 90 deg.), princ.point (255.5,255.5) and without distortion.

Examples:: ExampleStencilBuffer.cpp, and ExampleTransformToCartesian.cpp.

Definition at line 287 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_DEF.

Referenced by BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_().

void BIAS::ProjectionParametersPerspective::SetSkew ( double skew )

inline

Set the current camera skew factor.

Definition at line 323 of file ProjectionParametersPerspective.hh.

void BIAS::ProjectionParametersPerspective::SetUndistortion	(	double	kc1,
		double	kc2
	)

inline

Examples:: ExampleMultisampleBlit.cpp, ExampleStencilBuffer.cpp, and ExampleVRMLOutProjection.cpp.

Definition at line 364 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_RADIAL.

Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::Projection::CreatePerspective(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters(), BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

void BIAS::ProjectionParametersPerspective::SetUndistortion	(	double	kc1,
		double	kc2,
		double	kc3,
		double	kc4
	)

inline

Set the lens undistortion parameters.

Definition at line 373 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_DEF.

void BIAS::ProjectionParametersPerspective::SetUndistortionBrown	(	double	kc1,
		double	kc2,
		double	kc3,
		double	kc4,
		double	r0
	)

inline

Set the lens undistortion parameters including the root of the polynomial.

Author: grauel 9/2007

Examples:: ExampleProjectionParametersPerspective.cpp.

Definition at line 386 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_BROWN.

Referenced by BIAS::Projection::CreatePerspective().

void BIAS::ProjectionParametersPerspective::SetUndistortionInverseRad	(	double	kc1,
		double	kc2,
		double	kc3,
		double	kc4
	)

inline

Definition at line 398 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_INVERSE_RAD.

Referenced by BIAS::Projection::CreatePerspective().

void BIAS::ProjectionParametersPerspective::SetUndistortionInverseRad3	(	double	kc1,
		double	kc2,
		double	kc3
	)

inline

Definition at line 416 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_INVRAD3.

Referenced by BIAS::Projection::CreatePerspective().

void BIAS::ProjectionParametersPerspective::SetUndistortionRad3	(	double	kc1,
		double	kc2,
		double	kc3
	)

inline

Definition at line 408 of file ProjectionParametersPerspective.hh.

References BIAS::DISTYPE_RAD3.

Referenced by BIAS::Projection::CreatePerspective().

void BIAS::UnscentedTransform::SetUseSVD ( const bool use_svd )

inlineinherited

Definition at line 89 of file UnscentedTransform.hh.

void ProjectionParametersBase::SetVideoSourceType ( const std::string & name )

virtualinherited

Set the camera source type.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 722 of file ProjectionParametersBase.cpp.

void BIAS::Debug::ShowDebugLevel ( std::ostream & os = std::cout ) const

inlineinherited

prints all internally known debuglevels

Author: woelk 09/2006

Definition at line 496 of file Debug.hh.

int UnscentedTransform::Transform	(	const Vector< double > &	src_mean,
		const Matrix< double > &	src_cov,
		Vector< double > &	dst_mean,
		Matrix< double > &	dst_cov
	)		const

virtualinherited

computes the second order approximation of the transformations of the mean and the associated covariance for the point transformation Transform_().

Returns: 0 on success -1 when transformation of mean failed +1 when transfromation of sigma point failed

Implements BIAS::UncertaintyTransformBase.

Definition at line 52 of file UnscentedTransform.cpp.

References BIAS::UnscentedTransform::ComputeSigmaPoints_(), TNT::Matrix< T >::newsize(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::Vector< T >::OuterProduct(), BIAS::Vector< T >::SetZero(), BIAS::Matrix< T >::SetZero(), BIAS::Vector< T >::Size(), TNT::Vector< T >::size(), BIAS::Matrix< T >::Trace(), and BIAS::UnscentedTransform::Transform_().

Referenced by BIAS::EssentialPoint2Line::Compute(), BIAS::CovEuler2Quaternion::CTransform(), BIAS::Covariance3Dto2D::Project(), BIAS::Covariance3Dto2DHomg::Project(), and BIAS::Cov3Dto2DPoseCertain::Transform().

int ProjectionParametersBase::Transform_	(	const Vector< double > &	src,
		Vector< double > &	dst
	)		const

virtualinherited

Worker function for Unscented Transform.

