Basic Image AlgorithmS Library
2.8.0
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class for rendering with projection parameters of ProjectionParametersPerspective More...
#include <GLviewer/GLProjectionParametersPerspective.hh>
Public Types | |
enum | ViewingReshapeBehaviour { Deny =0, AutoRescaleParams, AutoCutImage, AutoSimplePerspectiveCam, AdaptToCroppedImage, AutoRescaleSimple } |
Public Member Functions | |
virtual void | AddDebugLevel (const long int lv) |
void | AddDebugLevel (const std::string &name) |
void | AddDebugLevel (const std::string &name) |
void | AppendOutputAttachment (int type, std::vector< int > args=std::vector< int >()) |
virtual void | Assign (BIAS::ProjectionParametersBase &p) |
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... | |
bool | DebugLevelIsSet (const long int lv) const |
bool | DebugLevelIsSet (const long int lv) const |
bool | DebugLevelIsSet (const std::string &name) const |
bool | DebugLevelIsSet (const std::string &name) const |
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 int | Draw (std::vector< BIAS::SceneBase * > &scenes, BIAS::SceneBGImage *backgroundImageScene=NULL, BIAS::glfFramebufferObject *theTarget=NULL) |
Renders scenes passed as argument beginning with the smallest index. More... | |
bool | FirstRenderingPassFinished () |
Is true if in multipass rendering procedure is rendering for second or subsequent time. More... | |
void | ForceSceneUpdate () |
Rendering will call UpdateCameraRelatedState() on scenes. More... | |
virtual double | GetAspectratio () const |
Return aspectratio (i.e. More... | |
GLProjectionOutputAttachment * | GetAttachmentByType (int type) |
virtual BIAS::Vector3< double > | GetC () const |
Get projection center. More... | |
virtual BIAS::Vector4< float > | GetClearColor () |
virtual float | GetClearDepth () |
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 > ¢erPoint, 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... | |
int | GetDebugLevel () const |
int | GetDebugLevel () const |
std::ostream & | GetDebugStream () const |
std::ostream & | GetDebugStream () const |
void | GetDebugStream (std::ostream &os) const |
void | GetDebugStream (std::ostream &os) const |
virtual double | GetDepth (const unsigned int x, const unsigned int y) |
evaluate depth. More... | |
virtual double | GetDepth (const BIAS::HomgPoint2D &p) |
int | GetDepthMap (BIAS::Image< float > &depthMap, const float invalid=0.0) |
Calculates depth map from current z-Buffer state. 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 int | GetExtrinsics (BIAS::Vector3< double > &C, BIAS::Vector3< double > &up) const |
virtual int | GetExtrinsics (BIAS::Vector3< double > &C, BIAS::RMatrix &R) const |
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... | |
BIAS::Matrix4x4< double > | GetGLModelViewMatrixTransposed () |
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... | |
BIAS::Matrix4x4< double > | GetGLProjectionMatrixTransposed () |
void | GetGreyImage (BIAS::Image< unsigned char > &image) |
void | GetIdealImageSize (unsigned int &width, unsigned int &height) const |
void | GetIdealK (KMatrix &K) const |
virtual std::string | GetIdentifier () const |
void | GetImage (BIAS::Image< unsigned char > &image) |
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 |
int | GetMetricZMap (BIAS::Image< float > &metricZMap, const float invalid=0.0) |
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 BIAS::ProjectionParametersBase * | GetMyselfAsProjectionParametersBase () const |
the pure virtual GetMyselfAsProjectionParameterBase() forces the child classes to inherit from a projectionparameterbase class and allows to access the projectionparams in cases where only a GLPPB* is available. 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... | |
virtual BIAS::glfRenderTarget * | GetRenderTarget () |
double | GetSkew () const |
Obtain the current camera skew factor. More... | |
virtual int | GetSphericalViewingRange (const CoordinateTransform3D &sphericalReferenceFrame, double &minPhi, double &maxPhi, double ¢erPhi, 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 |
bool | GetViewportCoordinates (int &x, int &y) |
Takes x, y as window coordinates, checks whether the coordinates lie in the rendered image (in the viewrange of projection). More... | |
int | GetZBuffer (BIAS::Image< float > &zBuffer) |
GLProjectionParametersPerspective () | |
GLProjectionParametersPerspective (const BIAS::ProjectionParametersPerspective &ppp) | |
GLProjectionParametersPerspective (const GLProjectionParametersPerspective &glppp) | |
void | IgnoreDistortion (bool b) |
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... | |
virtual int | Load (const std::string &filename) |
const bool | LookAt (const Vector3< double > &eye, const Vector3< double > ¢er, const Vector3< double > &up) |
Looks at given point, similar to gluLookAt. More... | |
const bool | LookAt (const Vector3< double > ¢er, const Vector3< double > &up) |
Looks at given point, similar to gluLookAt. More... | |
const bool | LookAtGL (const Vector3< double > &eye, const Vector3< double > ¢er, const Vector3< double > &up) |
Looks at given point, similar to gluLookAt. More... | |
const bool | LookAtGL (const Vector3< double > ¢er, const Vector3< double > &up) |
Looks at given point, similar to gluLookAt. 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 | 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... | |
long int | NewDebugLevel (const std::string &name) |
creates a new debuglevel More... | |
GLProjectionParametersPerspective & | operator= (const GLProjectionParametersPerspective &glppp) |
virtual bool | PoseValid () |
virtual bool | PoseValid () const |
Check if current pose is valid. More... | |
void | PrintDebugLevel (std::ostream &os=std::cout) const |
void | PrintDebugLevel (std::ostream &os=std::cout) const |
BIAS::HomgPoint2D | Project (BIAS::HomgPoint3D &point) |
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... | |
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... | |
void | RemoveDebugLevel (const long int lv) |
void | RemoveDebugLevel (const long int lv) |
void | RemoveDebugLevel (const std::string &name) |
void | RemoveDebugLevel (const std::string &name) |
void | Rescale (float ratio) |
Returns the absolute world coordinate frame position of camera. 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 int | Save (const std::string &filename) const |
void | Set (BIAS::ProjectionParametersBase *p) |
virtual void | SetAspectratio (const double AspectRatio) |
Set CCD cell-size in meter, virtual overload to recalculate K_. More... | |
void | SetAutoReshapeBehaviour (BIAS::GLProjectionParametersInterface::ViewingReshapeBehaviour newBehaviour) |
virtual void | SetC (const BIAS::Vector3< double > &C) |
Set projection center. More... | |
virtual void | SetClearColor (const BIAS::Vector4< float > &cc) |
setclearcolor is pure virtual. More... | |
void | SetClearDepth (const float d) |
set the clear depth for render targets More... | |
virtual void | SetCov (const Matrix< POSE_TYPE > &Cov) |
Set pose covariance matrix with respect to C, Q. More... | |
virtual void | SetDebugLevel (const long int lv) |
void | SetDebugLevel (const std::string &name) |
void | SetDebugLevel (const std::string &name) |
void | SetDebugStream (const std::ostream &os) |
void | SetDebugStream (const std::ostream &os) |
void | SetDistortionType (BIAS_ProjParaPersp_DISTORTION_TYPE distype) |
Set type of distortion parameters. More... | |
virtual int | SetExtrinsics (const BIAS::HomgPoint3D &C, const BIAS::RMatrix &R) |
virtual int | SetExtrinsics (const BIAS::Vector3< double > &C, const BIAS::RMatrix &R) |
virtual int | SetExtrinsics (const BIAS::HomgPoint3D &C, const BIAS::Quaternion< double > &Q) |
virtual int | SetExtrinsics (const BIAS::Vector3< double > &C, const BIAS::Quaternion< double > &Q) |
virtual int | SetExtrinsics (const BIAS::Vector3< double > &C, const BIAS::Vector3< double > &scenePoint, const BIAS::Vector3< double > &up) |
void | SetFocalLengthAndAspect (double f, double AspectRatio) |
Set the current camera focal length in pixel and the a spect ratio. More... | |
virtual void | SetGLCameraToLocal () |
Sets gl's Modelview matrix for rendering relative to camera coordinate system (ignoring camera pose). More... | |
virtual int | SetGLMatrices (bool forceUpdate=true) |
Method loads the parameters into the projection and modelview Matrix. 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... | |
void | SetIntrinsics (BIAS::ProjectionParametersBase *p) |
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... | |
virtual void | SetRenderTarget (BIAS::glfRenderTarget *RT) |
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... | |
int | SetSimplePerspectiveCam (double fovyDEG, int imageWidth=-1, int imageHeight=-1) |
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... | |
void | ShowDebugLevel (std::ostream &os=std::cout) const |
prints all internally known debuglevels More... | |
void | ShowDebugLevel (std::ostream &os=std::cout) const |
prints all internally known debuglevels More... | |
void | SubtractFromBackgroundImage (bool subtract=true) |
void | SwitchToOffscreenRendering (bool offscreen=true) |
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 void | TranslateDepthToZ (BIAS::Image< float > &depthtoz, const float invalid=0.0, const bool flip=true) const |
helper function which converts a z map obtained with the last camera into a depth map for the last camera More... | |
