can load exernally programmed child classes of ProjectionParametersBase More...

#include <Geometry/ProjectionParametersDynamicLoad.hh>

Inheritance diagram for BIAS::ProjectionParametersDynamicLoad:

Collaboration diagram for BIAS::ProjectionParametersDynamicLoad:

Public Member Functions
virtual ProjectionParametersBase *	Clone () const
	Covariant virtual copy constructor used in BIAS::Projection. More...

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

virtual bool	Distort (BIAS::HomgPoint2D &point2d) const
	Interface defintion for lens distortion function, implemented by derived classes. 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...

virtual 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...

ProjectionParametersBase *	GetDynPtr ()
	get base pointer to dynamically loaded object in order to handle it directly 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...

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

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...

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	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...

ProjectionParametersDynamicLoad &	operator= (const ProjectionParametersDynamicLoad &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...

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

	ProjectionParametersDynamicLoad (const std::string &className, const unsigned int width=0, const unsigned int height=0)

	ProjectionParametersDynamicLoad (const ProjectionParametersDynamicLoad &P)

virtual HomgPoint2D	ProjectLocal (const Vector3< double > &point, 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 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 new image size More...

virtual void	SetAspectratio (const double AspectRatio)
	Set CCD aspect ratio (i.e. More...

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

void	SetClassName (std::string &name)

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

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...

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). 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...

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...

virtual bool	Undistort (BIAS::HomgPoint2D &point2d) const
	Interface defintion for lens undistortion function, implemented by derived classes. 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 More...

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

virtual 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 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 > &pointOnRay, Vector3< double > &direction, bool IgnoreDistortion=false) const
	calculates the viewing ray in the global coordinate frame from the camera center which belongs to the given image position. More...

virtual void	UnProjectToRay (const HomgPoint2D &pos, Vector3< double > &pointOnRay, 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...

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

virtual double	ViewDifference (const ProjectionParametersBase *pPPB) const
	Returns difference between two projections like \|C1-C2\|. 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	~ProjectionParametersDynamicLoad ()

Protected Member Functions
void	AddDebugLevel (const long int lv)

void	AddDebugLevel (const std::string &name)

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

int	GetDebugLevel () const

std::ostream &	GetDebugStream () const

void	GetDebugStream (std::ostream &os) const

void	InitFactory_ ()

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...

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...

std::string	className_

bool	CValid_

ProjectionParametersBase *	dynptr_

std::map< std::string, maker_t, std::less< std::string > >	factory_

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

void *	hndl_

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

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

std::vector< std::string >	libPaths_

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...

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 ProjectionParametersDynamicLoad &p)

Detailed Description

can load exernally programmed child classes of ProjectionParametersBase

Author: sedlazeck

Examples:: ExampleProjectionParametersDynamicLoad.cpp.

Definition at line 45 of file ProjectionParametersDynamicLoad.hh.

Constructor & Destructor Documentation

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

inline

Definition at line 49 of file ProjectionParametersDynamicLoad.hh.

BIAS::ProjectionParametersDynamicLoad::ProjectionParametersDynamicLoad	(	const std::string &	className,
		const unsigned int	width = `0`,
		const unsigned int	height = `0`
	)

inline

Definition at line 59 of file ProjectionParametersDynamicLoad.hh.

BIAS::ProjectionParametersDynamicLoad::ProjectionParametersDynamicLoad ( const ProjectionParametersDynamicLoad & P )

inline

Definition at line 70 of file ProjectionParametersDynamicLoad.hh.

ProjectionParametersDynamicLoad::~ProjectionParametersDynamicLoad ( )

virtual

Definition at line 38 of file ProjectionParametersDynamicLoad.cpp.

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 ProjectionParametersBase* BIAS::ProjectionParametersDynamicLoad::Clone ( ) const

inlinevirtual

Covariant virtual copy constructor used in BIAS::Projection.

Implements BIAS::ProjectionParametersBase.