Author: koeser

Implements BIAS::UnscentedTransform.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 472 of file ProjectionParametersBase.cpp.

References TNT::Vector< T >::size().

int ProjectionParametersPerspective::TransformCartesianToPolarCoordinates	(	const BIAS::Image< float > &	cartesianDepth,
		BIAS::Image< float > &	polarDepth
	)

transforms an image from cartesian coordinates to polar coordinates

Author: ischiller

Date: 06/2010

Definition at line 772 of file ProjectionParametersPerspective.cpp.

References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::ImageBase::ReInit().

float ProjectionParametersPerspective::TransformCartesianToPolarCoordinates	(	const HomgPoint2D &	pos,
		const float	depthCartesian
	)

transforms a depth value from cartesian coordinates to polar coordinates

Returns: the transformed depth in polar coordinates

Author: ischiller

Date: 06/2010

Definition at line 808 of file ProjectionParametersPerspective.cpp.

int ProjectionParametersPerspective::TransformPolarToCartesianCoordinates	(	const BIAS::Image< float > &	polarDepth,
		BIAS::Image< float > &	cartesianDepth
	)

transforms an image from polar coordinates to cartesian coordinates

Author: ischiller

Date: 06/2010

Definition at line 826 of file ProjectionParametersPerspective.cpp.

References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::ImageBase::ReInit().

float ProjectionParametersPerspective::TransformPolarToCartesianCoordinates	(	const HomgPoint2D &	pos,
		const float	depthPolar
	)

transforms a depth value from polar coodinates to cartesian coordinates

Returns: the transformed depth in cartesian coordinates

Author: ischiller

Date: 06/2010

Definition at line 864 of file ProjectionParametersPerspective.cpp.

bool ProjectionParametersPerspective::Undistort ( BIAS::HomgPoint2D & point2d ) const

virtual

Using the Matlab camera calibration toolbox parameters for an undistortion of distorted coordinates.

TODO: faster implementation via Lookup-table

Author: streckel 06/2004

Implements BIAS::ProjectionParametersBase.

Examples:: ExampleProjectionParametersPerspective.cpp.

Definition at line 345 of file ProjectionParametersPerspective.cpp.

References BIAS::HomgPoint2D::Homogenize(), BIAS::HomgPoint2D::IsAtInfinity(), and BIAS::HomgPoint2D::Set().

Referenced by BIAS::OutputLensDistortion::CreateLookupTable(), and BIAS::DistortionRendering::Init().

bool BIAS::ProjectionParametersPerspective::Undistort_	(	const double	dist_x,
		const double	dist_y,
		double &	x,
		double &	y
	)		const

inlineprotected

Definition at line 883 of file ProjectionParametersPerspective.hh.

References distType_, BIAS::DISTYPE_BROWN, BIAS::DISTYPE_DEF, BIAS::DISTYPE_INVERSE_RAD, BIAS::DISTYPE_INVRAD3, BIAS::DISTYPE_NONE, BIAS::DISTYPE_RAD3, BIAS::DISTYPE_RADIAL, kc1_, kc2_, kc3_, kc4_, and r0_.

Matrix3x3< double > ProjectionParametersPerspective::UnProjectCovLocal	(	const HomgPoint2D &	pos,
		const Matrix3x3< double > &	cov2D,
		bool	IgnoreDistortion = `false`,
		bool	Normalize = `false`
	)

virtual

unprojects the covariance matrices to K=Identity camera Fast implementation for IgnorDistortion = true and Normalize = false

Author: woelk 11/2007

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 912 of file ProjectionParametersPerspective.cpp.

References BIAS::Matrix3x3< T >::Mult(), BIAS::Matrix3x3< T >::Transpose(), and BIAS::ProjectionParametersBase::UnProjectCovLocal().

void ProjectionParametersPerspective::UnProjectLocal	(	const HomgPoint2D &	pos,
		Vector3< double > &	pointOnRay,
		Vector3< double > &	direction,
		bool	IgnoreDistortion = `false`
	)		const

virtual

calculates the viewing ray from the camera center (in the camera coordinate system) which belongs to the image position pos with lens distortion e.g.

(0,0,1) means optical axis

Implements BIAS::ProjectionParametersBase.