virtual void | TranslateZToDepth (BIAS::Image< float > &ztodepth, const float invalid=0.0, const bool flip=true) const |
helper function which converts a z map obtained with the last camera into a depth map for the last camera More... | |
virtual void | TranslateZToMetricZ (BIAS::Image< float > &depthMap, const float invalid=0.0, const bool flip=true) const |
virtual bool | Undistort (BIAS::HomgPoint2D &point2d) const |
Using the Matlab camera calibration toolbox parameters for an undistortion of distorted coordinates. More... | |
BIAS::HomgPoint3D | UnProject (const unsigned int x, const unsigned int y) |
BIAS::HomgPoint3D | UnProject (const BIAS::HomgPoint2D &p) |
BIAS::HomgPoint3D | UnProject (BIAS::HomgPoint2D &point2D, double depth) |
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... | |
virtual int | UpdateGLProjectionMatrix_ (unsigned int x0, unsigned int y0, unsigned int width, unsigned int height)=0 |
void | UpdateMinZLocal () |
run along image border and compute maximum field of view, save in minzlocal More... | |
void | UseStencilBuffer (bool b) |
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... | |
virtual int | XMLRead (const std::string &Filename) |
int | XMLReadFromString (const std::string &str) |
reconstruct xml tree from string More... | |
virtual int | XMLWrite (const std::string &Filename) const |
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 int | SetExtrinsics (float eyex, float eyey, float eyez, float scenex, float sceney, float scenez, float upx, float upy, float upz) |
Set extrinsic similar to GL's gluLookAt. More... | |
void | SetZClippingPlanes (float n, float f) |
Setting the near and far z-Clipping planes. More... | |
void | SetNearClippingPlane (float n) |
void | SetFarClippingPlane (float f) |
float | GetNearClippingPlane () const |
float | GetFarClippingPlane () const |
Static Public Member Functions | |
static long int | GetGlobalDebugLevel () |
static long int | GetGlobalDebugLevel () |
static std::string | GetRadialDistModelString (BIAS_ProjParaPersp_DISTORTION_TYPE model) |
static void | SetGlobalDebugLevel (long int lev) |
static void | SetGlobalDebugLevel (long int lev) |
Static Public Attributes | |
static int | instanceCounter = -1 |
Protected Member Functions | |
virtual int | BeginDraw_ (BIAS::glfFramebufferObject *theTarget=NULL) |
void | ClearDepthAndAlpha_ () |
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... | |
long | ConsumeNextFreeDebuglevel_ () |
returns the next available debuglevel More... | |
void | Distort_ (const double x, const double y, double &dist_x, double &dist_y) const |
virtual int | Draw_ (std::vector< SceneBase * > &scenes, BIAS::glfFramebufferObject *theTarget=NULL) |
Rendering with current matrices GLProjectionMatrix_, GLModelViewMatrix_. More... | |
int | DrawPartOfImage_ (const unsigned int ulX, const unsigned int ulY, const unsigned int width, const unsigned int height, std::vector< SceneBase * > scenes) |
Renders a rectangular part of actual image. More... | |
int | DrawWithMatchedParamsAndViewport_ (int viewport[4], int imageWidth, int imageHeight, std::vector< SceneBase * > &scenes) |
Takes care of adapting internal parameters and gl viewport by specified behaviour scheme. More... | |
virtual int | EndDraw_ (BIAS::glfFramebufferObject *theTarget=NULL) |
int | GetGLViewport_ (int &lowerleftx, int &lowerlefty, int &sizex, int &sizey) |
int | GetMinimalAngleInCorner_ (const HomgPoint2D &corner, double &minAngle) |
Helper function for minimal angle step calculation. More... | |
void | InitBeforeDraw_ () |
void | InitParams_ () |
called from constructors to set zeros to most values More... | |
void | InitRaw_ () |
virtual void | InitShaders_ () |
void | PrepareOutputAttachments_ () |
void | ReadDepthBufferToTexture_ (int texID, int width, int height) |
virtual void | Rescale_ (float scale) |
void | SetAlpha (const double alpha) |
Sets the alpha parameter. More... | |
void | SetBeta (const double beta) |
Sets the beta parameter. More... | |
int | SetGLViewport_ (int lowerleftx, int lowerlefty, int sizex, int sizey) |
void | SetToUnknownState_ () |
void | SetUseSVD (const bool use_svd) |
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 |
int | UpdateGLModelViewMatrix_ () |
virtual int | UpdateGLProjectionMatrix_ (unsigned x0, unsigned y0, unsigned width, unsigned height) |
virtual double | Z2Depth_ (const int x, const int y, const double z) const |
virtual void | ZBufferToDepthMap_ (BIAS::Image< float > &depthMap) |
used by GetDepthMap() which writes the current zbuffer in depthMap. More... | |
Protected Attributes | |
long int | _liDebugLevel |
long int | _liDebugLevel |
long int | _liNextDebugLevel |
new concept, debuglevel are managed here in the debug class More... | |
long int | _liNextDebugLevel |
new concept, debuglevel are managed here in the debug class More... | |
std::map< std::string, long int > | _String2Debuglevel |
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... | |
BIAS::GLProjectionParametersInterface::ViewingReshapeBehaviour | AutoViewingMatchBehaviour_ |
BIAS::SceneBGImage * | backgroundImageScene_ |
double | Beta_ |
beta is used to incorporate prior knowledge of the distribution of x. More... | |
bool | CValid_ |
BIAS_ProjParaPersp_DISTORTION_TYPE | distType_ |
BIAS::Vector2< unsigned int > | drawingUpperLeft_ |
When cutting the image this field is telling the projection the upper left corner of the drawn image part. More... | |
bool | ExtrinsicStateChanged_ |
Changes to the parameters or GL state that lead to new calculation of GL_MODELVIEW matrix. More... | |
bool | FirstRenderingPassFinished_ |
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... | |
bool | ignoreDistortion_ |
bool | informScenesOfChange_ |
Abstract projection params have changed, scenes have to be informed about this. More... | |
unsigned int | instanceNum_ |
bool | IntrinsicStateChanged_ |
Changes to the parameters or GL state that lead to new calculation of GL_PROJECTION matrix. 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 | lastAutoRescaleRatio_ |
BIAS::Vector2< unsigned int > | lastDrawingUpperLeft_ |
Keeping track which image part was drawn last time Draw() was called. More... | |
BIAS::Vector4< int > | lastFullGLViewport_ |
Remembering the last full viewport prevent unecessary calculations in AutoRescaleParams behaviour. More... | |
BIAS::Vector4< int > | lastUsedGLViewport_ |
Keeping track which part of image was drawn last time Draw() was called and where it was drawn. More... | |
double | minZlocal_ |
rigorously clip unit rays in CCS with z smaller than this values More... | |
bool | offscreenRenderingEnabled_ |
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 | subtractFromBackgroundImage_ |
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... | |
double | zFar_ |
double | zNear_ |
BIAS::Matrix4x4< double > | GLProjectionMatrix_ |
BIAS::Matrix4x4< double > | GLModelViewMatrix_ |
bool | callInitBeforeDraw_ |
}@ More... | |
BIAS::Vector4< float > | ClearColor_ |
float | ClearDepth_ |
bool | useStencilBuffer_ |
int | cubeSideResolution_ |
bool | distort_ |
BIAS::glfRenderTarget * | currentRenderTarget_ |
std::deque < BIAS::GLProjectionOutputAttachment * > | outputAttachments_ |
std::deque< std::vector< int > > | outputAttachmentOptions_ |
std::deque< int > | outputAttachmentIdentifiers_ |
Static Protected Attributes | |
static std::ostream | _zDebugStream |
static std::ostream | _zDebugStream |
static long int | GlobalDebugLevel = 0 |
static long int | GlobalDebugLevel = 0 |
class for rendering with projection parameters of ProjectionParametersPerspective
Definition at line 19 of file GLProjectionParametersPerspective.hh.
Definition at line 44 of file GLProjectionParametersInterface.hh.
GLProjectionParametersPerspective::GLProjectionParametersPerspective | ( | ) |
Definition at line 14 of file GLProjectionParametersPerspective.cpp.
References ignoreDistortion_.
GLProjectionParametersPerspective::GLProjectionParametersPerspective | ( | const BIAS::ProjectionParametersPerspective & | ppp | ) |
Definition at line 23 of file GLProjectionParametersPerspective.cpp.
References ignoreDistortion_.
GLProjectionParametersPerspective::GLProjectionParametersPerspective | ( | const GLProjectionParametersPerspective & | glppp | ) |
Definition at line 44 of file GLProjectionParametersPerspective.cpp.
References ignoreDistortion_, BIAS::ProjectionParametersPerspective::operator=(), BIAS::GLProjectionParametersBase::outputAttachmentIdentifiers_, BIAS::GLProjectionParametersBase::outputAttachmentOptions_, and BIAS::GLProjectionParametersBase::outputAttachments_.
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 62 of file GLProjectionParametersBase.cpp.
References BIAS::Debug::AddDebugLevel().
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inlineinherited |
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Implements BIAS::GLProjectionParametersInterface.
Definition at line 1536 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionOutputAttachment::LensDistortion, BIAS::GLProjectionParametersBase::outputAttachmentIdentifiers_, BIAS::GLProjectionParametersBase::outputAttachmentOptions_, and BIAS::GLProjectionParametersBase::outputAttachments_.
Referenced by InitShaders_().
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Definition at line 74 of file GLProjectionParametersBase.cpp.
References BIAS::ProjectionParametersBase::GetC(), BIAS::ProjectionParametersBase::GetR(), BIAS::GLProjectionParametersBase::SetExtrinsics(), and BIAS::GLProjectionParametersBase::SetIntrinsics().