Definition at line 507 of file ProjectionParametersDynamicLoad.hh.

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::ProjectionParametersDynamicLoad::CValid ( ) const

inlinevirtual

Check of current projection center is valid.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 538 of file ProjectionParametersDynamicLoad.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 ProjectionParametersDynamicLoad::Distort ( BIAS::HomgPoint2D & point2d ) const

virtual

Interface defintion for lens distortion function, implemented by derived classes.

Implements BIAS::ProjectionParametersBase.

Definition at line 186 of file ProjectionParametersDynamicLoad.cpp.

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

inlinevirtual

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

Parameters

X	assumes homogenized point!

Author: bartczak

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 186 of file ProjectionParametersDynamicLoad.hh.

bool ProjectionParametersDynamicLoad::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 144 of file ProjectionParametersDynamicLoad.cpp.

virtual const bool BIAS::ProjectionParametersDynamicLoad::DoExtrinsicsDiffer ( const ProjectionParametersBase * p ) const

inlinevirtual

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 172 of file ProjectionParametersDynamicLoad.hh.

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

virtual

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 138 of file ProjectionParametersDynamicLoad.cpp.

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

inlinevirtual

Return aspectratio (i.e.

cellsizeX / cellsizeY).

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 446 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Get projection center.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 360 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

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

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 384 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

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

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 373 of file ProjectionParametersDynamicLoad.hh.

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.

ProjectionParametersBase* BIAS::ProjectionParametersDynamicLoad::GetDynPtr ( )

inline

get base pointer to dynamically loaded object in order to handle it directly

Definition at line 623 of file ProjectionParametersDynamicLoad.hh.

Referenced by BIAS::ProjectionParametersFactory::Create().

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

inlinevirtual

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

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 405 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

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 from BIAS::ProjectionParametersBase.

Definition at line 576 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 580 of file ProjectionParametersDynamicLoad.hh.

void ProjectionParametersDynamicLoad::GetFirstBorderPixel ( PixelIterator & it )

virtual

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 from BIAS::ProjectionParametersBase.

Definition at line 114 of file ProjectionParametersDynamicLoad.cpp.

void ProjectionParametersDynamicLoad::GetFirstEdgePosition ( PixelIterator & it )

virtual

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 from BIAS::ProjectionParametersBase.

Definition at line 122 of file ProjectionParametersDynamicLoad.cpp.

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

inlinestaticinherited

Definition at line 431 of file Debug.hh.

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

inlinevirtual

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 437 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Returns the image height.

Returns: the image height

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 432 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Obtain image dimensions.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 411 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Returns the image width.

Returns: the image width

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 421 of file ProjectionParametersDynamicLoad.hh.

virtual int BIAS::ProjectionParametersDynamicLoad::GetMinimalAngularSamplingStep ( double & minAngleStep )

inlinevirtual

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 166 of file ProjectionParametersDynamicLoad.hh.

bool ProjectionParametersDynamicLoad::GetNextBorderPixel ( PixelIterator & it )

virtual

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 from BIAS::ProjectionParametersBase.

Definition at line 118 of file ProjectionParametersDynamicLoad.cpp.

bool ProjectionParametersDynamicLoad::GetNextEdgePosition ( PixelIterator & it )

virtual

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 from BIAS::ProjectionParametersBase.

Definition at line 126 of file ProjectionParametersDynamicLoad.cpp.

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

inlinevirtual

Return complete pose object.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 389 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Return copy of pose parametrization object.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 395 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

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

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 451 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Get orientation as unit quaternion.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 366 of file ProjectionParametersDynamicLoad.hh.

virtual BIAS::RMatrix BIAS::ProjectionParametersDynamicLoad::GetR ( ) const

inlinevirtual

Get orientation as rotation matrix R.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 379 of file ProjectionParametersDynamicLoad.hh.

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

virtual

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 from BIAS::ProjectionParametersBase.

Definition at line 130 of file ProjectionParametersDynamicLoad.cpp.

