BIAS::ProjectionParametersSphericalSimple Class Reference

projection parameters camera parameters which define the mapping between rays in the camera coordinate system and pixels in the image as well as external pose. the parameters phiOffset and thetaOffset are considered to be intrinsic parameters describing the rotation of the principal point the parameters dPhi and dTheta describe the resolution of a pixel in radian per pixel. Distortion is ignored. This class is intended to describe spherical rectification results. More...

#include <Geometry/ProjectionParametersSphericalSimple.hh>

Inheritance diagram for BIAS::ProjectionParametersSphericalSimple:

Collaboration diagram for BIAS::ProjectionParametersSphericalSimple:

Public Member Functions
void	Angles2GlobalOrientation (const double &phi, const double &theta, Vector3< double > &p2d) const
void	Angles2Local (const double &phi, const double &theta, Vector3< double > &local) const
	Transform local camera centric coos to sphere angles. More...
void	Angles2Pixel (const double &phi, const double &theta, Vector2< double > &pixel) const
	compute the angles belonging to pixel coos More...
virtual ProjectionParametersBase *	Clone () const
	Covariant virtual copy constructor used in BIAS::Projection. More...
virtual bool	CValid () const
	Check of current projection center is valid. More...
virtual bool	Distort (BIAS::HomgPoint2D &point2d) const
	Interface defintion for lens distortion function, implemented by derived classes. More...
virtual bool	DoesPointProjectIntoImage (const HomgPoint3D &X, HomgPoint2D &x, bool IgnoreDistortion=false) const
	Checks if 3D point projects into specified image and returns belonging 2D image point. More...
virtual bool	DoesPointProjectIntoImageLocal (const Vector3< double > &localX, HomgPoint2D &x, bool IgnoreDistort) const
	Checks if 3D point projects into specified image and returns belonging 2D image point. More...
virtual const bool	DoExtrinsicsDiffer (const ProjectionParametersBase *p) const
virtual const bool	DoIntrinsicsDiffer (const ProjectionParametersBase *p) const
virtual double	GetAspectratio () const
	Return aspectratio (i.e. More...
virtual BIAS::Vector3< double >	GetC () const
	Get projection center. More...
virtual BIAS::Matrix< POSE_TYPE >	GetCov () const
	Return pose covariance as 7x7 matrix with respect to C, Q. More...
virtual BIAS::Vector< double >	GetCQ () const
	Return pose as 7 vector (first projection center C, then unit quaternion Q representing orientation). More...
virtual double	GetDPhi () const
	set resolution in radian/pixel for phi direction More...
virtual double	GetDTheta () const
	set resolution in radian/pixel for theta direction More...
virtual BIAS::Matrix3x4< double >	GetExternals () const
	Return cached 3x4 representation of external matrix [R|C]. More...
virtual BIAS::KMatrix	GetFakeKMatrix (double &imgsize, int resolution=0, const double &maxangle=1.4) const
	Returns a fake KMatrix for the camera. More...
virtual BIAS::KMatrix	GetFakeKMatrix (int resolution=0, const double &maxangle=1.4) const
virtual void	GetFirstBorderPixel (PixelIterator &it)
	call this to start a run at the outer boundary of an image. More...
virtual void	GetFirstEdgePosition (PixelIterator &it)
	call this to start a run at the outer boundary of an image. More...
virtual std::string	GetIdentifier () const
virtual const unsigned int &	GetImageHeight () const
	Returns the image height. More...
virtual int	GetImageSize (unsigned int &Width, unsigned int &Height) const
	Obtain image dimensions. More...
virtual const unsigned int &	GetImageWidth () const
	Returns the image width. More...
virtual int	GetMinimalAngularSamplingStep (double &minAngleStep)
	Delivers the assumed minimal angular distance between two optical rays belonging to integer image coordinates within the FoV. More...
virtual bool	GetNextBorderPixel (PixelIterator &it)
	call this iteratively to run at the outer boundary of an image. More...
virtual bool	GetNextEdgePosition (PixelIterator &it)
	call this iteratively to run at the outer edge of an image. More...
virtual double	GetPhiOffset () const
	position of image on sphere in phi direction can also considered to be rotation of the principal point. More...
virtual const BIAS::Pose &	GetPose () const
	Return complete pose object. More...
virtual BIAS::PoseParametrization	GetPoseParametrization () const
	Return copy of pose parametrization object. More...
virtual int	GetPrincipal (double &PrincipalX, double &PrincipalY) const
	Get principal point (in pixels relative to top left corner). More...
virtual BIAS::Quaternion< double >	GetQ () const
	Get orientation as unit quaternion. More...
virtual BIAS::RMatrix	GetR () const
	Get orientation as rotation matrix R. More...
RMatrixBase	GetRCache () const
virtual int	GetSphericalViewingRange (const CoordinateTransform3D &sphericalReferenceFrame, double &minPhi, double &maxPhi, double &centerPhi, double &minTheta, double &maxTheta)
	Determines the maximal and minimal viewing range in means of spherical coordinates. More...
virtual double	GetThetaOffset () const
	position of image on sphere in theta direction More...
virtual int	GetUnProjectionJacobian (const HomgPoint2D &x, Matrix2x2< double > &Jac, const bool homogenized=true) const
	Get warp (local magnification/shear/...) when going from the real image to ideal image with focal length = 1. More...
virtual std::string	GetVideoSourceType () const
void	GlobalOrientation2Angles (const Vector3< double > &p2d, double &phi, double &theta) const
void	GlobalOrientation2Pixel (const Vector3< double > &p2d, Vector2< double > &pixel) const
	Transform from a semilocal reference frame to pixel coo. More...
virtual void	InvalidatePose ()
	Invalidate currently set pose. More...
bool	IsLeftOf (const ProjectionParametersBase &ppb) const
	Returns true if the camera represented by this ProjectionParametersBase is left of the given one. More...
void	Local2Angles (const Vector3< double > &local, double &phi, double &theta) const
	Transform sphere angels to local reference frame. More...
void	Local2Pixel (const Vector3< double > &p2d, Vector2< double > &pixel) const
	Transform from local camera centric reference system to pixel coo. More...
const bool	LookAt (const Vector3< double > &eye, const Vector3< double > &center, const Vector3< double > &up)
	Looks at given point, similar to gluLookAt. More...
const bool	LookAt (const Vector3< double > &center, const Vector3< double > &up)
	Looks at given point, similar to gluLookAt. More...
const bool	LookAtGL (const Vector3< double > &eye, const Vector3< double > &center, const Vector3< double > &up)