Examples:: ExampleMultipleDepthWarp.cpp.

Definition at line 267 of file ProjectionParametersPerspective.cpp.

References BIAS::Equal(), and BIAS::Vector3< T >::NormL2().

Referenced by BIAS::ImageBlender::CheckFov(), BIAS::ImageBlenderIncremental::CheckFov_(), BIAS::Primitives::LocalNormalizedVertexCloud(), BIAS::Primitives::LocalPerspectivePatches(), BIAS::Primitives::LocalPerspectivePatchOverLine(), BIAS::Primitives::LocalPerspectiveQuad(), BIAS::glfMatrix::MakeProjectionMatrix(), BIAS::PMDWarp::SetupDefaultPrimitiveRendering_(), BIAS::MultipleDepthWarp::SetupNViewsWarp(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().

HomgPoint3D ProjectionParametersPerspective::UnProjectToImagePlane	(	const HomgPoint2D &	pos,
		const double &	depth = `1.0`,
		bool	IgnoreDistortion = `false`
	)		const

virtual

map points from image onto unit diameter image plane in 3D.

Chosen is the image plane with distance of one from the image center.

Implements BIAS::ProjectionParametersBase.

Definition at line 252 of file ProjectionParametersPerspective.cpp.

References BIAS::Equal(), BIAS::HomgPoint3D, and BIAS::Vector3< T >::NormL2().

HomgPoint3D ProjectionParametersBase::UnProjectToPoint	(	const HomgPoint2D &	pos,
		double	depth,
		bool	IgnoreDistortion = `false`
	)		const

virtualinherited

calculates a 3D point in the global (not the rig) coordinate system, which belongs to the image position pos with distance depth to the camera center.

Returns: : (0,0,0,0) is returned on failure

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:: ExampleEstimateFisheyePolynomial.cpp, and ExampleProjectionParametersProjective.cpp.

Definition at line 448 of file ProjectionParametersBase.cpp.

References BIAS::Vector3< T >::AddIP(), and BIAS::Vector3< T >::Mult().

Referenced by BIAS::PMDImageProc::CrossCheck(), BIAS::TriangleMesh::MakeTriangles_(), and BIAS::clfTrimmedICP::setFromDepthMap_().

HomgPoint3D ProjectionParametersBase::UnProjectToPoint	(	const HomgPoint2D &	pos,
		const double	depth,
		const ProjectionParametersBase &	proj,
		bool	IgnoreDistortion = `false`
	)		const

virtualinherited

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 460 of file ProjectionParametersBase.cpp.

References BIAS::Vector3< T >::AddIP(), BIAS::Vector3< T >::Mult(), and BIAS::ProjectionParametersBase::UnProjectToPointLocal().

HomgPoint3D ProjectionParametersPerspective::UnProjectToPointByZ	(	const HomgPoint2D &	pos,
		const double &	zDistance,
		bool	IgnoreDistortion = `false`
	)		const

virtual

Definition at line 237 of file ProjectionParametersPerspective.cpp.

Vector3< double > ProjectionParametersBase::UnProjectToPointLocal	(	const HomgPoint2D &	pos,
		const double &	depth,
		bool	IgnoreDistortion = `false`
	)		const

virtualinherited

calculates a 3D point in the local camera coordinate system, which belongs to the image position pos in cam with distance depth to the camera center cam.

Author: koeser

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersSpherical, BIAS::ProjectionParametersSphericalFast, BIAS::ProjectionParametersCylindric, BIAS::ProjectionParametersProjective, BIAS::ProjectionParametersOrthographic, and BIAS::ProjectionParametersBufferedRay.

Definition at line 432 of file ProjectionParametersBase.cpp.

References BIAS::Vector3< T >::NormL2().

Referenced by BIAS::ProjectionParametersBase::UnProjectToPoint().

virtual void BIAS::ProjectionParametersBase::UnProjectToRay	(	const HomgPoint2D &	pos,
		Vector3< double > &	origin,
		Vector3< double > &	direction,
		bool	ignoreDistortion = `false`
	)		const

inlinevirtualinherited

Calculates the view ray, which belongs to the given position on the image plane, in global coordinates.