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Definition at line 706 of file GLProjectionParametersBase.cpp.
References BIAS::glfRenderTarget::Bind(), BIAS::GLProjectionParametersBase::callInitBeforeDraw_, BIAS::GLProjectionParametersBase::ClearColor_, BIAS::glfRenderTarget::ClearColorBuffer(), BIAS::GLProjectionParametersBase::ClearDepth_, BIAS::glfRenderTarget::ClearDepthBuffer(), BIAS::glfRenderTarget::ClearStencilBuffer(), BIAS::Vector4< T >::GetData(), BIAS::Matrix< T >::GetData(), BIAS::GLProjectionParametersBase::GetGLViewport_(), BIAS::glfException::GetMessageString(), BIAS::GLProjectionParametersBase::GetRenderTarget(), BIAS::GLProjectionParametersBase::GLModelViewMatrix_, BIAS::GLProjectionParametersBase::GLProjectionMatrix_, BIAS::GLProjectionParametersBase::InitBeforeDraw_(), BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, BIAS::GLProjectionParametersBase::lastUsedGLViewport_, BIAS::GLProjectionParametersBase::UpdateGLProjectionMatrix_(), and BIAS::GLProjectionParametersBase::useStencilBuffer_.
Referenced by Draw_().
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protected |
Definition at line 346 of file GLProjectionParametersPerspective.cpp.
Referenced by Draw_().
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inlinevirtualinherited |
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().
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computes the cached KMatrix and its inverse call after every parameter change
Definition at line 760 of file ProjectionParametersPerspective.cpp.
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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
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().
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Check of current projection center is valid.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 673 of file ProjectionParametersBase.hh.
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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().
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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().
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Using the Matlab camera calibration toolbox parameters for a distortion of undistorted coordinates.
Inverse to the undistort function. TODO: faster implementation via Lookup-table
Implements BIAS::ProjectionParametersBase.
Definition at line 313 of file ProjectionParametersPerspective.cpp.
References BIAS::DISTYPE_INVERSE_RAD.
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Definition at line 758 of file ProjectionParametersPerspective.hh.
References BIAS::ProjectionParametersPerspective::distType_, BIAS::DISTYPE_BROWN, BIAS::DISTYPE_DEF, BIAS::DISTYPE_INVERSE_RAD, BIAS::DISTYPE_INVRAD3, BIAS::DISTYPE_NONE, BIAS::DISTYPE_RAD3, BIAS::DISTYPE_RADIAL, BIAS::ProjectionParametersPerspective::kc1_, BIAS::ProjectionParametersPerspective::kc2_, BIAS::ProjectionParametersPerspective::kc3_, BIAS::ProjectionParametersPerspective::kc4_, and BIAS::ProjectionParametersPerspective::r0_.
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inherited |
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 )
Definition at line 293 of file ProjectionParametersPerspective.cpp.
References BIAS::DISTYPE_INVERSE_RAD, BIAS::HomgPoint2D::Homogenize(), and BIAS::HomgPoint2D::IsAtInfinity().
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virtualinherited |
Checks if 3D point projects into specified image and returns belonging 2D image point.
X | assumes homogenized point! |
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().
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Checks if 3D point projects into specified image and returns belonging 2D image point.
localX | assumes homogenized point! |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 169 of file ProjectionParametersPerspective.cpp.
References BIAS::Vector3< T >::NormL2().
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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_.
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virtualinherited |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 148 of file ProjectionParametersPerspective.cpp.
References BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::ProjectionParametersPerspective::focallength_, BIAS::ProjectionParametersPerspective::kc1_, BIAS::ProjectionParametersPerspective::kc2_, BIAS::ProjectionParametersPerspective::kc3_, and BIAS::ProjectionParametersPerspective::kc4_.
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Renders scenes passed as argument beginning with the smallest index.
Depth test is enabled per default with depth func set to GL_LESS< >. Therfore scenes rendered first will also appear in front if competing with other scenes over depth-values. If different behaviour is wanted change this within specific scene code! The background image scene must be passed through a special parameter and should not be contained in the 'scenes' vector.
Implements BIAS::GLProjectionParametersInterface.
Definition at line 158 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersInterface::AdaptToCroppedImage, BIAS::GLProjectionParametersBase::AutoViewingMatchBehaviour_, BIAS::GLProjectionParametersBase::backgroundImageScene_, BIAS::GLProjectionParametersBase::Draw_(), BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_(), BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::GetGLViewport_(), BIAS::glfException::GetMessageString(), BIAS::GLProjectionParametersBase::lastDrawingUpperLeft_, BIAS::GLProjectionParametersInterface::offscreenRenderingEnabled_, BIAS::GLProjectionParametersBase::outputAttachments_, BIAS::GLProjectionParametersBase::PrepareOutputAttachments_(), BIAS::GLProjectionParametersBase::SetGLViewport_(), BIAS::GLProjectionParametersBase::SetRenderTarget(), BIAS::GLProjectionParametersBase::UpdateGLModelViewMatrix_(), and BIAS::GLProjectionParametersBase::UpdateGLProjectionMatrix_().
Referenced by BIAS::GLProjectionParametersBase::EndDraw_().
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protectedvirtual |
Rendering with current matrices GLProjectionMatrix_, GLModelViewMatrix_.
Those matrices are assumed to be up to date. Does not clear framebuffer. Sets informScenesOfChange_ to false.
Implements BIAS::GLProjectionParametersBase.
Definition at line 312 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::BeginDraw_(), ClearDepthAndAlpha_(), BIAS::GLProjectionParametersBase::EndDraw_(), BIAS::glfException::GetMessageString(), BIAS::GLProjectionParametersBase::informScenesOfChange_, and BIAS::GLProjectionParametersBase::useStencilBuffer_.
Referenced by DrawWithMatchedParamsAndViewport_().
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protectedinherited |
Renders a rectangular part of actual image.
Use if not full resolution is available for example with scrollbars. Does not update external parameter forces internal parameter update upon next call to Draw().
Definition at line 668 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::Draw_(), BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, BIAS::GLProjectionParametersBase::UpdateGLModelViewMatrix_(), and BIAS::GLProjectionParametersBase::UpdateGLProjectionMatrix_().
Referenced by BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_().
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Takes care of adapting internal parameters and gl viewport by specified behaviour scheme.
External parameters update is not performed here.
Reimplemented from BIAS::GLProjectionParametersBase.
Definition at line 387 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersInterface::AdaptToCroppedImage, BIAS::GLProjectionParametersBase::AutoViewingMatchBehaviour_, Draw_(), BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_(), BIAS::ProjectionParametersPerspective::GetFocalLength(), BIAS::ProjectionParametersBase::GetPrincipal(), BIAS::GLProjectionParametersBase::informScenesOfChange_, InitShaders_(), BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, BIAS::GLProjectionParametersBase::lastFullGLViewport_, BIAS::GLProjectionParametersBase::Rescale(), BIAS::ProjectionParametersPerspective::SetFocalLengthAndAspect(), BIAS::GLProjectionParametersBase::SetGLViewport_(), BIAS::ProjectionParametersPerspective::SetIdealImageSize(), BIAS::ProjectionParametersBase::SetImageSize(), BIAS::ProjectionParametersPerspective::SetPrincipal(), and UpdateGLProjectionMatrix_().
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Definition at line 802 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::backgroundImageScene_, BIAS::glfRenderTarget::Bind(), BIAS::GLProjectionParametersBase::currentRenderTarget_, BIAS::GLProjectionParametersBase::Draw(), BIAS::Singleton< GlewInitWrapper >::GetInstance(), BIAS::glfException::GetMessageString(), BIAS::GlewInitWrapper::Init(), BIAS::GLProjectionParametersInterface::offscreenRenderingEnabled_, BIAS::GLProjectionParametersBase::outputAttachments_, BIAS::SceneBase::Render(), and BIAS::GLProjectionParametersBase::subtractFromBackgroundImage_.
Referenced by Draw_().
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Is true if in multipass rendering procedure is rendering for second or subsequent time.
In single pass rendering it never should return true.
Definition at line 207 of file GLProjectionParametersBase.hh.
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Rendering will call UpdateCameraRelatedState() on scenes.
Definition at line 1514 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::informScenesOfChange_.
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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<<().
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Implements BIAS::GLProjectionParametersInterface.
Definition at line 1551 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::outputAttachmentIdentifiers_, and BIAS::GLProjectionParametersBase::outputAttachments_.
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Get projection center.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
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 BIAS::ProjectionParametersPerspective::ViewDifference().
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Implements BIAS::GLProjectionParametersInterface.
Definition at line 254 of file GLProjectionParametersBase.hh.
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Implements BIAS::GLProjectionParametersInterface.
Definition at line 258 of file GLProjectionParametersBase.hh.
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Return pose covariance as 7x7 matrix with respect to C, Q.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 500 of file ProjectionParametersBase.hh.
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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.
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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.
Definition at line 34 of file ProjectionParametersPerspective.cpp.
References BIAS::ProjectionParametersBase::height_, BIAS::ProjectionParametersPerspective::SetPrincipal(), and BIAS::ProjectionParametersBase::width_.
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Definition at line 332 of file Debug.hh.
Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().
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Definition at line 332 of file Debug.hh.
Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().
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inlineinherited |
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inlineinherited |
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evaluate depth.