	Looks at given point, similar to gluLookAt. More...
const bool	LookAtGL (const Vector3< double > &center, const Vector3< double > &up)
	Looks at given point, similar to gluLookAt. More...
void	Pixel2Angles (const Vector2< double > &pixel, double &phi, double &theta) const
	compute the angles belonging to pixel coos More...
void	Pixel2GlobalOrientation (const Vector2< double > &pixel, Vector3< double > &p2d) const
	Transform from pixel coo to semilocal reference frame. More...
void	Pixel2Local (const Vector2< double > &pixel, Vector3< double > &p2d) const
	Transform from pixel coo to local reference frame. More...
virtual bool	PoseValid () const
	Check if current pose is valid. More...
virtual HomgPoint2D	Project (const HomgPoint3D &X, bool IgnoreDistortion=false) const
	calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera !warning! the function my return an invalid point (0,0,0) in certain cases (3d point) behind camera or 3d point to close to camera center More...
virtual int	Project (const HomgPoint3D &X, HomgPoint2D &p2d, bool IgnoreDistortion=false) const
	calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera. More...
	ProjectionParametersSphericalSimple ()
	ProjectionParametersSphericalSimple (const double phiOffs, const double thetaOffs, const double dPhi, const double dTheta, const unsigned int width, const unsigned int height)
	ProjectionParametersSphericalSimple (const ProjectionParametersSphericalSimple &P)
virtual HomgPoint2D	ProjectLocal (const Vector3< double > &point, bool IgnoreDistortion=false) const
	calculates the projection of a point in the local camera coordinate system to a pixel in the image plane of the camera More...
virtual int	ProjectLocal (const Vector3< double > &point, HomgPoint2D &p2d, bool IgnoreDistortion=false) const
	calculates the projection of a point in the local camera coordinate system to a pixel in the image plane of the camera. More...
virtual bool	QValid () const
	Check if current orientation is valid. More...
void	Rescale (double ratio, const double offset)
	Adapt internal parameters to resampled image. More...
void	Rescale (unsigned int width, unsigned int height)
	adapt internal parameters to new image size More...
virtual void	SetAspectratio (const double AspectRatio)
	Set CCD aspect ratio (i.e. More...
virtual void	SetC (const BIAS::Vector3< double > &C)
	Set projection center. More...
virtual void	SetCov (const Matrix< POSE_TYPE > &Cov)
	Set pose covariance matrix with respect to C, Q. More...
virtual void	SetIdentifier (std::string name)
	Set the identification string. More...
virtual void	SetImageSize (const unsigned int w, const unsigned int h)
	Set image dimensions (in pixels). More...
virtual void	SetPose (const BIAS::Pose pose)
	Set pose from pose object. More...
virtual void	SetPoseParametrization (const PoseParametrization &pp)
	Set pose from pose parametrization. More...
virtual void	SetPrincipal (const double x, const double y)
	Set principal point (in pixels relative to top left corner). More...
virtual void	SetQ (const BIAS::Quaternion< double > &Q)
	Set orientation from unit quaternion Q. More...
virtual void	SetQC (const BIAS::Quaternion< double > &Q, const BIAS::Vector3< double > &C)
	Set pose from unit quaternion Q and projection center C. More...
virtual void	SetR (const BIAS::RMatrix &R)
	Set orientation from rotation matrix R. More...
virtual void	SetVideoSourceType (const std::string &name)
	Set the camera source type. More...
virtual int	Transform_ (const Vector< double > &src, Vector< double > &dst) const
	Worker function for Unscented Transform. More...
virtual bool	Undistort (BIAS::HomgPoint2D &point2d) const
	Interface defintion for lens undistortion function, implemented by derived classes. More...
virtual Matrix3x3< double >	UnProjectCovLocal (const HomgPoint2D &pos, const Matrix3x3< double > &cov2D, bool IgnoreDistortion=false, bool Normalize=false)
	unprojects the covariance matrices to K=Identity camera More...
virtual void	UnProjectLocal (const HomgPoint2D &pos, Vector3< double > &pointOnRay, Vector3< double > &direction, bool IgnoreDistortion=false) const
	calculates the unit size viewing ray from the camera center (in the camera coordinate system) which belongs to the image position pos e.g. More...
virtual HomgPoint3D	UnProjectToImagePlane (const HomgPoint2D &pos, const double &depth=1.0, bool IgnoreDistortion=false) const
	map points from image onto unit diameter image plane in 3D. More...
virtual HomgPoint3D	UnProjectToPoint (const HomgPoint2D &pos, double depth, bool IgnoreDistortion=false) const
	calculates a 3D point in the global (not the rig) coordinate system, which belongs to the image position pos with distance depth to the camera center. More...
virtual HomgPoint3D	UnProjectToPoint (const HomgPoint2D &pos, const double depth, const ProjectionParametersBase &proj, bool IgnoreDistortion=false) const
virtual Vector3< double >	UnProjectToPointLocal (const HomgPoint2D &pos, const double &depth, bool IgnoreDistortion=false) const
	calculates a 3D point in the local camera coordinate system, which belongs to the image position pos in cam with distance depth to the camera center cam. More...
virtual void	UnProjectToRay (const HomgPoint2D &pos, Vector3< double > &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 void	ValidatePose ()
	Validate currently set pose. More...
virtual double	ViewDifference (const ProjectionParametersBase *) const
	Returns difference between two projections like |C1-C2|. More...
xmlNodePtr	XMLAdd (const xmlNodePtr Node, XMLIO &XMLObject) const
	call this to add the class to a node of a given xml tree More...
virtual int	XMLGetClassName (std::string &TopLevelTag, double &Version) const
	specialization of XML block name function More...
virtual int	XMLIn (const xmlNodePtr Node, XMLIO &XMLObject)
	specialization of XML read function More...
virtual int	XMLOut (const xmlNodePtr Node, XMLIO &XMLObject) const
	specialization of XML write function More...
int	XMLRead (const std::string &Filename)
	derived classes must implement the function XMLIn which is called by this function XMLRead to read everything with name Filename into (*this). More...
int	XMLReadFromString (const std::string &str)
	reconstruct xml tree from string More...
int	XMLWrite (const std::string &Filename, int CompressionLevel=0, bool AutoAddCompressionSuffix=true, std::string encoding="UTF-8") const
	call this to add the class to a new xml tree and write it to the file Filename. More...
int	XMLWriteToString (std::string &str, std::string encoding="UTF-8") const
	serialize xml tree to string More...
virtual	~ProjectionParametersSphericalSimple ()