Parameters

pos	position on the image plane
origin	origin of the ray
direction	will be the direction of the ray
ignoreDistortion	optional parameter which specifies if potential distortions are ignored (is false by default)

Author: Woelk, Husvogt

Date: May 2006, March 2012

In case of a perspective projection, the ray goes through the optical center of the projection and the given position on the image plane.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Examples:: ExampleProjectionParametersPerspective2.cpp.

Definition at line 325 of file ProjectionParametersBase.hh.

References BIAS::Matrix3x3< T >::Mult().

Referenced by BIAS::ImageBlender::BlendImages(), BIAS::ImageBlenderIncremental::BlendImages(), BIAS::ImageBlender::CheckFov(), BIAS::ImageBlenderIncremental::CheckFov_(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::Triangulation::Triangulate(), and BIAS::Triangulation::TriangulateProjective().

virtual void BIAS::ProjectionParametersBase::UnProjectToRay	(	const HomgPoint2D &	pos,
		Vector3< double > &	direction,
		bool	ignoreDistortion = `false`
	)		const

inlinevirtualinherited

Calculates the view ray, which belongs to the given position on the image plane, in global coordinates.

Parameters

pos	position on the image plane
direction	will be the direction of the ray
ignoreDistortion	optional parameter which specifies if potential distortions are ignored (is false by default)

Author: Woelk, Husvogt

Date: May 2006, March 2012

In case of a perspective projection, the ray goes through the optical center of the projection and the given position on the image plane.

Definition at line 351 of file ProjectionParametersBase.hh.

References BIAS::Matrix3x3< T >::Mult().

virtual void BIAS::ProjectionParametersBase::UnProjectToRay	(	const HomgPoint2D &	pos,
		Vector3< double > &	origin,
		Vector3< double > &	direction,
		const ProjectionParametersBase &	proj,
		bool	ignoreDistortion = `false`
	)		const

inlinevirtualinherited

Calculates the view ray, which belongs to the given position on the image plane, using the given projection.

Parameters

pos	position on the image plane
origin	origin of the ray
direction	will be the direction of the ray
proj	reference to the projection which is used
ignoreDistortion	optional parameter which specifies if potential distortions are ignored (is false by default)

Author: Woelk, Husvogt

Date: May 2006, March 2012

In case of a perspective projection, the ray goes through the optical center of the given projection and the given position on the image plane.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.

Definition at line 377 of file ProjectionParametersBase.hh.

References BIAS::Matrix3x3< T >::Mult(), and BIAS::ProjectionParametersBase::UnProjectLocal().

void ProjectionParametersPerspective::UpdateMinZLocal ( )

run along image border and compute maximum field of view, save in minzlocal

Definition at line 933 of file ProjectionParametersPerspective.cpp.

References BIAS::Equal(), BIAS::HomgPoint2D, BIAS::Vector3< T >::NormL2(), BIAS::PixelIterator::x, and BIAS::PixelIterator::y.

virtual void BIAS::ProjectionParametersBase::ValidatePose ( )

inlinevirtualinherited

Validate currently set pose.

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.

Examples:: ExampleTransformToCartesian.cpp.

Definition at line 687 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersSphericalSimple::ValidatePose().

double ProjectionParametersPerspective::ViewDifference ( const ProjectionParametersBase * pPPB ) const

virtual

compute scalar dissimilarity between two cameras based upon rough approximation of field of view overlap for pure rotation and penalty term for translation: 0=identical

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 880 of file ProjectionParametersPerspective.cpp.

References BIAS::ProjectionParametersBase::GetC(), BIAS::ProjectionParametersBase::GetR(), and BIAS::Matrix3x3< T >::Normalize().

xmlNodePtr XMLBase::XMLAdd	(	const xmlNodePtr	Node,
		XMLIO &	XMLObject
	)		const

inherited

call this to add the class to a node of a given xml tree

Attention: interface changed 3/2008: return value now nodeptr of added node!

Definition at line 26 of file XMLBase.cpp.

References BIAS::XMLIO::addAttribute(), and BIAS::XMLIO::addChildNode().

int ProjectionParametersPerspective::XMLGetClassName	(	std::string &	TopLevelTag,
		double &	Version
	)		const

virtual

specialization of XML block name function

Reimplemented from BIAS::ProjectionParametersBase.