Point is given in pixel coords relative to upper left image corner with positive x axis directed to the right and the positive y-axis pointing down. Result is the depth on optical ray.
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1191 of file GLProjectionParametersBase.cpp.
References BIAS::glfRenderTarget::Bind(), BIAS::GLProjectionParametersBase::GetRenderTarget(), BIAS::GLProjectionParametersBase::lastUsedGLViewport_, and BIAS::GLProjectionParametersBase::Z2Depth_().
Referenced by BIAS::GLProjectionParametersBase::GetDepth(), and BIAS::GLProjectionParametersBase::UnProject().
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Implements BIAS::GLProjectionParametersInterface.
Definition at line 1157 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::GetDepth(), and BIAS::Less().
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Calculates depth map from current z-Buffer state.
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1233 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::GetZBuffer(), and BIAS::GLProjectionParametersBase::TranslateZToDepth().
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Get type of distortion parameters.
Definition at line 358 of file ProjectionParametersPerspective.hh.
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Return cached 3x4 representation of external matrix [R|C].
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 533 of file ProjectionParametersBase.hh.
Referenced by BIAS::EpipolarLine::ProjectEpipolarPlane().
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Implements BIAS::GLProjectionParametersInterface.
Definition at line 1018 of file GLProjectionParametersBase.cpp.
References BIAS::ProjectionParametersBase::GetC(), and BIAS::ProjectionParametersBase::GetR().
Referenced by BIAS::GLProjectionParametersBase::UpdateGLModelViewMatrix_().
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Implements BIAS::GLProjectionParametersInterface.
Definition at line 1031 of file GLProjectionParametersBase.cpp.
References BIAS::ProjectionParametersBase::GetC(), and BIAS::ProjectionParametersBase::GetR().
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virtualinherited |
Returns a fake KMatrix for the camera.
The FoV of the KMatrix is specified by maxangle (PI*80/180 for 160deg) or the max angle, if this is <160deg.
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) |
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().
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Implements BIAS::GLProjectionParametersInterface.
Definition at line 143 of file GLProjectionParametersBase.hh.
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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.
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_().
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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.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 107 of file ProjectionParametersBase.cpp.
References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
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Get the current camera focal length.
Definition at line 246 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::VideoSource_Controller_Kinect::OnLoadCalib().
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Returns the focal length.
Definition at line 255 of file ProjectionParametersPerspective.hh.
Referenced by DrawWithMatchedParamsAndViewport_().
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Definition at line 235 of file GLProjectionParametersBase.hh.
References BIAS::Matrix4x4< T >::Transpose().
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Calculates an ModelViewProjection matrix useable in OpenGL.
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().
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inlinestaticinherited |
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inlinestaticinherited |
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inherited |
Calculates an projection matrix useable in OpenGL.
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.
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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.
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().
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inlineinherited |
Definition at line 232 of file GLProjectionParametersBase.hh.
References BIAS::Matrix4x4< T >::Transpose().
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protectedinherited |
Definition at line 250 of file GLProjectionParametersBase.cpp.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), and BIAS::GLProjectionParametersBase::Draw().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1439 of file GLProjectionParametersBase.cpp.
References BIAS::glfScreen::Bind(), BIAS::glfRenderTarget::Bind(), BIAS::ImageBase::Flip(), BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), BIAS::glfScreen::GetInstance(), BIAS::GLProjectionParametersBase::GetRenderTarget(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), BIAS::GLProjectionParametersBase::lastUsedGLViewport_, and BIAS::Image< StorageType >::Release().
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inherited |
Definition at line 753 of file ProjectionParametersPerspective.cpp.
Referenced by BIAS::DistortionRendering::Init(), BIAS::glfMatrix::MakeProjectionMatrix(), and UpdateGLProjectionMatrix_().
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inherited |
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 UpdateGLProjectionMatrix_().
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inlinevirtualinherited |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 573 of file ProjectionParametersBase.hh.
Referenced by BIAS::operator<<(), and BIAS::wxProjectionPanel::SetProjection().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1370 of file GLProjectionParametersBase.cpp.
References BIAS::glfScreen::Bind(), BIAS::glfRenderTarget::Bind(), BIAS::ImageBase::Flip(), BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), BIAS::glfScreen::GetInstance(), BIAS::GLProjectionParametersBase::GetRenderTarget(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::GLProjectionParametersBase::lastUsedGLViewport_, and BIAS::Image< StorageType >::Release().
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inlinevirtualinherited |
Returns the image height.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 568 of file ProjectionParametersBase.hh.
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inlinevirtualinherited |
Obtain image dimensions.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
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(), SetGLMatrices(), BIAS::ImageBlenderIncremental::SetOutputParameters(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetSinkCam(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetSourceCam(), BIAS::ImageWarper< StorageType >::SetTargetCamera(), and UpdateGLProjectionMatrix_().
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inlinevirtualinherited |
Returns the image width.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 557 of file ProjectionParametersBase.hh.
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inlinevirtualinherited |
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<<().
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inlinevirtualinherited |
Definition at line 494 of file ProjectionParametersPerspective.hh.
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1314 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::GetZBuffer(), and BIAS::GLProjectionParametersBase::TranslateZToMetricZ().
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protectedinherited |
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().
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virtualinherited |
Delivers the assumed minimal angular distance between two optical rays belonging to integer image coordinates within the FoV.
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 110 of file ProjectionParametersPerspective.cpp.
Referenced by BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_().
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inlineinherited |
minimum z value of ray in image (if computed already)
Definition at line 589 of file ProjectionParametersPerspective.hh.
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inlinevirtual |
the pure virtual GetMyselfAsProjectionParameterBase() forces the child classes to inherit from a projectionparameterbase class and allows to access the projectionparams in cases where only a GLPPB* is available.
this avoids the undesired need to derive GLPPB from PPB.
Reimplemented from BIAS::GLProjectionParametersBase.
Definition at line 34 of file GLProjectionParametersPerspective.hh.
Referenced by Z2Depth_().
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inlinevirtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 142 of file GLProjectionParametersBase.hh.
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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.
it | must be initialized by GetFirstBorderPixel |
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_().
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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.
it | must be initialized by GetFirstBorderPixel |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 114 of file ProjectionParametersBase.cpp.
References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
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inlinevirtualinherited |
Definition at line 482 of file ProjectionParametersPerspective.hh.
References BIAS::PMatrix.
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inlinevirtualinherited |
Return complete pose object.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
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(), SetIntrinsics(), and BIAS::PMDWarp::UseProjectiveTexturing().
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inlinevirtualinherited |
Return copy of pose parametrization object.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 517 of file ProjectionParametersBase.hh.
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inlinevirtualinherited |
Get principal point (in pixels relative to top left corner).
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 587 of file ProjectionParametersBase.hh.
Referenced by BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::ProjectionParametersPerspectiveDepth::DistortReflectivity(), DrawWithMatchedParamsAndViewport_(), BIAS::VideoSource_Controller_Kinect::OnLoadCalib(), and BIAS::ProjectionParametersPerspectiveDepth::UnDistortReflectivity().
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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<<().
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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(), BIAS::ProjectionParametersPerspective::ViewDifference(), and BIAS::ProjectionParametersSphericalSimple::XMLIn().
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staticinherited |
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.
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 103 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::currentRenderTarget_, and BIAS::GLProjectionParametersInterface::offscreenRenderingEnabled_.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), BIAS::GLProjectionParametersBase::GetDepth(), BIAS::GLProjectionParametersBase::GetGreyImage(), BIAS::GLProjectionParametersBase::GetImage(), BIAS::GLProjectionParametersBase::GetZBuffer(), and BIAS::GLProjectionParametersBase::PrepareOutputAttachments_().
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inlineinherited |
Obtain the current camera skew factor.
Definition at line 329 of file ProjectionParametersPerspective.hh.
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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.
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. |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
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_().
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inlineinherited |
Definition at line 259 of file ProjectionParametersPerspective.hh.
Referenced by InitShaders_(), BIAS::PMDWarp::SetTargetCameraParameters(), and UpdateGLProjectionMatrix_().
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inlineinherited |
Definition at line 268 of file ProjectionParametersPerspective.hh.
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inlineinherited |
Get the lens undistortion parameters including the parameter describing root of the polynomial.
Definition at line 441 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_BROWN.
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inlineinherited |
Definition at line 425 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_INVERSE_RAD.
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inlineinherited |
Definition at line 468 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_INVRAD3.
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inlineinherited |
Definition at line 457 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_RAD3.
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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).
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().
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inlinevirtualinherited |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 577 of file ProjectionParametersBase.hh.
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virtualinherited |
Takes x, y as window coordinates, checks whether the coordinates lie in the rendered image (in the viewrange of projection).
If so
Implements BIAS::GLProjectionParametersInterface.
Definition at line 939 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::lastUsedGLViewport_.
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1323 of file GLProjectionParametersBase.cpp.
References BIAS::glfScreen::Bind(), BIAS::glfRenderTarget::Bind(), BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), BIAS::glfScreen::GetInstance(), BIAS::GLProjectionParametersBase::GetRenderTarget(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::GLProjectionParametersBase::lastUsedGLViewport_, and BIAS::Image< StorageType >::Release().
Referenced by BIAS::GLProjectionParametersBase::GetDepthMap(), and BIAS::GLProjectionParametersBase::GetMetricZMap().