Protected Member Functions
void	AddDebugLevel (const long int lv)
void	AddDebugLevel (const std::string &name)
int	ComputeSigmaPoints_ (const Vector< double > &src_mean, const Matrix< double > &src_cov, std::vector< WeightedSigmaPoint > &sigma_points) const
	The covariance of a n-dimensional vector is approximated using 2n+1 so called sigma points with associated weights. More...
long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel More...
bool	DebugLevelIsSet (const long int lv) const
bool	DebugLevelIsSet (const std::string &name) const
int	GetDebugLevel () const
std::ostream &	GetDebugStream () const
void	GetDebugStream (std::ostream &os) const
long int	Name2DebugLevel (const std::string &name) const
	looks up a debuglevel in the internal map, returns 0 if not found More...
long int	NewDebugLevel (const std::string &name)
	creates a new debuglevel More...
void	PrintDebugLevel (std::ostream &os=std::cout) const
void	RemoveDebugLevel (const long int lv)
void	RemoveDebugLevel (const std::string &name)
void	SetAlpha (const double alpha)
	Sets the alpha parameter. More...
void	SetBeta (const double beta)
	Sets the beta parameter. More...
void	SetDebugLevel (const long int lv)
void	SetDebugLevel (const std::string &name)
void	SetDebugStream (const std::ostream &os)
void	SetUseSVD (const bool use_svd)
void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...
int	Transform (const Vector< double > &src_mean, const Matrix< double > &src_cov, Vector< double > &dst_mean, Matrix< double > &dst_cov) const
	computes the second order approximation of the transformations of the mean and the associated covariance for the point transformation Transform_(). More...

Static Protected Member Functions
static long int	GetGlobalDebugLevel ()
static void	SetGlobalDebugLevel (long int lev)

Protected Attributes
long int	_liDebugLevel
long int	_liNextDebugLevel
	new concept, debuglevel are managed here in the debug class More...
std::map< std::string, long int >	_String2Debuglevel
double	Alpha_
	the alpha parameter determines the spread of the sigma points More...
double	aspectratio_
	aspect ratio of the camera CCD More...
double	Beta_
	beta is used to incorporate prior knowledge of the distribution of x. More...
bool	CValid_
double	dPhi_
double	dTheta_
unsigned int	height_
	height of image in pixels More...
std::string	identifier_
	Multifunctional identifier. More...
double	Kappa_
	kappa is a secondary scaling parameter. More...
double	phiOffset_
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...
BIAS::RMatrixBase	R_
	a cache for the orientation of the camera More...
double	thetaOffset_
bool	UseSVD_
bool	ustIgnoreDistortion_
bool	ustNormalize_
bool	ustTransformIntoImage_
	unscented transform worker variables More...
std::string	videoSourceType_
unsigned int	width_
	width of image in pixels More...

Static Protected Attributes
static std::ostream	_zDebugStream
static long int	GlobalDebugLevel = 0

Friends
std::ostream &	operator<< (std::ostream &os, const ProjectionParametersSphericalSimple &p)
	friend functions More...

Detailed Description

projection parameters camera parameters which define the mapping between rays in the camera coordinate system and pixels in the image as well as external pose. the parameters phiOffset and thetaOffset are considered to be intrinsic parameters describing the rotation of the principal point the parameters dPhi and dTheta describe the resolution of a pixel in radian per pixel. Distortion is ignored. This class is intended to describe spherical rectification results.

Test:

tested with TestProjectionParametersSphericalSimple.cpp

Definition at line 45 of file ProjectionParametersSphericalSimple.hh.

Constructor & Destructor Documentation

ProjectionParametersSphericalSimple::ProjectionParametersSphericalSimple

(

)

Definition at line 11 of file ProjectionParametersSphericalSimple.cpp.

ProjectionParametersSphericalSimple::ProjectionParametersSphericalSimple	(	const double	phiOffs,
		const double	thetaOffs,
		const double	dPhi,
		const double	dTheta,
		const unsigned int	width,
		const unsigned int	height
	)

Definition at line 17 of file ProjectionParametersSphericalSimple.cpp.

References phiOffset_, and thetaOffset_.

BIAS::ProjectionParametersSphericalSimple::ProjectionParametersSphericalSimple ( const ProjectionParametersSphericalSimple &  P )

inline

Definition at line 59 of file ProjectionParametersSphericalSimple.hh.

virtual BIAS::ProjectionParametersSphericalSimple::~ProjectionParametersSphericalSimple ( )

inlinevirtual

Definition at line 63 of file ProjectionParametersSphericalSimple.hh.

Member Function Documentation

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

inlineinherited

Examples:

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

Definition at line 355 of file Debug.hh.

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

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

inlineinherited

Definition at line 362 of file Debug.hh.

void BIAS::ProjectionParametersSphericalSimple::Angles2GlobalOrientation ( const double &  phi, const double &  theta, Vector3< double > &  p2d  ) const

inline

Definition at line 277 of file ProjectionParametersSphericalSimple.hh.