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

inlinevirtual

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 from BIAS::ProjectionParametersBase.

Definition at line 351 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 441 of file ProjectionParametersDynamicLoad.hh.

void ProjectionParametersDynamicLoad::InitFactory_ ( )

protected

add other library paths here

Definition at line 55 of file ProjectionParametersDynamicLoad.cpp.

virtual void BIAS::ProjectionParametersDynamicLoad::InvalidatePose ( )

inlinevirtual

Invalidate currently set pose.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 548 of file ProjectionParametersDynamicLoad.hh.

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().

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

inline

Definition at line 75 of file ProjectionParametersDynamicLoad.hh.

References className_, BIAS::ProjectionParametersBase::Clone(), dynptr_, hndl_, and BIAS::ProjectionParametersBase::operator=().

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

inlinevirtual

Check if current pose is valid.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 544 of file ProjectionParametersDynamicLoad.hh.

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

inlineinherited

Definition at line 383 of file Debug.hh.

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

inlinevirtual

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 from BIAS::ProjectionParametersBase.

Definition at line 207 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

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 from BIAS::ProjectionParametersBase.

Definition at line 221 of file ProjectionParametersDynamicLoad.hh.

HomgPoint2D ProjectionParametersDynamicLoad::ProjectLocal	(	const Vector3< double > &	point,
		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

!warning! function return an invalid 2d point (0,0,0) in certain cases

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

Implements BIAS::ProjectionParametersBase.

Definition at line 154 of file ProjectionParametersDynamicLoad.cpp.

int ProjectionParametersDynamicLoad::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 161 of file ProjectionParametersDynamicLoad.cpp.

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

inlinevirtual

Check if current orientation is valid.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 541 of file ProjectionParametersDynamicLoad.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::ProjectionParametersDynamicLoad::Rescale	(	double	ratio,
		const double	offset = `0.0`
	)

inlinevirtual

Adapt internal parameters to resampled image.

@param ratio 2.0 = downsample by 2, 0.5 = upsample by 2.

Parameters

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.

Definition at line 492 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

adapt internal parameters to new image size

Parameters

width and height are the new images sizes

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

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 502 of file ProjectionParametersDynamicLoad.hh.

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::ProjectionParametersDynamicLoad::SetAspectratio ( const double AspectRatio )

inlinevirtual

Set CCD aspect ratio (i.e.

cellsizeX / cellsizeY).

Author: streckel

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 459 of file ProjectionParametersDynamicLoad.hh.

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::ProjectionParametersDynamicLoad::SetC ( const BIAS::Vector3< double > & C )

inlinevirtual

Set projection center.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 516 of file ProjectionParametersDynamicLoad.hh.

void BIAS::ProjectionParametersDynamicLoad::SetClassName ( std::string & name )

inline

Definition at line 625 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Set pose covariance matrix with respect to C, Q.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 534 of file ProjectionParametersDynamicLoad.hh.

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.

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

inlinestaticinherited

Definition at line 424 of file Debug.hh.

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

inlinevirtual

Set the identification string.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 476 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Set image dimensions (in pixels).

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 470 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Set pose from pose object.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 525 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Set pose from pose parametrization.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 401 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

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

Author: streckel

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 465 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Set orientation from unit quaternion Q.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 512 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Set pose from unit quaternion Q and projection center C.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 520 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Set orientation from rotation matrix R.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 529 of file ProjectionParametersDynamicLoad.hh.

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

inlineinherited

Definition at line 89 of file UnscentedTransform.hh.

virtual void BIAS::ProjectionParametersDynamicLoad::SetVideoSourceType ( const std::string & name )

inlinevirtual

Set the camera source type.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 481 of file ProjectionParametersDynamicLoad.hh.

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().

virtual int BIAS::ProjectionParametersDynamicLoad::Transform_	(	const Vector< double > &	src,
		Vector< double > &	dst
	)		const

inlinevirtual

Worker function for Unscented Transform.