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inline |
Definition at line 66 of file GLProjectionParametersPerspective.hh.
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protectedinherited |
Definition at line 700 of file GLProjectionParametersBase.cpp.
References BIAS::Singleton< GlewInitWrapper >::GetInstance(), and BIAS::GlewInitWrapper::Init().
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_().
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inlineprotectedinherited |
called from constructors to set zeros to most values
Definition at line 658 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_DEF.
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protectedinherited |
Definition at line 119 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::currentRenderTarget_, BIAS::glfScreen::GetInstance(), BIAS::GLProjectionParametersBase::SetToUnknownState_(), BIAS::GLProjectionParametersBase::zFar_, and BIAS::GLProjectionParametersBase::zNear_.
Referenced by BIAS::GLProjectionParametersBase::GLProjectionParametersBase().
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protectedvirtual |
Definition at line 462 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::AppendOutputAttachment(), BIAS::ProjectionParametersPerspective::GetUndistortion(), ignoreDistortion_, BIAS::GLProjectionOutputAttachment::LensDistortion, and BIAS::GLProjectionParametersBase::outputAttachmentIdentifiers_.
Referenced by DrawWithMatchedParamsAndViewport_(), Rescale_(), Set(), SetIntrinsics(), and UpdateGLProjectionMatrix_().
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inlinevirtualinherited |
Invalidate currently set pose.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 683 of file ProjectionParametersBase.hh.
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inlineinherited |
Definition at line 279 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::EpipolarLine::DrawDistortedLine().
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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.
ppb | the parameters of the cam to compare this to |
Definition at line 711 of file ProjectionParametersBase.cpp.
References BIAS::ProjectionParametersBase::GetC(), and BIAS::Matrix3x3< T >::GetInverse().
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virtual |
Implements BIAS::GLProjectionParametersBase.
Definition at line 69 of file GLProjectionParametersPerspective.cpp.
References XMLRead().
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inlineinherited |
Looks at given point, similar to gluLookAt.
eye | Eye coordinate |
center | 3D point to look at |
up | Up vector of the camera |
Definition at line 751 of file ProjectionParametersBase.hh.
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inlineinherited |
Looks at given point, similar to gluLookAt.
center | 3D point to look at |
up | Up vector of the camera |
Definition at line 760 of file ProjectionParametersBase.hh.
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inlineinherited |
Looks at given point, similar to gluLookAt.
eye | Eye coordinate |
center | 3D point to look at |
up | Up vector of the camera |
Definition at line 770 of file ProjectionParametersBase.hh.
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inlineinherited |
Looks at given point, similar to gluLookAt.
center | 3D point to look at |
up | Up vector of the camera |
Definition at line 779 of file ProjectionParametersBase.hh.
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inlineinherited |
|
inlineinherited |
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inlineinherited |
creates a new debuglevel
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().
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inlineinherited |
creates a new debuglevel
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().
GLProjectionParametersPerspective & GLProjectionParametersPerspective::operator= | ( | const GLProjectionParametersPerspective & | glppp | ) |
Definition at line 32 of file GLProjectionParametersPerspective.cpp.
References ignoreDistortion_, BIAS::ProjectionParametersPerspective::operator=(), BIAS::GLProjectionParametersBase::outputAttachmentIdentifiers_, BIAS::GLProjectionParametersBase::outputAttachmentOptions_, and BIAS::GLProjectionParametersBase::outputAttachments_.
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inlinevirtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 104 of file GLProjectionParametersBase.hh.
References BIAS::GLProjectionParametersBase::PoseValid().
Referenced by BIAS::GLProjectionParametersBase::PoseValid(), and BIAS::GLProjectionParametersBase::UpdateGLModelViewMatrix_().
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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 SetSimplePerspectiveCam().
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protectedinherited |
Definition at line 1561 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::ClearColor_, BIAS::GLProjectionParametersBase::GetMyselfAsProjectionParametersBase(), BIAS::GLProjectionParametersBase::GetRenderTarget(), BIAS::GLProjectionOutputAttachment::Haze, BIAS::GLProjectionOutputAttachment::LensDistortion, BIAS::GLProjectionParametersBase::outputAttachmentIdentifiers_, BIAS::GLProjectionParametersBase::outputAttachmentOptions_, BIAS::GLProjectionParametersBase::outputAttachments_, BIAS::GLProjectionOutputAttachment::Underwater, BIAS::GLProjectionOutputAttachment::WoWVX, and BIAS::GLProjectionOutputAttachment::WoWVX2.
Referenced by BIAS::GLProjectionParametersBase::Draw().
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inlineinherited |
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inlineinherited |
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1012 of file GLProjectionParametersBase.cpp.
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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
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 221 of file ProjectionParametersBase.hh.
References BIAS::Vector3< T >::Mult().
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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
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 237 of file ProjectionParametersBase.hh.
References BIAS::Vector3< T >::Mult().
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virtualinherited |
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().
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virtualinherited |
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
Implements BIAS::ProjectionParametersBase.
Definition at line 217 of file ProjectionParametersPerspective.cpp.
References BIAS::HomgPoint2D::Homogenize(), BIAS::Vector3< T >::NormL2(), and BIAS::HomgPoint2D::Set().
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inlinevirtualinherited |
Check if current orientation is valid.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 676 of file ProjectionParametersBase.hh.
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protectedinherited |
Definition at line 1363 of file GLProjectionParametersBase.cpp.
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inlineinherited |
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inlineinherited |
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inlineinherited |
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inlineinherited |
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inherited |
Returns the absolute world coordinate frame position of camera.
Definition at line 1225 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, and BIAS::GLProjectionParametersBase::Rescale_().
Referenced by DrawWithMatchedParamsAndViewport_(), and BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_().
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inlinevirtualinherited |
Adapt internal parameters to resampled image.
ratio | 2.0 = downsample by 2, 0.5 = upsample by 2 |
offset | Offset for principal point (applied before down/upsampling!) |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 526 of file ProjectionParametersPerspective.hh.
References BIAS::ProjectionParametersBase::Rescale().
Referenced by Rescale_().
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inlinevirtualinherited |
Adapt internal parameters to resampled image.
Allows to rescale to different aspect ratio.
width | new image width |
height | new image height |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 539 of file ProjectionParametersPerspective.hh.
References BIAS::ProjectionParametersBase::Rescale().
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protectedvirtual |
Implements BIAS::GLProjectionParametersBase.
Definition at line 206 of file GLProjectionParametersPerspective.cpp.
References InitShaders_(), and BIAS::ProjectionParametersPerspective::Rescale().
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virtual |
Implements BIAS::GLProjectionParametersBase.
Definition at line 73 of file GLProjectionParametersPerspective.cpp.
References XMLWrite().
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virtual |
Reimplemented from BIAS::GLProjectionParametersBase.
Definition at line 155 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::informScenesOfChange_, InitShaders_(), BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, and BIAS::ProjectionParametersPerspective::operator=().
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inlineinherited |
Sets the alpha parameter.
The alpha parameter determines the spread of the sigma points
Definition at line 80 of file UnscentedTransform.hh.
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inlinevirtualinherited |
Set CCD cell-size in meter, virtual overload to recalculate K_.
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 344 of file ProjectionParametersPerspective.hh.
References BIAS::ProjectionParametersBase::SetAspectratio().
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inlinevirtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 213 of file GLProjectionParametersBase.hh.
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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.
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inlinevirtualinherited |
Set projection center.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
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(), SetSimplePerspectiveCam(), and BIAS::MultipleDepthWarp::SetupNViewsWarp().
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virtual |
setclearcolor is pure virtual.
In some cases like for example distortion rendering the lower render layers (offscreen surfaces) must informed about changes of the clear color thus the child classes have to deal with the clear color on their own.
Implements BIAS::GLProjectionParametersBase.
Definition at line 199 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::ClearColor_.
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inlinevirtualinherited |
set the clear depth for render targets
Implements BIAS::GLProjectionParametersInterface.
Definition at line 250 of file GLProjectionParametersBase.hh.
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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().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 55 of file GLProjectionParametersBase.cpp.
References BIAS::Debug::SetDebugLevel().
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inlineinherited |
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inlineinherited |
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inlineinherited |
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inlineinherited |
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inlineinherited |
Set type of distortion parameters.
Definition at line 351 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::Projection::CreatePerspective().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1086 of file GLProjectionParametersBase.cpp.
Referenced by BIAS::GLProjectionParametersBase::Assign(), BIAS::biasGLviewerGLUT::Init(), and BIAS::GLProjectionParametersBase::SetExtrinsics().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1060 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::GetMyselfAsProjectionParametersBase(), BIAS::GLProjectionParametersBase::informScenesOfChange_, BIAS::ProjectionParametersBase::SetC(), and BIAS::ProjectionParametersBase::SetR().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1045 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::informScenesOfChange_, and BIAS::ProjectionParametersBase::SetQC().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1073 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::informScenesOfChange_, BIAS::ProjectionParametersBase::SetC(), and BIAS::ProjectionParametersBase::SetQ().
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virtualinherited |
Set extrinsic similar to GL's gluLookAt.
Defines the camera coordinate base through specified scenepoint that is observed from given position (the eye point). And the up direction in the image (which is the -y axis of image cooridinates). Assuming orthonormal base, extrinsics are calculated. Orthonormality is assured.
Definition at line 1094 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::SetExtrinsics().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1104 of file GLProjectionParametersBase.cpp.