References Angles2Local(), BIAS::Matrix3x3< T >::Mult(), BIAS::ProjectionParametersBase::QValid_, and R_.

void BIAS::ProjectionParametersSphericalSimple::Angles2Local ( const double &  phi, const double &  theta, Vector3< double > &  local  ) const

inline

Transform local camera centric coos to sphere angles.

Definition at line 324 of file ProjectionParametersSphericalSimple.hh.

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

Referenced by Angles2GlobalOrientation(), and Pixel2Local().

void BIAS::ProjectionParametersSphericalSimple::Angles2Pixel ( const double &  phi, const double &  theta, Vector2< double > &  pixel  ) const

inline

compute the angles belonging to pixel coos

Definition at line 343 of file ProjectionParametersSphericalSimple.hh.

References dPhi_, dTheta_, phiOffset_, and thetaOffset_.

Referenced by Local2Pixel().

virtual ProjectionParametersBase* BIAS::ProjectionParametersSphericalSimple::Clone ( ) const

inlinevirtual

Covariant virtual copy constructor used in BIAS::Projection.

Implements BIAS::ProjectionParametersBase.

Definition at line 118 of file ProjectionParametersSphericalSimple.hh.

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

protectedinherited

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

The points and weights are computed in this function

Returns

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

Definition at line 138 of file UnscentedTransform.cpp.

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

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

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )

inlineprotectedinherited

returns the next available debuglevel

Author

woelk 09/2006

Definition at line 521 of file Debug.hh.

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

inlinevirtualinherited

Check of current projection center is valid.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 673 of file ProjectionParametersBase.hh.

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

inlineinherited

Examples:

ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

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

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

inlineinherited

Definition at line 350 of file Debug.hh.

virtual bool BIAS::ProjectionParametersSphericalSimple::Distort ( BIAS::HomgPoint2D &  point2d ) const

inlinevirtual

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

Implements BIAS::ProjectionParametersBase.

Definition at line 114 of file ProjectionParametersSphericalSimple.hh.

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

virtualinherited

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

Parameters

X	assumes homogenized point!

Author

bartczak

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 223 of file ProjectionParametersBase.cpp.

References BIAS::HomgPoint3D::GetEuclidean().

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

bool ProjectionParametersSphericalSimple::DoesPointProjectIntoImageLocal ( const Vector3< double > &  localX, HomgPoint2D &  x, bool  IgnoreDistort  ) const

virtual

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

Parameters

localX

assumes homogenized point!

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 126 of file ProjectionParametersSphericalSimple.cpp.

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

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

virtualinherited

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

Definition at line 257 of file ProjectionParametersBase.cpp.

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

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

virtualinherited

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

Definition at line 234 of file ProjectionParametersBase.cpp.

References BIAS::ProjectionParametersBase::aspectratio_, BIAS::ProjectionParametersBase::height_, BIAS::ProjectionParametersBase::principalX_, BIAS::ProjectionParametersBase::principalY_, and BIAS::ProjectionParametersBase::width_.

Referenced by BIAS::ProjectionParametersBufferedRay::DoIntrinsicsDiffer(), BIAS::ProjectionParametersZoom::DoIntrinsicsDiffer(), BIAS::ProjectionParametersGreatCircles::DoIntrinsicsDiffer(), BIAS::ProjectionParametersSpherical::DoIntrinsicsDiffer(), BIAS::ProjectionParametersSphericalFast::DoIntrinsicsDiffer(), and BIAS::ProjectionParametersPerspective::DoIntrinsicsDiffer().

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

inlinevirtualinherited

Return aspectratio (i.e.

cellsizeX / cellsizeY).

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 582 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

Get projection center.

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

Examples:

ExampleMultipleDepthWarp.cpp, and ExampleRectification.cpp.

Definition at line 464 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

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

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 500 of file ProjectionParametersBase.hh.

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

inlinevirtualinherited

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

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

Definition at line 485 of file ProjectionParametersBase.hh.

int BIAS::Debug::GetDebugLevel ( ) const

inlineinherited

Examples:

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

Definition at line 332 of file Debug.hh.

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

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

inlineinherited

Definition at line 405 of file Debug.hh.

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

inlineinherited

Definition at line 414 of file Debug.hh.

virtual double BIAS::ProjectionParametersSphericalSimple::GetDPhi ( ) const

inlinevirtual

set resolution in radian/pixel for phi direction

Definition at line 73 of file ProjectionParametersSphericalSimple.hh.

virtual double BIAS::ProjectionParametersSphericalSimple::GetDTheta ( ) const

inlinevirtual

set resolution in radian/pixel for theta direction

Definition at line 76 of file ProjectionParametersSphericalSimple.hh.

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

inlinevirtualinherited

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

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

Examples:

ExampleProjection.cpp.

Definition at line 533 of file ProjectionParametersBase.hh.

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

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

virtualinherited

Returns a fake KMatrix for the camera.

Attention

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

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

Parameters

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

Author

streckel 05/2006 (moved here by koeser)

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

Definition at line 544 of file ProjectionParametersBase.cpp.

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

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

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

virtualinherited

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

void ProjectionParametersBase::GetFirstBorderPixel ( PixelIterator &  it )

virtualinherited

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

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

Author

koeser 09/2007

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

Definition at line 67 of file ProjectionParametersBase.cpp.

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

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

void ProjectionParametersBase::GetFirstEdgePosition ( PixelIterator &  it )

virtualinherited

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

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

Author

bartczak 06/2009

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 107 of file ProjectionParametersBase.cpp.

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

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

inlinestaticinherited

Definition at line 431 of file Debug.hh.

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

inlinevirtualinherited

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 573 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

Returns the image height.

Returns

the image height

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 568 of file ProjectionParametersBase.hh.

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

inlinevirtualinherited

Obtain image dimensions.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:

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

Definition at line 545 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

Returns the image width.

Returns

the image width

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 557 of file ProjectionParametersBase.hh.

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

inlinevirtualinherited

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

Author

bartczak 10/2007

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

Examples:

ExampleXB3Rectification.cpp.

Definition at line 180 of file ProjectionParametersBase.hh.

bool ProjectionParametersBase::GetNextBorderPixel ( PixelIterator &  it )

virtualinherited

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

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

Parameters

it	must be initialized by GetFirstBorderPixel

Returns

false if the returned position closes the loop around the image

Author

koeser 09/2007

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

Definition at line 74 of file ProjectionParametersBase.cpp.