Author: koeser

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 611 of file ProjectionParametersDynamicLoad.hh.

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

virtual

Interface defintion for lens undistortion function, implemented by derived classes.

Implements BIAS::ProjectionParametersBase.

Definition at line 193 of file ProjectionParametersDynamicLoad.cpp.

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

virtual

unprojects the covariance matrices to K=Identity camera

This uses the unscented transform to propagate covariance. Use a faster or better specialization in derived class if you want.

Author: koeser 06/2006

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 234 of file ProjectionParametersDynamicLoad.cpp.

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

virtual

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

pos=principal point results in (0,0,1)=optical axis

Implements BIAS::ProjectionParametersBase.

Definition at line 171 of file ProjectionParametersDynamicLoad.cpp.

HomgPoint3D ProjectionParametersDynamicLoad::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.

Implements BIAS::ProjectionParametersBase.

Definition at line 177 of file ProjectionParametersDynamicLoad.cpp.

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

inlinevirtual

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 from BIAS::ProjectionParametersBase.

Definition at line 301 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 306 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

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 from BIAS::ProjectionParametersBase.

Definition at line 319 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

calculates the viewing ray in the global coordinate frame from the camera center which belongs to the given image position.

The resulting vector3 may have any length.

Author: woelk 05/2006

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 281 of file ProjectionParametersDynamicLoad.hh.

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

inlinevirtual

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 from BIAS::ProjectionParametersBase.

Definition at line 288 of file ProjectionParametersDynamicLoad.hh.

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::ProjectionParametersDynamicLoad::ValidatePose ( )

inlinevirtual

Validate currently set pose.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 552 of file ProjectionParametersDynamicLoad.hh.

virtual double BIAS::ProjectionParametersDynamicLoad::ViewDifference ( const ProjectionParametersBase * pPPB ) const

inlinevirtual

Returns difference between two projections like |C1-C2|.

This function can be used to calculate inter-camera distance e.g. for ordering purposes.

Author: koeser 03/2006

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 591 of file ProjectionParametersDynamicLoad.hh.

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

virtual

specialization of XML block name function

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 203 of file ProjectionParametersDynamicLoad.cpp.

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

virtual

specialization of XML read function

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 216 of file ProjectionParametersDynamicLoad.cpp.

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

virtual

specialization of XML write function

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 209 of file ProjectionParametersDynamicLoad.cpp.

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 ProjectionParametersDynamicLoad &	p
	)

friend

Definition at line 642 of file ProjectionParametersDynamicLoad.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_().

std::string BIAS::ProjectionParametersDynamicLoad::className_

protected

Definition at line 635 of file ProjectionParametersDynamicLoad.hh.

Referenced by operator=().

bool BIAS::ProjectionParametersBase::CValid_

protectedinherited

Definition at line 788 of file ProjectionParametersBase.hh.

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

ProjectionParametersBase* BIAS::ProjectionParametersDynamicLoad::dynptr_

protected

Definition at line 634 of file ProjectionParametersDynamicLoad.hh.

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

std::map<std::string, maker_t, std::less<std::string> > BIAS::ProjectionParametersDynamicLoad::factory_

protected

Definition at line 633 of file ProjectionParametersDynamicLoad.hh.

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(), BIAS::ProjectionParametersPerspective::GetCutOutParameters(), BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepthMapIP(), and BIAS::ProjectionParametersBufferedRay::UnProjectLocal().

void* BIAS::ProjectionParametersDynamicLoad::hndl_

protected

Definition at line 632 of file ProjectionParametersDynamicLoad.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=().

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_().

std::vector<std::string> BIAS::ProjectionParametersDynamicLoad::libPaths_

protected

Definition at line 636 of file ProjectionParametersDynamicLoad.hh.

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().

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.

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

Geometry/ProjectionParametersDynamicLoad.hh
Geometry/ProjectionParametersDynamicLoad.cpp

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