References BIAS::Vector3< T >::CrossProduct(), BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), BIAS::GLProjectionParametersBase::SetExtrinsics(), and BIAS::Vector3< T >::Sub().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 972 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, and BIAS::GLProjectionParametersBase::zFar_.
Referenced by BIAS::GLProjectionParametersBase::SetZClippingPlanes().
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inlineinherited |
Set the current camera focal length in pixel and the a spect ratio.
Definition at line 315 of file ProjectionParametersPerspective.hh.
References BIAS::ProjectionParametersBase::SetAspectratio().
Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::Projection::CreatePerspective(), DrawWithMatchedParamsAndViewport_(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), and BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters().
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virtualinherited |
Sets gl's Modelview matrix for rendering relative to camera coordinate system (ignoring camera pose).
Definition at line 146 of file GLProjectionParametersBase.cpp.
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virtual |
Method loads the parameters into the projection and modelview Matrix.
forceUpdate | do not check if camera state changed always recalculate. |
Implements BIAS::GLProjectionParametersBase.
Definition at line 174 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::Matrix< T >::GetData(), BIAS::ProjectionParametersBase::GetImageSize(), BIAS::GLProjectionParametersBase::GLModelViewMatrix_, BIAS::GLProjectionParametersBase::GLProjectionMatrix_, BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, BIAS::GLProjectionParametersBase::UpdateGLModelViewMatrix_(), and UpdateGLProjectionMatrix_().
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inlinestaticinherited |
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inlinestaticinherited |
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protectedinherited |
Definition at line 262 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::lastUsedGLViewport_.
Referenced by BIAS::GLProjectionParametersBase::Draw(), DrawWithMatchedParamsAndViewport_(), and BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_().
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inherited |
Definition at line 593 of file ProjectionParametersPerspective.cpp.
Referenced by DrawWithMatchedParamsAndViewport_(), and UpdateGLProjectionMatrix_().
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inlinevirtualinherited |
Set the identification string.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 616 of file ProjectionParametersBase.hh.
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inlinevirtualinherited |
Set image dimensions (in pixels).
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 609 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::Projection::CreatePerspective(), BIAS::Projection::CreateSpherical(), BIAS::EpipolarLine::DrawDistortedLine(), DrawWithMatchedParamsAndViewport_(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters(), BIAS::Projection::Load(), BIAS::Camera< StorageType >::ParseMetaData(), SetSimplePerspectiveCam(), and UpdateGLProjectionMatrix_().
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virtual |
Reimplemented from BIAS::GLProjectionParametersBase.
Definition at line 134 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::ProjectionParametersBase::GetPose(), BIAS::GLProjectionParametersBase::informScenesOfChange_, InitShaders_(), BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, BIAS::ProjectionParametersPerspective::operator=(), and BIAS::ProjectionParametersBase::SetPose().
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inherited |
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).
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().
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inherited |
Definition at line 701 of file ProjectionParametersPerspective.cpp.
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inlinevirtualinherited |
sets the internal parameters from a given KMatrix and updates the cached K and its inverse
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(), SetSimplePerspectiveCam(), and UpdateGLProjectionMatrix_().
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inlineinherited |
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().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 965 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, and BIAS::GLProjectionParametersBase::zNear_.
Referenced by BIAS::GLProjectionParametersBase::SetZClippingPlanes().
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inlinevirtualinherited |
set from P
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().
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inlinevirtualinherited |
Set pose from pose object.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
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(), SetIntrinsics(), BIAS::ProjectionParametersSphericalSimple::SetPose(), and BIAS::PMDWarp::UseProjectiveTexturing().
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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().
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inlinevirtualinherited |
Set principal point in pixels relative to top left corner, virtual overload to recalculate K_.
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 336 of file ProjectionParametersPerspective.hh.
References BIAS::ProjectionParametersBase::SetPrincipal().
Referenced by BIAS::Projection::CreatePerspective(), DrawWithMatchedParamsAndViewport_(), BIAS::ProjectionParametersPerspective::GetCutOutParameters(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), and BIAS::ProjectionParametersSpherical::GetPerspectiveCutOutParameters().
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inlinevirtualinherited |
Set orientation from unit quaternion Q.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
Definition at line 644 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::GLProjectionParametersBase::SetExtrinsics(), and BIAS::ProjectionParametersSphericalSimple::SetQ().
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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().
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inlinevirtualinherited |
Set orientation from rotation matrix R.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
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 SetSimplePerspectiveCam().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 90 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::currentRenderTarget_, and BIAS::glfScreen::GetInstance().
Referenced by BIAS::GLProjectionParametersBase::Draw().
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inlineinherited |
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.
Definition at line 287 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_DEF.
Referenced by BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_().
int GLProjectionParametersPerspective::SetSimplePerspectiveCam | ( | double | fovyDEG, |
int | imageWidth = -1 , |
||
int | imageHeight = -1 |
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) |
Definition at line 80 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::informScenesOfChange_, BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, BIAS::ProjectionParametersBase::PoseValid(), BIAS::ProjectionParametersBase::SetC(), BIAS::Matrix3x3< T >::SetIdentity(), BIAS::ProjectionParametersBase::SetImageSize(), BIAS::ProjectionParametersPerspective::SetK(), BIAS::ProjectionParametersBase::SetR(), and BIAS::ProjectionParametersPerspective::SetUndistortion().
Referenced by BIAS::biasGLviewerGLUT::Init().
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inlineinherited |
Set the current camera skew factor.
Definition at line 323 of file ProjectionParametersPerspective.hh.
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protectedinherited |
Definition at line 128 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersInterface::AutoRescaleParams, BIAS::GLProjectionParametersBase::AutoViewingMatchBehaviour_, BIAS::GLProjectionParametersBase::drawingUpperLeft_, BIAS::GLProjectionParametersBase::FirstRenderingPassFinished_, BIAS::GLProjectionParametersBase::lastDrawingUpperLeft_, BIAS::GLProjectionParametersBase::lastFullGLViewport_, BIAS::GLProjectionParametersBase::lastUsedGLViewport_, and BIAS::GLProjectionParametersBase::subtractFromBackgroundImage_.
Referenced by BIAS::GLProjectionParametersBase::InitRaw_().
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inlineinherited |
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(), SetSimplePerspectiveCam(), and UpdateGLProjectionMatrix_().
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inlineinherited |
Set the lens undistortion parameters.
Definition at line 373 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_DEF.
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inlineinherited |
Set the lens undistortion parameters including the root of the polynomial.
Definition at line 386 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_BROWN.
Referenced by BIAS::Projection::CreatePerspective().
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inlineinherited |
Definition at line 398 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_INVERSE_RAD.
Referenced by BIAS::Projection::CreatePerspective().
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inlineinherited |
Definition at line 416 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_INVRAD3.
Referenced by BIAS::Projection::CreatePerspective().
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inlineinherited |
Definition at line 408 of file ProjectionParametersPerspective.hh.
References BIAS::DISTYPE_RAD3.
Referenced by BIAS::Projection::CreatePerspective().
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inlineinherited |
Definition at line 89 of file UnscentedTransform.hh.
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virtualinherited |
Set the camera source type.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 722 of file ProjectionParametersBase.cpp.
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virtualinherited |
Setting the near and far z-Clipping planes.
Implements BIAS::GLProjectionParametersInterface.
Definition at line 958 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::SetFarClippingPlane(), and BIAS::GLProjectionParametersBase::SetNearClippingPlane().
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inlineinherited |
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inlineinherited |
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inlineinherited |
Definition at line 209 of file GLProjectionParametersBase.hh.
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1521 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::AutoViewingMatchBehaviour_, BIAS::GLProjectionParametersInterface::Deny, and BIAS::GLProjectionParametersInterface::offscreenRenderingEnabled_.
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virtualinherited |
computes the second order approximation of the transformations of the mean and the associated covariance for the point transformation Transform_().
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().
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virtualinherited |
Worker function for Unscented Transform.
Implements BIAS::UnscentedTransform.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 472 of file ProjectionParametersBase.cpp.
References TNT::Vector< T >::size().
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inherited |
transforms an image from cartesian coordinates to polar coordinates
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().
Referenced by BIAS::ProjectionParametersPerspectiveDepth::DistortDepth(), BIAS::ProjectionParametersPerspectiveDepth::DistortDepthMapIP(), BIAS::ProjectionParametersPerspectiveDepth::DistortReflectivity(), BIAS::ProjectionParametersPerspectiveDepth::DistortReflectivityDepthIP(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepth(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepthMapIP(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortReflectivity(), and BIAS::ProjectionParametersPerspectiveDepth::UnDistortReflectivityDepthIP().
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inherited |
transforms a depth value from cartesian coordinates to polar coordinates
Definition at line 808 of file ProjectionParametersPerspective.cpp.
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inherited |
transforms an image from polar coordinates to cartesian coordinates
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().
Referenced by BIAS::ProjectionParametersPerspectiveDepth::DistortDepth(), BIAS::ProjectionParametersPerspectiveDepth::DistortDepthMapIP(), BIAS::ProjectionParametersPerspectiveDepth::DistortReflectivity(), BIAS::ProjectionParametersPerspectiveDepth::DistortReflectivityDepthIP(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepth(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepthMapIP(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortReflectivity(), and BIAS::ProjectionParametersPerspectiveDepth::UnDistortReflectivityDepthIP().
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inherited |
transforms a depth value from polar coodinates to cartesian coordinates
Definition at line 864 of file ProjectionParametersPerspective.cpp.
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virtualinherited |
helper function which converts a z map obtained with the last camera into a depth map for the last camera
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1286 of file GLProjectionParametersBase.cpp.
References BIAS::ImageBase::Flip(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::HomgPoint2D, BIAS::GLProjectionParametersBase::lastUsedGLViewport_, BIAS::Vector3< T >::MultIP(), BIAS::Vector3< T >::Normalize(), BIAS::GLProjectionParametersBase::zFar_, and BIAS::GLProjectionParametersBase::zNear_.
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virtualinherited |
helper function which converts a z map obtained with the last camera into a depth map for the last camera
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1243 of file GLProjectionParametersBase.cpp.
References BIAS::ImageBase::Flip(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::GLProjectionParametersBase::Z2Depth_(), BIAS::GLProjectionParametersBase::zFar_, and BIAS::GLProjectionParametersBase::zNear_.
Referenced by BIAS::GLProjectionParametersBase::GetDepthMap().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1265 of file GLProjectionParametersBase.cpp.
References BIAS::ImageBase::Flip(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::GLProjectionParametersBase::zFar_, and BIAS::GLProjectionParametersBase::zNear_.
Referenced by BIAS::GLProjectionParametersBase::GetMetricZMap().
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virtualinherited |
Using the Matlab camera calibration toolbox parameters for an undistortion of distorted coordinates.
TODO: faster implementation via Lookup-table
Implements BIAS::ProjectionParametersBase.
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().
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inlineprotectedinherited |
Definition at line 883 of file ProjectionParametersPerspective.hh.
References BIAS::ProjectionParametersPerspective::distType_, BIAS::DISTYPE_BROWN, BIAS::DISTYPE_DEF, BIAS::DISTYPE_INVERSE_RAD, BIAS::DISTYPE_INVRAD3, BIAS::DISTYPE_NONE, BIAS::DISTYPE_RAD3, BIAS::DISTYPE_RADIAL, BIAS::ProjectionParametersPerspective::kc1_, BIAS::ProjectionParametersPerspective::kc2_, BIAS::ProjectionParametersPerspective::kc3_, BIAS::ProjectionParametersPerspective::kc4_, and BIAS::ProjectionParametersPerspective::r0_.
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 998 of file GLProjectionParametersBase.cpp.
References BIAS::HomgPoint2D.
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inherited |
Definition at line 980 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::GetDepth(), BIAS::HomgPoint3D, and BIAS::Vector3< T >::NormL2().
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virtualinherited |
Implements BIAS::GLProjectionParametersInterface.
Definition at line 1005 of file GLProjectionParametersBase.cpp.
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virtualinherited |
unprojects the covariance matrices to K=Identity camera Fast implementation for IgnorDistortion = true and Normalize = false
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().
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virtualinherited |
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.
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 UpdateGLProjectionMatrix_().
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virtualinherited |
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().
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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.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
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_().
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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().
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virtualinherited |
Definition at line 237 of file ProjectionParametersPerspective.cpp.
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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.
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().
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inlinevirtualinherited |
Calculates the view ray, which belongs to the given position on the image plane, in global coordinates.
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) |
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.
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().
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inlinevirtualinherited |
Calculates the view ray, which belongs to the given position on the image plane, in global coordinates.
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) |
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().
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inlinevirtualinherited |
Calculates the view ray, which belongs to the given position on the image plane, using the given projection.
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) |
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().
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Definition at line 911 of file GLProjectionParametersBase.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::GetExtrinsics(), BIAS::GLProjectionParametersBase::GLModelViewMatrix_, BIAS::GLProjectionParametersBase::PoseValid(), BIAS::Matrix3x3< T >::Transpose(), and BIAS::Matrix4x4< T >::Transpose().
Referenced by BIAS::GLProjectionParametersBase::Draw(), BIAS::GLProjectionParametersBase::DrawPartOfImage_(), and SetGLMatrices().
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Definition at line 215 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::distort_, BIAS::Matrix< T >::GetData(), BIAS::ProjectionParametersPerspective::GetIdealImageSize(), BIAS::ProjectionParametersPerspective::GetIdealK(), BIAS::ProjectionParametersBase::GetImageSize(), BIAS::ProjectionParametersPerspective::GetUndistortion(), BIAS::GLProjectionParametersBase::GLProjectionMatrix_, BIAS::HomgPoint2D, ignoreDistortion_, InitShaders_(), BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, BIAS::glfMatrix::Load(), BIAS::glfMatrix::MakeProjectionMatrixNew(), BIAS::ProjectionParametersPerspective::SetIdealImageSize(), BIAS::ProjectionParametersBase::SetImageSize(), BIAS::ProjectionParametersPerspective::SetK(), BIAS::ProjectionParametersPerspective::SetUndistortion(), BIAS::ProjectionParametersPerspective::UnProjectLocal(), BIAS::GLProjectionParametersBase::zFar_, and BIAS::GLProjectionParametersBase::zNear_.
Referenced by DrawWithMatchedParamsAndViewport_(), and SetGLMatrices().
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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.
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Definition at line 65 of file GLProjectionParametersPerspective.hh.
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Validate currently set pose.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
Definition at line 687 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersSphericalSimple::ValidatePose().
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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().
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call this to add the class to a node of a given xml tree
Definition at line 26 of file XMLBase.cpp.
References BIAS::XMLIO::addAttribute(), and BIAS::XMLIO::addChildNode().
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specialization of XML block name function
Reimplemented from BIAS::ProjectionParametersBase.
Reimplemented in BIAS::ProjectionParametersPerspectiveDepth.
Definition at line 395 of file ProjectionParametersPerspective.cpp.
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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().
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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().
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Implements BIAS::GLProjectionParametersBase.
Definition at line 57 of file GLProjectionParametersPerspective.cpp.
References BIAS::GLProjectionParametersBase::ExtrinsicStateChanged_, BIAS::GLProjectionParametersBase::IntrinsicStateChanged_, and BIAS::XMLBase::XMLRead().
Referenced by Load().
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reconstruct xml tree from string
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().
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Implements BIAS::GLProjectionParametersBase.
Definition at line 64 of file GLProjectionParametersPerspective.cpp.
References BIAS::XMLBase::XMLWrite().
Referenced by Save().
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call this to add the class to a new xml tree and write it to the file Filename.
Calls function XMLOut of derived class
CompressionLevel | 0..9 (0=off, 9=highest compression) |
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 XMLWrite().
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serialize xml tree to string
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().
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Implements BIAS::GLProjectionParametersBase.
Definition at line 483 of file GLProjectionParametersPerspective.cpp.
References BIAS::Equal(), GetMyselfAsProjectionParametersBase(), BIAS::Vector3< T >::NormL2(), BIAS::ProjectionParametersBase::UnProjectLocal(), BIAS::GLProjectionParametersBase::zFar_, and BIAS::GLProjectionParametersBase::zNear_.
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used by GetDepthMap() which writes the current zbuffer in depthMap.
AdjustRawZBuffer_ computes the distance from the camera to every pixel
Definition at line 1209 of file GLProjectionParametersBase.cpp.
References BIAS::Image< StorageType >::GetImageData(), BIAS::GLProjectionParametersBase::lastUsedGLViewport_, and BIAS::GLProjectionParametersBase::Z2Depth_().
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Definition at line 510 of file Debug.hh.
Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().
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Definition at line 510 of file Debug.hh.
Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().
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new concept, debuglevel are managed here in the debug class
Definition at line 516 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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new concept, debuglevel are managed here in the debug class
Definition at line 516 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 517 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 517 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 511 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 511 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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the alpha parameter determines the spread of the sigma points
Definition at line 94 of file UnscentedTransform.hh.
Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().
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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=().
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Definition at line 317 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::Draw(), DrawWithMatchedParamsAndViewport_(), BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_(), BIAS::GLProjectionParametersBase::SetToUnknownState_(), and BIAS::GLProjectionParametersBase::SwitchToOffscreenRendering().
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Definition at line 321 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::Draw(), BIAS::GLProjectionParametersBase::EndDraw_(), and BIAS::GLProjectionParametersBase::GLProjectionParametersBase().
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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_().
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}@
Definition at line 367 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), and BIAS::GLProjectionParametersBase::GLProjectionParametersBase().
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Definition at line 369 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), BIAS::GLProjectionParametersBase::GLProjectionParametersBase(), BIAS::GLProjectionParametersBase::PrepareOutputAttachments_(), and SetClearColor().
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Definition at line 370 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), and BIAS::GLProjectionParametersBase::GLProjectionParametersBase().
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Definition at line 379 of file GLProjectionParametersBase.hh.
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Definition at line 383 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::EndDraw_(), BIAS::GLProjectionParametersBase::GetRenderTarget(), BIAS::GLProjectionParametersBase::GLProjectionParametersBase(), BIAS::GLProjectionParametersBase::InitRaw_(), and BIAS::GLProjectionParametersBase::SetRenderTarget().
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Definition at line 788 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().
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Definition at line 381 of file GLProjectionParametersBase.hh.
Referenced by UpdateGLProjectionMatrix_().
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Definition at line 692 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::Distort_(), BIAS::operator<<(), BIAS::ProjectionParametersPerspective::operator=(), and BIAS::ProjectionParametersPerspective::Undistort_().
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When cutting the image this field is telling the projection the upper left corner of the drawn image part.
Definition at line 334 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_(), and BIAS::GLProjectionParametersBase::SetToUnknownState_().
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Changes to the parameters or GL state that lead to new calculation of GL_MODELVIEW matrix.
Definition at line 345 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::Draw(), BIAS::GLProjectionParametersBase::DrawPartOfImage_(), Set(), BIAS::GLProjectionParametersBase::SetExtrinsics(), SetGLMatrices(), SetIntrinsics(), SetSimplePerspectiveCam(), BIAS::GLProjectionParametersBase::UpdateGLModelViewMatrix_(), and XMLRead().
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Definition at line 320 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::SetToUnknownState_().
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focal length is stored in pixel for cellSizeX
Definition at line 682 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::DoIntrinsicsDiffer(), and BIAS::ProjectionParametersPerspective::operator=().
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Definition at line 364 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), SetGLMatrices(), and BIAS::GLProjectionParametersBase::UpdateGLModelViewMatrix_().
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Definition at line 363 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), SetGLMatrices(), and UpdateGLProjectionMatrix_().
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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().
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Definition at line 698 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::operator=().
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ideal image size
Definition at line 698 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::operator=().
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Multifunctional identifier.
Definition at line 806 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::operator=().
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Definition at line 94 of file GLProjectionParametersPerspective.hh.
Referenced by GLProjectionParametersPerspective(), InitShaders_(), operator=(), and UpdateGLProjectionMatrix_().
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Abstract projection params have changed, scenes have to be informed about this.
Definition at line 353 of file GLProjectionParametersBase.hh.
Referenced by Draw_(), DrawWithMatchedParamsAndViewport_(), BIAS::GLProjectionParametersBase::ForceSceneUpdate(), Set(), BIAS::GLProjectionParametersBase::SetExtrinsics(), SetIntrinsics(), and SetSimplePerspectiveCam().
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Definition at line 221 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::GLProjectionParametersBase().
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Definition at line 316 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::GLProjectionParametersBase().
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Changes to the parameters or GL state that lead to new calculation of GL_PROJECTION matrix.
Definition at line 349 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), BIAS::GLProjectionParametersBase::DrawPartOfImage_(), DrawWithMatchedParamsAndViewport_(), BIAS::GLProjectionParametersBase::Rescale(), Set(), BIAS::GLProjectionParametersBase::SetFarClippingPlane(), SetGLMatrices(), SetIntrinsics(), BIAS::GLProjectionParametersBase::SetNearClippingPlane(), SetSimplePerspectiveCam(), UpdateGLProjectionMatrix_(), and XMLRead().
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Definition at line 679 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::operator=().
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focal length, aspect ratio, principal point in K_, inverse in invK_
Definition at line 679 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::operator=().
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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_().
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lens undistortion parameters after Bouquet also used as parameters for distortion after Brown(?)
Definition at line 685 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::Distort_(), BIAS::ProjectionParametersPerspective::DoIntrinsicsDiffer(), BIAS::operator<<(), BIAS::ProjectionParametersPerspective::operator=(), and BIAS::ProjectionParametersPerspective::Undistort_().
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Definition at line 685 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::Distort_(), BIAS::ProjectionParametersPerspective::DoIntrinsicsDiffer(), BIAS::operator<<(), BIAS::ProjectionParametersPerspective::operator=(), and BIAS::ProjectionParametersPerspective::Undistort_().
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Definition at line 685 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::Distort_(), BIAS::ProjectionParametersPerspective::DoIntrinsicsDiffer(), BIAS::operator<<(), BIAS::ProjectionParametersPerspective::operator=(), and BIAS::ProjectionParametersPerspective::Undistort_().
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Definition at line 685 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::Distort_(), BIAS::ProjectionParametersPerspective::DoIntrinsicsDiffer(), BIAS::operator<<(), BIAS::ProjectionParametersPerspective::operator=(), and BIAS::ProjectionParametersPerspective::Undistort_().
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Definition at line 341 of file GLProjectionParametersBase.hh.
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Keeping track which image part was drawn last time Draw() was called.
The width and height of the drawn image is contained in lastUsedGLViewport
Definition at line 339 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::Draw(), BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_(), and BIAS::GLProjectionParametersBase::SetToUnknownState_().
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Remembering the last full viewport prevent unecessary calculations in AutoRescaleParams behaviour.
Definition at line 330 of file GLProjectionParametersBase.hh.
Referenced by DrawWithMatchedParamsAndViewport_(), BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_(), and BIAS::GLProjectionParametersBase::SetToUnknownState_().
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Keeping track which part of image was drawn last time Draw() was called and where it was drawn.
Set by Draw_();
Definition at line 326 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), BIAS::GLProjectionParametersBase::DrawWithMatchedParamsAndViewport_(), BIAS::GLProjectionParametersBase::GetDepth(), BIAS::GLProjectionParametersBase::GetGreyImage(), BIAS::GLProjectionParametersBase::GetImage(), BIAS::GLProjectionParametersBase::GetViewportCoordinates(), BIAS::GLProjectionParametersBase::GetZBuffer(), BIAS::GLProjectionParametersBase::SetGLViewport_(), BIAS::GLProjectionParametersBase::SetToUnknownState_(), BIAS::GLProjectionParametersBase::TranslateDepthToZ(), and BIAS::GLProjectionParametersBase::ZBufferToDepthMap_().
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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 BIAS::ProjectionParametersPerspective::operator=().
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Definition at line 167 of file GLProjectionParametersInterface.hh.
Referenced by BIAS::GLProjectionParametersBase::Draw(), BIAS::GLProjectionParametersBase::EndDraw_(), BIAS::GLProjectionParametersBase::GetRenderTarget(), BIAS::GLProjectionParametersBase::GLProjectionParametersBase(), and BIAS::GLProjectionParametersBase::SwitchToOffscreenRendering().
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Definition at line 387 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::AppendOutputAttachment(), BIAS::GLProjectionParametersBase::GetAttachmentByType(), BIAS::GLProjectionParametersBase::GLProjectionParametersBase(), GLProjectionParametersPerspective(), InitShaders_(), operator=(), and BIAS::GLProjectionParametersBase::PrepareOutputAttachments_().
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Definition at line 386 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::AppendOutputAttachment(), BIAS::GLProjectionParametersBase::GLProjectionParametersBase(), GLProjectionParametersPerspective(), operator=(), and BIAS::GLProjectionParametersBase::PrepareOutputAttachments_().
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Definition at line 385 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::AppendOutputAttachment(), BIAS::GLProjectionParametersBase::Draw(), BIAS::GLProjectionParametersBase::EndDraw_(), BIAS::GLProjectionParametersBase::GetAttachmentByType(), BIAS::GLProjectionParametersBase::GLProjectionParametersBase(), GLProjectionParametersPerspective(), operator=(), and BIAS::GLProjectionParametersBase::PrepareOutputAttachments_().
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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().
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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=().
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Definition at line 796 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().
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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().
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protectedinherited |
Definition at line 689 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::ProjectionParametersPerspective::Distort_(), BIAS::operator<<(), BIAS::ProjectionParametersPerspective::operator=(), and BIAS::ProjectionParametersPerspective::Undistort_().
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protectedinherited |
skew calibration parameter
Definition at line 695 of file ProjectionParametersPerspective.hh.
Referenced by BIAS::operator<<(), and BIAS::ProjectionParametersPerspective::operator=().
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Definition at line 319 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::EndDraw_(), BIAS::GLProjectionParametersBase::GLProjectionParametersBase(), and BIAS::GLProjectionParametersBase::SetToUnknownState_().
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Definition at line 377 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::BeginDraw_(), Draw_(), and BIAS::GLProjectionParametersBase::GLProjectionParametersBase().
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protectedinherited |
Definition at line 102 of file UnscentedTransform.hh.
Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().
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protectedinherited |
Definition at line 803 of file ProjectionParametersBase.hh.
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protectedinherited |
Definition at line 804 of file ProjectionParametersBase.hh.
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protectedinherited |
unscented transform worker variables
Definition at line 802 of file ProjectionParametersBase.hh.
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Definition at line 807 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::operator=().
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width of image in pixels
Definition at line 791 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersPerspectiveDepth::DistortDepthMapIP(), BIAS::ProjectionParametersSphericalSimple::DoesPointProjectIntoImageLocal(), BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::ProjectionParametersPerspective::GetCutOutParameters(), BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), BIAS::ProjectionParametersSphericalSimple::Rescale(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepthMapIP(), and BIAS::ProjectionParametersBufferedRay::UnProjectLocal().
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Definition at line 354 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::InitRaw_(), BIAS::GLProjectionParametersBase::SetFarClippingPlane(), BIAS::GLProjectionParametersBase::TranslateDepthToZ(), BIAS::GLProjectionParametersBase::TranslateZToDepth(), BIAS::GLProjectionParametersBase::TranslateZToMetricZ(), UpdateGLProjectionMatrix_(), and Z2Depth_().
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Definition at line 354 of file GLProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::InitRaw_(), BIAS::GLProjectionParametersBase::SetNearClippingPlane(), BIAS::GLProjectionParametersBase::TranslateDepthToZ(), BIAS::GLProjectionParametersBase::TranslateZToDepth(), BIAS::GLProjectionParametersBase::TranslateZToMetricZ(), UpdateGLProjectionMatrix_(), and Z2Depth_().