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

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

bool ProjectionParametersBase::GetNextEdgePosition ( PixelIterator &  it )

virtualinherited

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

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

Parameters

it	must be initialized by GetFirstBorderPixel

Returns

false if the returned position closes the loop around the image

Author

bartczak 06/2009

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 114 of file ProjectionParametersBase.cpp.

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

virtual double BIAS::ProjectionParametersSphericalSimple::GetPhiOffset ( ) const

inlinevirtual

position of image on sphere in phi direction can also considered to be rotation of the principal point.

Definition at line 67 of file ProjectionParametersSphericalSimple.hh.

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

inlinevirtualinherited

Return complete pose object.

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

Examples:

ExampleEstimateFisheyePolynomial.cpp.

Definition at line 505 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

Return copy of pose parametrization object.

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

Definition at line 517 of file ProjectionParametersBase.hh.

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

inlinevirtualinherited

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

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:

ExampleEstimateFisheyePolynomial.cpp.

Definition at line 587 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

Get orientation as unit quaternion.

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

Definition at line 474 of file ProjectionParametersBase.hh.

Referenced by BIAS::operator<<().

RMatrix ProjectionParametersBase::GetR ( ) const

virtualinherited

Get orientation as rotation matrix R.

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

Definition at line 282 of file ProjectionParametersBase.cpp.

References BIAS::RMatrixBase::SetFromQuaternion().

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

RMatrixBase BIAS::ProjectionParametersSphericalSimple::GetRCache ( ) const

inline

Definition at line 212 of file ProjectionParametersSphericalSimple.hh.

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

virtualinherited

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

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

Attention

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

Parameters

sphericalReferenceFrame

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

Returns

minPhi phi angle from (-M_PI, M_PI] with smallest value within viewing range.

maxPhi phi angle from (-M_PI, M_PI] with largest value within viewing range.

centerPhi phi angle from (-M_PI, M_PI] belonging to the optical ray passing through the image center. This angle allows to determine which direction the camera was facing in the sphericalReferenceFrame.

minTheta theta angle from [0, M_PI] with smallest value within viewing range.

maxTheta theta angle from [0, M_PI] with largest value within viewing range.

Author

bartczak 10/2007

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:

ExampleXB3Rectification.cpp.

Definition at line 148 of file ProjectionParametersBase.cpp.

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

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

virtual double BIAS::ProjectionParametersSphericalSimple::GetThetaOffset ( ) const

inlinevirtual

position of image on sphere in theta direction

Definition at line 70 of file ProjectionParametersSphericalSimple.hh.

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

virtualinherited

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

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

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

Author

koeser 06/2008

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

Definition at line 632 of file ProjectionParametersBase.cpp.

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

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

inlinevirtualinherited

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 577 of file ProjectionParametersBase.hh.

void BIAS::ProjectionParametersSphericalSimple::GlobalOrientation2Angles ( const Vector3< double > &  p2d, double &  phi, double &  theta  ) const

inline

Definition at line 266 of file ProjectionParametersSphericalSimple.hh.

References Local2Angles(), BIAS::ProjectionParametersBase::QValid_, R_, and BIAS::Matrix3x3< T >::TransposedMult().

void BIAS::ProjectionParametersSphericalSimple::GlobalOrientation2Pixel ( const Vector3< double > &  p2d, Vector2< double > &  pixel  ) const

inline

Transform from a semilocal reference frame to pixel coo.

The semilocal reference frame is defined to have its origin at the camera center and to have the same orientation as the full global reference frame

Definition at line 245 of file ProjectionParametersSphericalSimple.hh.

References Local2Pixel(), BIAS::ProjectionParametersBase::QValid_, R_, and BIAS::Matrix3x3< T >::TransposedMult().

virtual void BIAS::ProjectionParametersBase::InvalidatePose ( )

inlinevirtualinherited

Invalidate currently set pose.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 683 of file ProjectionParametersBase.hh.

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

inherited

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

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

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

Parameters

ppb	the parameters of the cam to compare this to

Author

rwulff

Date

09/2011

Definition at line 711 of file ProjectionParametersBase.cpp.

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

void BIAS::ProjectionParametersSphericalSimple::Local2Angles ( const Vector3< double > &  local, double &  phi, double &  theta  ) const

inline

Transform sphere angels to local reference frame.

Definition at line 306 of file ProjectionParametersSphericalSimple.hh.

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

Referenced by GlobalOrientation2Angles(), and Local2Pixel().

void BIAS::ProjectionParametersSphericalSimple::Local2Pixel ( const Vector3< double > &  p2d, Vector2< double > &  pixel  ) const

inline

Transform from local camera centric reference system to pixel coo.

Definition at line 288 of file ProjectionParametersSphericalSimple.hh.

References Angles2Pixel(), and Local2Angles().

Referenced by GlobalOrientation2Pixel(), and ProjectLocal().

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

inlineinherited

Looks at given point, similar to gluLookAt.

Parameters

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

Returns

true, if everything is fine - false, otherwise

Definition at line 751 of file ProjectionParametersBase.hh.

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

inlineinherited

Looks at given point, similar to gluLookAt.

Parameters

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

Returns

true, if everythings fine - false, otherwise

Definition at line 760 of file ProjectionParametersBase.hh.

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

inlineinherited

Looks at given point, similar to gluLookAt.

Parameters

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

Returns

true, if everything is fine - false, otherwise

Definition at line 770 of file ProjectionParametersBase.hh.

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

inlineinherited

Looks at given point, similar to gluLookAt.

Parameters

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

Returns

true, if everythings fine - false, otherwise

Definition at line 779 of file ProjectionParametersBase.hh.

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

inlineinherited

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

Author

woelk 09/2006

Definition at line 454 of file Debug.hh.

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

inlineinherited

creates a new debuglevel

Author

woelk 09/2006

Definition at line 474 of file Debug.hh.