Reimplemented in BIAS::ProjectionParametersPerspectiveDepth.

Definition at line 395 of file ProjectionParametersPerspective.cpp.

int ProjectionParametersPerspective::XMLIn	(	const xmlNodePtr	Node,
		XMLIO &	XMLObject
	)

virtual

specialization of XML read function

Reimplemented from BIAS::ProjectionParametersBase.

Reimplemented in BIAS::ProjectionParametersPerspectiveDepth.

Definition at line 455 of file ProjectionParametersPerspective.cpp.

References BIAS::DISTYPE_BROWN, BIAS::DISTYPE_DEF, BIAS::DISTYPE_INVERSE_RAD, BIAS::DISTYPE_INVRAD3, BIAS::DISTYPE_NONE, BIAS::DISTYPE_RAD3, BIAS::DISTYPE_RADIAL, BIAS::XMLIO::getAttributeByName(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getAttributeValueString(), BIAS::XMLIO::getChild(), BIAS::ProjectionParametersBase::XMLGetClassName(), and BIAS::ProjectionParametersBase::XMLIn().

Referenced by BIAS::ProjectionParametersPerspectiveDepth::XMLIn().

int ProjectionParametersPerspective::XMLOut	(	const xmlNodePtr	Node,
		XMLIO &	XMLObject
	)		const

virtual

specialization of XML write function

Reimplemented from BIAS::ProjectionParametersBase.

Reimplemented in BIAS::ProjectionParametersPerspectiveDepth.

Definition at line 402 of file ProjectionParametersPerspective.cpp.

References BIAS::XMLIO::addAttribute(), BIAS::XMLIO::addChildNode(), BIAS::DISTYPE_BROWN, BIAS::DISTYPE_DEF, BIAS::DISTYPE_INVERSE_RAD, BIAS::DISTYPE_INVRAD3, BIAS::DISTYPE_NONE, BIAS::DISTYPE_RAD3, BIAS::DISTYPE_RADIAL, BIAS::ProjectionParametersBase::XMLGetClassName(), and BIAS::ProjectionParametersBase::XMLOut().

Referenced by BIAS::ProjectionParametersPerspectiveDepth::XMLOut().

int XMLBase::XMLRead ( const std::string & Filename )

inherited

derived classes must implement the function XMLIn which is called by this function XMLRead to read everything with name Filename into (*this).

Returns: 0 on success, <0 on error

Examples:: ExampleCamera.cpp, ExampleMultisampleBlit.cpp, ExampleProjection.cpp, ExampleProjectionMapping.cpp, ExampleProjectionParametersPerspective.cpp, ExampleProjectionParametersProjective.cpp, ExampleProjectionParametersSpherical.cpp, ExampleTransformToCartesian.cpp, and ExampleUndistort.cpp.

Definition at line 78 of file XMLBase.cpp.

References BIAS::XMLIO::clear(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getNodeName(), and BIAS::XMLIO::read().

Referenced by BIAS::biasGLviewerGLUT::Init(), BIAS::SceneOpenSceneGraph::Load(), and BIAS::GLProjectionParametersPerspective::XMLRead().

int XMLBase::XMLReadFromString ( const std::string & str )

inherited

reconstruct xml tree from string

Author: evers

Examples:: ExampleProjection.cpp.

Definition at line 111 of file XMLBase.cpp.

References BIAS::XMLIO::clear(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getNodeName(), and BIAS::XMLIO::ReadFromString().

Referenced by BIAS::IOUtils::GetProjection().

int XMLBase::XMLWrite	(	const std::string &	Filename,
		int	CompressionLevel = `0`,
		bool	AutoAddCompressionSuffix = `true`,
		std::string	encoding = `"UTF-8"`
	)		const

inherited

call this to add the class to a new xml tree and write it to the file Filename.

Calls function XMLOut of derived class

Parameters

CompressionLevel 0..9 (0=off, 9=highest compression)

Examples:: ExampleProjection.cpp, ExampleProjectionParametersFactory.cpp, ExampleProjectionParametersPerspective.cpp, ExampleProjectionParametersProjective.cpp, and ExampleProjectionParametersSpherical.cpp.

Definition at line 40 of file XMLBase.cpp.