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

void BIAS::ProjectionParametersSphericalSimple::Pixel2Angles ( const Vector2< double > &  pixel, double &  phi, double &  theta  ) const

inline

compute the angles belonging to pixel coos

Definition at line 335 of file ProjectionParametersSphericalSimple.hh.

References dPhi_, dTheta_, phiOffset_, and thetaOffset_.

Referenced by Pixel2Local().

void BIAS::ProjectionParametersSphericalSimple::Pixel2GlobalOrientation ( const Vector2< double > &  pixel, Vector3< double > &  p2d  ) const

inline

Transform from pixel coo to semilocal reference frame.

The semilocal reference frame is defined to have its origin at the camera center and to have the same orientation as the full global reference frame

Definition at line 256 of file ProjectionParametersSphericalSimple.hh.

References BIAS::Matrix3x3< T >::Mult(), Pixel2Local(), BIAS::ProjectionParametersBase::QValid_, and R_.

void BIAS::ProjectionParametersSphericalSimple::Pixel2Local ( const Vector2< double > &  pixel, Vector3< double > &  p2d  ) const

inline

Transform from pixel coo to local reference frame.

Definition at line 297 of file ProjectionParametersSphericalSimple.hh.

References Angles2Local(), and Pixel2Angles().

Referenced by Pixel2GlobalOrientation(), and UnProjectLocal().

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

inlinevirtualinherited

Check if current pose is valid.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 679 of file ProjectionParametersBase.hh.

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

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

inlineinherited

Definition at line 383 of file Debug.hh.

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

inlinevirtualinherited

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

Author

woelk 05/2006

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

Examples:

ExampleEstimateFisheyePolynomial.cpp, and ExampleProjectionParametersPerspective2.cpp.

Definition at line 221 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

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

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

Author

woelk 05/2006

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

Definition at line 237 of file ProjectionParametersBase.hh.

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

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

virtual

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

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 45 of file ProjectionParametersSphericalSimple.cpp.

Referenced by DoesPointProjectIntoImageLocal().

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

virtual

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

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

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

Author

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

Implements BIAS::ProjectionParametersBase.

Definition at line 55 of file ProjectionParametersSphericalSimple.cpp.

References Local2Pixel(), BIAS::Vector3< T >::NormL2(), and BIAS::HomgPoint2D::Set().

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

inlinevirtualinherited

Check if current orientation is valid.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 676 of file ProjectionParametersBase.hh.

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

inlineinherited

Definition at line 369 of file Debug.hh.

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

inlineinherited

Definition at line 376 of file Debug.hh.

void ProjectionParametersSphericalSimple::Rescale ( double  ratio, const double  offset  )

virtual

Adapt internal parameters to resampled image.

Parameters

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

Attention

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

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 87 of file ProjectionParametersSphericalSimple.cpp.

References dPhi_, dTheta_, and BIAS::ProjectionParametersBase::Rescale().

void ProjectionParametersSphericalSimple::Rescale ( unsigned int  width, unsigned int  height  )

virtual

adapt internal parameters to new image size

Parameters

width

and height are the new images sizes

Attention

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

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 94 of file ProjectionParametersSphericalSimple.cpp.

References dPhi_, dTheta_, BIAS::ProjectionParametersBase::Rescale(), and BIAS::ProjectionParametersBase::width_.

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

inlineinherited

Sets the alpha parameter.

The alpha parameter determines the spread of the sigma points

Definition at line 80 of file UnscentedTransform.hh.

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

inlinevirtualinherited

Set CCD aspect ratio (i.e.

cellsizeX / cellsizeY).

Author

streckel

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

Examples:

ExampleVRMLOutProjection.cpp.

Definition at line 597 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::Projection::CreateSpherical(), BIAS::ProjectionParametersZoom::SetAspectratio(), BIAS::ProjectionParametersPerspective::SetAspectratio(), BIAS::ProjectionParametersPerspective::SetFocalLengthAndAspect(), and BIAS::ProjectionParametersPerspective::SetK().

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

inlineinherited

Sets the beta parameter.

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

Definition at line 86 of file UnscentedTransform.hh.

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

inlinevirtualinherited

Set projection center.

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

Examples:

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

Definition at line 648 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

Set pose covariance matrix with respect to C, Q.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 669 of file ProjectionParametersBase.hh.

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

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

inlineinherited

Examples:

ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, ExampleDcam.cpp, ExampleDcamImageConvert.cpp, ExampleDirectToDisk.cpp, ExampleGrabTrippleFromXB3.cpp, ExampleHarrisColor.cpp, ExampleLDA.cpp, ExampleLineMatcher.cpp, ExampleMDCamToShm.cpp, ExampleParabola.cpp, ExamplePMatrix.cpp, ExamplePtGreyHiresColor.cpp, ExampleVideoSource_Shm.cpp, and Scan1394Bus.cpp.

Definition at line 318 of file Debug.hh.

Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().

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

inlineinherited

Definition at line 325 of file Debug.hh.

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

inlineinherited

Definition at line 398 of file Debug.hh.

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

inlinestaticinherited

Definition at line 424 of file Debug.hh.

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

inlinevirtualinherited

Set the identification string.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 616 of file ProjectionParametersBase.hh.

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

inlinevirtualinherited

Set image dimensions (in pixels).

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:

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

Definition at line 609 of file ProjectionParametersBase.hh.

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

void ProjectionParametersSphericalSimple::SetPose ( const BIAS::Pose  pose )

virtual

Set pose from pose object.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 248 of file ProjectionParametersSphericalSimple.cpp.

References BIAS::CoordinateTransform3D::GetR(), BIAS::ProjectionParametersBase::Pose_, R_, and BIAS::ProjectionParametersBase::SetPose().

void ProjectionParametersSphericalSimple::SetPoseParametrization ( const PoseParametrization &  pp )

virtual

Set pose from pose parametrization.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 224 of file ProjectionParametersSphericalSimple.cpp.

References BIAS::CoordinateTransform3D::GetR(), BIAS::ProjectionParametersBase::Pose_, R_, and BIAS::ProjectionParametersBase::SetPoseParametrization().

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

inlinevirtualinherited

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

Author

streckel

Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersPerspective, and BIAS::ProjectionParametersZoom.

Examples:

ExampleEstimateFisheyePolynomial.cpp, ExampleProjectionParametersSpherical.cpp, and ExampleVRMLOutProjection.cpp.

Definition at line 603 of file ProjectionParametersBase.hh.

Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::Projection::CreateSpherical(), BIAS::ProjectionParametersPerspective::SetK(), BIAS::ProjectionParametersZoom::SetPrincipal(), and BIAS::ProjectionParametersPerspective::SetPrincipal().

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

virtual

Set orientation from unit quaternion Q.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 232 of file ProjectionParametersSphericalSimple.cpp.

References BIAS::CoordinateTransform3D::GetR(), BIAS::ProjectionParametersBase::Pose_, R_, and BIAS::ProjectionParametersBase::SetQ().

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

virtual

Set pose from unit quaternion Q and projection center C.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 240 of file ProjectionParametersSphericalSimple.cpp.

References BIAS::CoordinateTransform3D::GetR(), BIAS::ProjectionParametersBase::Pose_, R_, and BIAS::ProjectionParametersBase::SetQC().

void ProjectionParametersSphericalSimple::SetR ( const BIAS::RMatrix &  R )

virtual

Set orientation from rotation matrix R.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 255 of file ProjectionParametersSphericalSimple.cpp.

References R_, and BIAS::ProjectionParametersBase::SetR().

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

inlineinherited

Definition at line 89 of file UnscentedTransform.hh.

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

virtualinherited

Set the camera source type.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 722 of file ProjectionParametersBase.cpp.

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

inlineinherited

prints all internally known debuglevels

Author

woelk 09/2006

Definition at line 496 of file Debug.hh.

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

virtualinherited

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

Returns

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

Implements BIAS::UncertaintyTransformBase.

Definition at line 52 of file UnscentedTransform.cpp.

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

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

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

virtualinherited

Worker function for Unscented Transform.

Author

koeser

Implements BIAS::UnscentedTransform.

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 472 of file ProjectionParametersBase.cpp.

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

virtual bool BIAS::ProjectionParametersSphericalSimple::Undistort ( BIAS::HomgPoint2D &  point2d ) const

inlinevirtual

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

Implements BIAS::ProjectionParametersBase.

Definition at line 116 of file ProjectionParametersSphericalSimple.hh.

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

virtualinherited

unprojects the covariance matrices to K=Identity camera

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

Author

koeser 06/2006

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

Definition at line 502 of file ProjectionParametersBase.cpp.

References BIAS::MatrixZero.

Referenced by BIAS::ProjectionParametersPerspective::UnProjectCovLocal().

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

virtual

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

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

Implements BIAS::ProjectionParametersBase.

Definition at line 74 of file ProjectionParametersSphericalSimple.cpp.

References BIAS::HomgPoint2D::IsAtInfinity(), and Pixel2Local().

Referenced by UnProjectToImagePlane().

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

virtual

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

Implements BIAS::ProjectionParametersBase.

Definition at line 105 of file ProjectionParametersSphericalSimple.cpp.

References BIAS::Equal(), BIAS::HomgPoint3D, BIAS::CoordinateTransform3D::LocalToGlobal(), BIAS::Vector3< T >::NormL2(), BIAS::ProjectionParametersBase::Pose_, and UnProjectLocal().

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

virtualinherited

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

Returns

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

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Examples:

ExampleEstimateFisheyePolynomial.cpp, and ExampleProjectionParametersProjective.cpp.

Definition at line 448 of file ProjectionParametersBase.cpp.

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

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

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

virtualinherited

Reimplemented in BIAS::ProjectionParametersDynamicLoad.

Definition at line 460 of file ProjectionParametersBase.cpp.

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

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

virtualinherited

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

Author

koeser

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

Definition at line 432 of file ProjectionParametersBase.cpp.

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

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

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

inlinevirtualinherited

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

Parameters

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

Author

Woelk, Husvogt

Date

May 2006, March 2012

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

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

Examples:

ExampleProjectionParametersPerspective2.cpp.

Definition at line 325 of file ProjectionParametersBase.hh.

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

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

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

inlinevirtualinherited

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

Parameters

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

Author

Woelk, Husvogt

Date

May 2006, March 2012

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

Definition at line 351 of file ProjectionParametersBase.hh.

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

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

inlinevirtualinherited

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

Parameters

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

Author

Woelk, Husvogt

Date

May 2006, March 2012

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

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

Definition at line 377 of file ProjectionParametersBase.hh.

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

void ProjectionParametersSphericalSimple::ValidatePose ( )

virtual

Validate currently set pose.

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 262 of file ProjectionParametersSphericalSimple.cpp.

References BIAS::ProjectionParametersBase::GetR(), R_, and BIAS::ProjectionParametersBase::ValidatePose().

double ProjectionParametersBase::ViewDifference ( const ProjectionParametersBase *  ) const

virtualinherited

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

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

Author

koeser 03/2006

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

Definition at line 423 of file ProjectionParametersBase.cpp.

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

inherited

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

Attention

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

Definition at line 26 of file XMLBase.cpp.

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

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

virtual

specialization of XML block name function

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 138 of file ProjectionParametersSphericalSimple.cpp.

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

virtual

specialization of XML read function

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 167 of file ProjectionParametersSphericalSimple.cpp.

References dPhi_, dTheta_, BIAS::XMLIO::getAttributeByName(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getChild(), BIAS::ProjectionParametersBase::GetR(), phiOffset_, R_, thetaOffset_, BIAS::ProjectionParametersBase::XMLGetClassName(), and BIAS::ProjectionParametersBase::XMLIn().

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

virtual

specialization of XML write function

Reimplemented from BIAS::ProjectionParametersBase.

Definition at line 147 of file ProjectionParametersSphericalSimple.cpp.

References BIAS::XMLIO::addAttribute(), BIAS::XMLIO::addChildNode(), dPhi_, dTheta_, phiOffset_, thetaOffset_, BIAS::ProjectionParametersBase::XMLGetClassName(), and BIAS::ProjectionParametersBase::XMLOut().

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

inherited

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

Returns

0 on success, <0 on error

Examples:

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

Definition at line 78 of file XMLBase.cpp.

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

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

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

inherited

reconstruct xml tree from string

Author

evers

Examples:

ExampleProjection.cpp.

Definition at line 111 of file XMLBase.cpp.

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

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

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

inherited

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

Calls function XMLOut of derived class

Parameters

CompressionLevel

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

Examples:

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

Definition at line 40 of file XMLBase.cpp.

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

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

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

inherited

serialize xml tree to string

Author

evers

Examples:

ExampleProjection.cpp.

Definition at line 61 of file XMLBase.cpp.

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

Friends And Related Function Documentation

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

friend

friend functions

Definition at line 232 of file ProjectionParametersSphericalSimple.hh.

Member Data Documentation

long int BIAS::Debug::_liDebugLevel

protectedinherited

Definition at line 510 of file Debug.hh.

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

long int BIAS::Debug::_liNextDebugLevel

protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

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

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

protectedinherited

Definition at line 517 of file Debug.hh.

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

std::ostream BIAS::Debug::_zDebugStream

staticprotectedinherited

Definition at line 511 of file Debug.hh.

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

double BIAS::UnscentedTransform::Alpha_

protectedinherited

the alpha parameter determines the spread of the sigma points

Definition at line 94 of file UnscentedTransform.hh.

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

double BIAS::ProjectionParametersBase::aspectratio_

protectedinherited

aspect ratio of the camera CCD

Definition at line 799 of file ProjectionParametersBase.hh.

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

double BIAS::UnscentedTransform::Beta_

protectedinherited

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

For Gaussian distributions beta = 2.0 is optiomal

Definition at line 97 of file UnscentedTransform.hh.

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

bool BIAS::ProjectionParametersBase::CValid_

protectedinherited

Definition at line 788 of file ProjectionParametersBase.hh.

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

double BIAS::ProjectionParametersSphericalSimple::dPhi_

protected

Definition at line 221 of file ProjectionParametersSphericalSimple.hh.

Referenced by Angles2Pixel(), BIAS::operator<<(), Pixel2Angles(), Rescale(), XMLIn(), and XMLOut().

double BIAS::ProjectionParametersSphericalSimple::dTheta_

protected

Definition at line 222 of file ProjectionParametersSphericalSimple.hh.

Referenced by Angles2Pixel(), BIAS::operator<<(), Pixel2Angles(), Rescale(), XMLIn(), and XMLOut().

long int BIAS::Debug::GlobalDebugLevel = 0

staticprotectedinherited

Definition at line 513 of file Debug.hh.

unsigned int BIAS::ProjectionParametersBase::height_

protectedinherited

height of image in pixels

Definition at line 793 of file ProjectionParametersBase.hh.

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

std::string BIAS::ProjectionParametersBase::identifier_

protectedinherited

Multifunctional identifier.

Definition at line 806 of file ProjectionParametersBase.hh.

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

double BIAS::UnscentedTransform::Kappa_

protectedinherited

kappa is a secondary scaling parameter.

In other papers from Uhlman kappa is fixed to 1.0

Definition at line 100 of file UnscentedTransform.hh.

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

double BIAS::ProjectionParametersSphericalSimple::phiOffset_

protected

Definition at line 219 of file ProjectionParametersSphericalSimple.hh.

Referenced by Angles2Pixel(), BIAS::operator<<(), Pixel2Angles(), ProjectionParametersSphericalSimple(), XMLIn(), and XMLOut().

Pose BIAS::ProjectionParametersBase::Pose_

protectedinherited

pose

Definition at line 781 of file ProjectionParametersBase.hh.

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

double BIAS::ProjectionParametersBase::principalX_

protectedinherited

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

Definition at line 796 of file ProjectionParametersBase.hh.

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

double BIAS::ProjectionParametersBase::principalY_

protectedinherited

Definition at line 796 of file ProjectionParametersBase.hh.

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

bool BIAS::ProjectionParametersBase::QValid_

protectedinherited

validity flag for orientation and position

Definition at line 788 of file ProjectionParametersBase.hh.

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

BIAS::RMatrixBase BIAS::ProjectionParametersSphericalSimple::R_

protected

a cache for the orientation of the camera

Definition at line 224 of file ProjectionParametersSphericalSimple.hh.

Referenced by Angles2GlobalOrientation(), GlobalOrientation2Angles(), GlobalOrientation2Pixel(), BIAS::operator<<(), Pixel2GlobalOrientation(), SetPose(), SetPoseParametrization(), SetQ(), SetQC(), SetR(), ValidatePose(), and XMLIn().

double BIAS::ProjectionParametersSphericalSimple::thetaOffset_

protected

Definition at line 220 of file ProjectionParametersSphericalSimple.hh.

Referenced by Angles2Pixel(), BIAS::operator<<(), Pixel2Angles(), ProjectionParametersSphericalSimple(), XMLIn(), and XMLOut().

bool BIAS::UnscentedTransform::UseSVD_

protectedinherited

Definition at line 102 of file UnscentedTransform.hh.

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

bool BIAS::ProjectionParametersBase::ustIgnoreDistortion_

protectedinherited

Definition at line 803 of file ProjectionParametersBase.hh.

bool BIAS::ProjectionParametersBase::ustNormalize_

protectedinherited

Definition at line 804 of file ProjectionParametersBase.hh.

bool BIAS::ProjectionParametersBase::ustTransformIntoImage_

protectedinherited

unscented transform worker variables

Definition at line 802 of file ProjectionParametersBase.hh.

std::string BIAS::ProjectionParametersBase::videoSourceType_

protectedinherited

Definition at line 807 of file ProjectionParametersBase.hh.

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

unsigned int BIAS::ProjectionParametersBase::width_

protectedinherited

width of image in pixels

Definition at line 791 of file ProjectionParametersBase.hh.

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

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

• Geometry/ProjectionParametersSphericalSimple.hh
• Geometry/ProjectionParametersSphericalSimple.cpp