References BIAS::XMLIO::addAttribute(), BIAS::XMLIO::clear(), BIAS::XMLIO::create(), BIAS::XMLIO::SetCompression(), BIAS::XMLIO::SetEncoding(), and BIAS::XMLIO::write().

Referenced by BIAS::SphericalDepthPanorama::GetTriangleMesh(), BIAS::SceneOpenSceneGraph::Save(), BIAS::ScreenShotListener::StoreNextScreenShot_(), and BIAS::GLProjectionParametersPerspective::XMLWrite().

int XMLBase::XMLWriteToString	(	std::string &	str,
		std::string	encoding = `"UTF-8"`
	)		const

inherited

serialize xml tree to string

Author: evers

Examples:: ExampleProjection.cpp.

Definition at line 61 of file XMLBase.cpp.

References BIAS::XMLIO::addAttribute(), BIAS::XMLIO::clear(), BIAS::XMLIO::create(), BIAS::XMLIO::SetEncoding(), and BIAS::XMLIO::WriteToString().

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const ProjectionParametersPerspective &	p
	)

friend

Definition at line 716 of file ProjectionParametersPerspective.hh.

Member Data Documentation

long int BIAS::Debug::_liDebugLevel

protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel

protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel

protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream

staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

double BIAS::UnscentedTransform::Alpha_

protectedinherited

the alpha parameter determines the spread of the sigma points

Definition at line 94 of file UnscentedTransform.hh.

Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().

double BIAS::ProjectionParametersBase::aspectratio_

protectedinherited

aspect ratio of the camera CCD

Definition at line 799 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().

double BIAS::UnscentedTransform::Beta_

protectedinherited

beta is used to incorporate prior knowledge of the distribution of x.

For Gaussian distributions beta = 2.0 is optiomal

Definition at line 97 of file UnscentedTransform.hh.

Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().

bool BIAS::ProjectionParametersBase::CValid_

protectedinherited

Definition at line 788 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().

BIAS_ProjParaPersp_DISTORTION_TYPE BIAS::ProjectionParametersPerspective::distType_

protected

Definition at line 692 of file ProjectionParametersPerspective.hh.

Referenced by Distort_(), BIAS::operator<<(), operator=(), and Undistort_().

double BIAS::ProjectionParametersPerspective::focallength_

protected

focal length is stored in pixel for cellSizeX

Definition at line 682 of file ProjectionParametersPerspective.hh.

Referenced by DoIntrinsicsDiffer(), and operator=().

long int BIAS::Debug::GlobalDebugLevel = 0

staticprotectedinherited

Definition at line 513 of file Debug.hh.

unsigned int BIAS::ProjectionParametersBase::height_

protectedinherited

height of image in pixels

Definition at line 793 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersPerspectiveDepth::DistortDepthMapIP(), BIAS::ProjectionParametersSphericalSimple::DoesPointProjectIntoImageLocal(), BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), GetCutOutParameters(), BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepthMapIP(), and BIAS::ProjectionParametersBufferedRay::UnProjectLocal().

unsigned int BIAS::ProjectionParametersPerspective::idealImageHeight_

protected

Definition at line 698 of file ProjectionParametersPerspective.hh.

Referenced by operator=().

unsigned int BIAS::ProjectionParametersPerspective::idealImageWidth_

protected

ideal image size

Definition at line 698 of file ProjectionParametersPerspective.hh.

Referenced by operator=().

std::string BIAS::ProjectionParametersBase::identifier_

protectedinherited

Multifunctional identifier.

Definition at line 806 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersBase::operator=().

KMatrix BIAS::ProjectionParametersPerspective::invK_

protected

Definition at line 679 of file ProjectionParametersPerspective.hh.

Referenced by operator=().

KMatrix BIAS::ProjectionParametersPerspective::K_

protected

focal length, aspect ratio, principal point in K_, inverse in invK_

Definition at line 679 of file ProjectionParametersPerspective.hh.

Referenced by operator=().

double BIAS::UnscentedTransform::Kappa_

protectedinherited

kappa is a secondary scaling parameter.

In other papers from Uhlman kappa is fixed to 1.0

Definition at line 100 of file UnscentedTransform.hh.

Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().

double BIAS::ProjectionParametersPerspective::kc1_

protected

lens undistortion parameters after Bouquet also used as parameters for distortion after Brown(?)

Definition at line 685 of file ProjectionParametersPerspective.hh.

Referenced by Distort_(), DoIntrinsicsDiffer(), BIAS::operator<<(), operator=(), and Undistort_().

double BIAS::ProjectionParametersPerspective::kc2_

protected

Definition at line 685 of file ProjectionParametersPerspective.hh.

Referenced by Distort_(), DoIntrinsicsDiffer(), BIAS::operator<<(), operator=(), and Undistort_().

double BIAS::ProjectionParametersPerspective::kc3_

protected

Definition at line 685 of file ProjectionParametersPerspective.hh.

Referenced by Distort_(), DoIntrinsicsDiffer(), BIAS::operator<<(), operator=(), and Undistort_().

double BIAS::ProjectionParametersPerspective::kc4_

protected

Definition at line 685 of file ProjectionParametersPerspective.hh.

Referenced by Distort_(), DoIntrinsicsDiffer(), BIAS::operator<<(), operator=(), and Undistort_().

double BIAS::ProjectionParametersPerspective::minZlocal_

protected

rigorously clip unit rays in CCS with z smaller than this values

Definition at line 701 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::operator<<(), and operator=().

Pose BIAS::ProjectionParametersBase::Pose_

protectedinherited

pose

Definition at line 781 of file ProjectionParametersBase.hh.

Referenced by BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), BIAS::ProjectionParametersSphericalSimple::SetPose(), BIAS::ProjectionParametersSphericalSimple::SetPoseParametrization(), BIAS::ProjectionParametersSphericalSimple::SetQ(), BIAS::ProjectionParametersSphericalSimple::SetQC(), and BIAS::ProjectionParametersSphericalSimple::UnProjectToImagePlane().

double BIAS::ProjectionParametersBase::principalX_

protectedinherited

principal point in pixel coordinates (one for all zoom settings)

Definition at line 796 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().

double BIAS::ProjectionParametersBase::principalY_

protectedinherited

Definition at line 796 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().

bool BIAS::ProjectionParametersBase::QValid_

protectedinherited

validity flag for orientation and position

Definition at line 788 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersSphericalSimple::Angles2GlobalOrientation(), BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::ProjectionParametersSphericalSimple::GlobalOrientation2Angles(), BIAS::ProjectionParametersSphericalSimple::GlobalOrientation2Pixel(), BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), and BIAS::ProjectionParametersSphericalSimple::Pixel2GlobalOrientation().

double BIAS::ProjectionParametersPerspective::r0_

protected

Definition at line 689 of file ProjectionParametersPerspective.hh.

Referenced by Distort_(), BIAS::operator<<(), operator=(), and Undistort_().

double BIAS::ProjectionParametersPerspective::skew_

protected

skew calibration parameter

Definition at line 695 of file ProjectionParametersPerspective.hh.

Referenced by BIAS::operator<<(), and operator=().

bool BIAS::UnscentedTransform::UseSVD_

protectedinherited

Definition at line 102 of file UnscentedTransform.hh.

Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().

bool BIAS::ProjectionParametersBase::ustIgnoreDistortion_

protectedinherited

Definition at line 803 of file ProjectionParametersBase.hh.

bool BIAS::ProjectionParametersBase::ustNormalize_

protectedinherited

Definition at line 804 of file ProjectionParametersBase.hh.

bool BIAS::ProjectionParametersBase::ustTransformIntoImage_

protectedinherited

unscented transform worker variables

Definition at line 802 of file ProjectionParametersBase.hh.

std::string BIAS::ProjectionParametersBase::videoSourceType_

protectedinherited

Definition at line 807 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersBase::operator=().

unsigned int BIAS::ProjectionParametersBase::width_

protectedinherited

width of image in pixels

Definition at line 791 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersPerspectiveDepth::DistortDepthMapIP(), BIAS::ProjectionParametersSphericalSimple::DoesPointProjectIntoImageLocal(), BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), GetCutOutParameters(), BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), BIAS::ProjectionParametersSphericalSimple::Rescale(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepthMapIP(), and BIAS::ProjectionParametersBufferedRay::UnProjectLocal().

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

Geometry/ProjectionParametersPerspective.hh
Geometry/ProjectionParametersPerspective.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation