This class hides the underlying projection model, like projection matrix, spherical camera, lens distortion. More...

#include <Geometry/Projection.hh>

Inheritance diagram for BIAS::Projection:

Collaboration diagram for BIAS::Projection:

Public Member Functions
void	AddAbsoluteCamera (ProjectionParametersBase *ppb)
	Add a camera to the projection,the coordinates of the pose are given in absolute Coordinates, they are transformed to relative coordinates to the first camera internally. More...

void	AddRelativeCamera (ProjectionParametersBase *ppb)
	Add a camera to the projection,the coordinates of the pose are given in relative Coordinates, first cam is origin. More...

void	Clear ()
	Delete all ProjectionParameterBase objects contained in Projection. More...

void	CreatePerspective (const BIAS::Pose &pose, const BIAS::KMatrix &K, int width, int height, BIAS_ProjParaPersp_DISTORTION_TYPE radDistType=DISTYPE_DEF, const std::vector< double > &UndistortionCoefficients=std::vector< double >(4, 0.0))
	Create a perspective camera and add to projection. More...

void	CreateSpherical (const Pose &pose, const unsigned int width, const int height, const double principalX, const double principalY, const double radius, const double aspect=1.0)
	push_back a new sperical cam to this More...

virtual bool	DoesPointProjectIntoImage (const BIAS::HomgPoint3D &X, BIAS::HomgPoint2D &x, unsigned int cam=0, bool IgnoreDistortion=false) const
	Checks if 3D point projects into specified image and returns belonging 2D image point. More...

virtual const bool	DoExtrinsicsDiffer (const BIAS::Projection &p) const
	Checks whether extrinsic parameters are different. More...

virtual const bool	DoIntrinsicsDiffer (const BIAS::Projection &p) const
	Checks whether intrinsic parameters are different. More...

Vector3< double >	GetAbsoluteC (unsigned int cam=0) const
	Return center of camera with index cam. More...

Quaternion< double >	GetAbsoluteQ (unsigned int cam=0) const
	return rotation quaternion of camera with index cam. More...

RMatrix	GetAbsoluteR (unsigned int cam=0) const
	return RMatrix of camera with index cam. More...

Vector3< double >	GetC (unsigned int cam=0) const
	return Center of camera with index cam. More...

virtual Matrix< double >	GetCov (unsigned int cam=0) const
	Get the Pose covariance. More...

Matrix3x4< double >	GetExternals (unsigned int cam=0) const
	Obtain the external camera parameters. More...

std::string	GetIdentifier () const
	Return the identifier of the Projection such as a name. More...

ProjectionParametersBase *	GetParameterCloneWithAbsolutePose (unsigned int cam=0) const
	Allocates memory for parameters base type and returns pointer to it! More...

const ProjectionParametersBase *	GetParameters (unsigned int cam=0) const
	const parameter access function More...

ProjectionParametersBase *	GetParameters (unsigned int cam=0)
	Non-const access function to parameters. More...

virtual const Pose &	GetPose (unsigned int cam=0) const
	return complete pose object. More...

BIAS::Quaternion< double >	GetQ (unsigned int cam=0) const
	return rotation quaternion of camera with index cam if cam>0 this is a relative pose in the coordinate system of cam 0 More...

RMatrix	GetR (unsigned int cam=0) const
	return RMatrix of camera with index cam. More...

int	InitFromCameraData (const std::vector< CameraData > &vcd)
	initializes projection from cameradata object More...

bool	IsEmpty () const
	Determine whether the Projection is Empty. More...

virtual int	Load (const std::string &filename)
	convenience wrapper which tries to read different formats More...

const Projection &	operator= (const Projection &p)
	operator= More...

bool	PoseValid (unsigned int cam=0) const
	Determine whether the pose is valid or not. More...

virtual HomgPoint2D	Project (const HomgPoint3D &X, unsigned int cam=0, bool IgnoreDistortion=false) const
	returns the 2d projection of X in camera cam, where X is given in the global coordinate frame (not the rig) (needs HomgPoint3D to map points at infinity) More...

	Projection ()
	constructor More...

	Projection (const Projection &p)
	copy constructor More...

	Projection (const ProjectionParametersBase &p)
	constructor for initialization with a ProjectionParametersBase object More...

int	ReadFromBBC (const std::string &filename, const bool silent=false)
	read BBC's FreeD data from file and constructs a perspective projection (may have radial distortion) More...

int	ReadFromCamParamFile (const std::string &filename, const bool silent=false)
	Reads a camera data XML file and constructs the ProjectionParametersBase-pointer, using the ProjectionParametersIO and the CameraParameter file format. More...

void	Rescale (float ratio, unsigned int cam=0)
	adapt internal params to resampled image More...

virtual void	SetC (const Vector3< double > &C, unsigned int cam=0)
	Set center of camera with index cam. More...

virtual void	SetCov (const Matrix< double > &Cov, unsigned int cam=0)
	Set the Pose covariance. More...

void	SetIdentifier (const std::string &identString)
	Set the identifier of the Projection such as a name. More...

virtual void	SetPose (const BIAS::Pose pose, unsigned int cam=0)
	Set the Pose of the camera with index cam. More...

virtual void	SetQ (const Quaternion< double > &Q, unsigned int cam=0)
	Set rotation quaternion of camera with index cam. More...

virtual void	SetR (const RMatrix &R, unsigned int cam=0)
	Set rotation matrix of camera with index cam. More...

unsigned int	Size () const
	Determine number of ProjectionParameterBase pointers in Projection. More...

Matrix3x3< double >	UnProjectToCovLocal (const HomgPoint2D &pos, const Matrix3x3< double > &cov2D, const double &depth, unsigned int camSystem=0, unsigned int cam=0, bool IgnoreDistortion=false, bool Normalize=false) const
	calculate 3D point and associated covariance by unprojection More...

Vector3< double >	UnProjectToPoint (const HomgPoint2D &pos, double depth, unsigned int cam=0, 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 of cam. More...

Vector3< double >	UnProjectToPointLocal (const HomgPoint2D &pos, const double &depth, unsigned int camSystem=0, unsigned int cam=0, bool IgnoreDistortion=false) const
	calculates a 3D point in a local camera coordinate system specified by camSystem, which belongs to the image position pos in cam with distance depth to the camera center cam. More...

void	UnProjectToRay (const HomgPoint2D &pos, Vector3< double > &origin, Vector3< double > &rayDir, unsigned int cam=0, bool IgnoreDistortion=false) const
	calculates the viewing ray in the global coordinate frame (not the rig) from the camera center which belongs to the given image position. More...

void	UnProjectToRay (const HomgPoint2D &pos, Vector3< double > &rayDir, unsigned int cam=0, bool IgnoreDistortion=false) const
	calculates the viewing ray in the global coordinate frame (not the rig) from the camera center which belongs to the given image position. More...

void	UnProjectToRayLocal (const HomgPoint2D &pos, Vector3< double > &origin, Vector3< double > &rayDir, unsigned int camSystem=0, unsigned int cam=0, bool IgnoreDistortion=false) const
	calculates a 3D ray in a local camera coordinate system specified by camSystem, which belongs to the image position pos in cam. 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 for BIAS::Projection. More...

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

virtual int	XMLOut (const xmlNodePtr Node, XMLIO &XMLObject) const
	specialization of XML write function for BIAS::Projection. 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	~Projection ()
	destructor for initialization with a ProjectionParametersBase object More...

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

std::vector < ProjectionParametersBase * >	vecParameters_
	the intrinsics (like K, ...) of the camera usually only one only in rig mode there may be many, in that case vecIntrinsics[0] holds the external pose while the others hold the internal pose (pose in the coordinate system of the first camera) More...

Friends
std::ostream &	operator<< (std::ostream &os, const Projection &p)
	The outstream operator, used in XMLOut, etc. More...

Detailed Description

This class hides the underlying projection model, like projection matrix, spherical camera, lens distortion.

Read and write projections with XMLRead(filename) and XMLWrite(filename)

Author: MIP

Examples:: Example3DImagePlane.cpp, ExampleCalcRelativeTransform.cpp, ExampleCamera.cpp, ExampleCameraPath2Vrml.cpp, ExampleConic.cpp, ExampleEstimateFisheyePolynomial.cpp, ExampleExtractKFromMipImage.cpp, ExampleMultipleDepthWarp.cpp, ExampleMultisampleBlit.cpp, ExampleProjection.cpp, ExampleProjectionGUI.cpp, ExampleProjectionMapping.cpp, ExampleRectification.cpp, ExampleTransformToCartesian.cpp, ExampleTriangleMesh.cpp, ExampleTriangleMeshQuad.cpp, ExampleUndistort.cpp, ExampleVRMLOutProjection.cpp, and ExampleXB3Rectification.cpp.

Definition at line 70 of file Projection.hh.

Constructor & Destructor Documentation

Projection::Projection ( )

constructor

Definition at line 38 of file Projection.cpp.

Projection::Projection ( const Projection & p )

copy constructor

Definition at line 49 of file Projection.cpp.

Projection::Projection ( const ProjectionParametersBase & p )

explicit

constructor for initialization with a ProjectionParametersBase object

Definition at line 43 of file Projection.cpp.

References BIAS::ProjectionParametersBase::Clone().

Projection::~Projection ( )

virtual

destructor for initialization with a ProjectionParametersBase object

Definition at line 55 of file Projection.cpp.

Member Function Documentation

void Projection::AddAbsoluteCamera ( ProjectionParametersBase * ppb )

Add a camera to the projection,the coordinates of the pose are given in absolute Coordinates, they are transformed to relative coordinates to the first camera internally.

Parameters

ppB	Pointer to ProjectionParametersBase, the Object is copied and stored in vecParameters_

Author: ischiller

Date: 07/07

Examples:: ExampleTransformToCartesian.cpp.

Definition at line 199 of file Projection.cpp.

References BIAS::CoordinateTransform3D::BecomeRelativeTransform(), BIAS::ProjectionParametersBase::Clone(), BIAS::ProjectionParametersBase::GetPose(), and BIAS::ProjectionParametersBase::SetPose().

void Projection::AddRelativeCamera ( ProjectionParametersBase * ppb )

Add a camera to the projection,the coordinates of the pose are given in relative Coordinates, first cam is origin.

Parameters

ppB	Pointer to ProjectionParametersBase, the Object is copied and stored in vecParameters_

Author: ischiller

Date: 07/07

Definition at line 194 of file Projection.cpp.

References BIAS::ProjectionParametersBase::Clone().

Referenced by BIAS::RectificationViaProjectionMappingBase< InputStorageType, OutputStorageType >::GetRectificationSetup().

void BIAS::Projection::Clear ( )

inline

Delete all ProjectionParameterBase objects contained in Projection.

Definition at line 184 of file Projection.hh.

void Projection::CreatePerspective	(	const BIAS::Pose &	pose,
		const BIAS::KMatrix &	K,
		int	width,
		int	height,
		BIAS_ProjParaPersp_DISTORTION_TYPE	radDistType = `DISTYPE_DEF`,
		const std::vector< double > &	UndistortionCoefficients = `std::vector<double>(4, 0.0)`
	)

Create a perspective camera and add to projection.

Parameters

pose	the pose to use
K	the KMatrix of the new camera
width	width of the new camera
height	height of the new camera
radDistType	the radial distortion type (DISTYPE_DEF or DISTYPE_BROWN)
UndistortionCoefficients	std::vector containing the distortion parameters

Author: ischiller

Date: 09/08

Definition at line 133 of file Projection.cpp.

Referenced by BIAS::PMDImageProc::FitDepthTo2DImageFree_(), and BIAS::VideoSource_DiskPMD::GrabSingle().

void Projection::CreateSpherical	(	const Pose &	pose,
		const unsigned int	width,
		const int	height,
		const double	principalX,
		const double	principalY,
		const double	radius,
		const double	aspect = `1.0`
	)

push_back a new sperical cam to this

Author: Jan Woetzel

Definition at line 218 of file Projection.cpp.

References BIAS::ProjectionParametersBase::SetAspectratio(), BIAS::ProjectionParametersBase::SetImageSize(), BIAS::ProjectionParametersBase::SetPose(), BIAS::ProjectionParametersBase::SetPrincipal(), BIAS::ProjectionParametersSpherical::SetRadius(), and BIAS::ProjectionParametersSpherical::SetUndistortion().

bool Projection::DoesPointProjectIntoImage	(	const BIAS::HomgPoint3D &	X,
		BIAS::HomgPoint2D &	x,
		unsigned int	cam = `0`,
		bool	IgnoreDistortion = `false`
	)		const

virtual

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

Parameters

X	assumes homogenized point!

Author: bartczak

Returns: true if the point projects in the image of the camera, false if point does not project into camera image.

Definition at line 300 of file Projection.cpp.

References BIAS::HomgPoint3D::GetEuclidean(), and BIAS::HomgPoint3D::Homogenize().

Referenced by BIAS::PMDImageProc::Fit2DToDepthImage(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::TriangleMesh::MakeTriangles_(), BIAS::EpipolarLine::ProjectEpipolarPlane(), and BIAS::TriangleMesh::SimplifyMeshSurface_().

const bool Projection::DoExtrinsicsDiffer ( const BIAS::Projection & p ) const

virtual

Checks whether extrinsic parameters are different.

Returns: false if all params in argument and all params (*this) have same extrinsics.

Definition at line 269 of file Projection.cpp.

References vecParameters_.

const bool Projection::DoIntrinsicsDiffer ( const BIAS::Projection & p ) const

virtual

Checks whether intrinsic parameters are different.

Returns: false if all params in argument and all params in (*this) have same intrinsics

Definition at line 285 of file Projection.cpp.

References vecParameters_.

Vector3<double> BIAS::Projection::GetAbsoluteC ( unsigned int cam = 0 ) const

inline

Return center of camera with index cam.

If cam>0 this is an absolute position in the global coordinate system

Definition at line 261 of file Projection.hh.

Quaternion<double> BIAS::Projection::GetAbsoluteQ ( unsigned int cam = 0 ) const

inline

return rotation quaternion of camera with index cam.

If cam>0 this is an absolute rotation in the global coordinate system

Definition at line 273 of file Projection.hh.

RMatrix BIAS::Projection::GetAbsoluteR ( unsigned int cam = 0 ) const

inline

return RMatrix of camera with index cam.

If cam>0 this is an absolute rotation in the global coordinate system

Definition at line 250 of file Projection.hh.

Vector3<double> BIAS::Projection::GetC ( unsigned int cam = 0 ) const

inline

return Center of camera with index cam.

If cam>0 this is a relative pose in the coordinate system of cam 0

Examples:: ExampleMultisampleBlit.cpp.

Definition at line 236 of file Projection.hh.

Referenced by BIAS::ThreeDOut::AddProjection(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::TriangleMesh::GenerateSimplifiedMesh(), BIAS::TriangleMesh::MakeTriangles_(), BIAS::SphericalDepthPanorama::ProcessSphericalProjection(), BIAS::EpipolarLine::ProjectEpipolarPlane(), and BIAS::Projection3DData::Set().

virtual Matrix<double> BIAS::Projection::GetCov ( unsigned int cam = 0 ) const

inlinevirtual

Get the Pose covariance.

Attention: The covariance of cameras with cam >0 may be incorrect

Returns: The covariance Matrix

Definition at line 306 of file Projection.hh.

Matrix3x4<double> BIAS::Projection::GetExternals ( unsigned int cam = 0 ) const

inline

Obtain the external camera parameters.

Returns: Const reference to external pose parameters as Matrix3x4<double>

Attention: The Externals of cameras with cam >0 may be incorrect

Author: koeser

Date: 02/2006

Definition at line 292 of file Projection.hh.

std::string BIAS::Projection::GetIdentifier ( ) const

inline

Return the identifier of the Projection such as a name.

Definition at line 483 of file Projection.hh.

Referenced by BIAS::operator<<(), and BIAS::Projection3DData::Set().

ProjectionParametersBase* BIAS::Projection::GetParameterCloneWithAbsolutePose ( unsigned int cam = 0 ) const

inline

Allocates memory for parameters base type and returns pointer to it!

Attention: The responsiblity to free associated memory is passed to recipient!

Returns: NULL on error, pointer to parameters otherwise

Definition at line 218 of file Projection.hh.

References BIAS::ProjectionParametersBase::Clone(), BIAS::CoordinateTransform3D::ConcatenateLocalTransform(), BIAS::ProjectionParametersBase::GetPose(), and BIAS::ProjectionParametersBase::SetPose().

Referenced by BIAS::ProjectionParametersFactory::Load(), BIAS::clfTrimmedICP::SetDataFromDepthMap(), BIAS::clfTrimmedICP::setFromDepthMap_(), and BIAS::clfTrimmedICP::SetModelFromDepthMap().

const ProjectionParametersBase* BIAS::Projection::GetParameters ( unsigned int cam = 0 ) const

inline

const parameter access function

Returns: NULL on error, pointer to parameters otherwise

Examples:: Example3DImagePlane.cpp, ExampleCalibratedPyramid.cpp, ExampleEstimateFisheyePolynomial.cpp, ExampleExtractKFromMipImage.cpp, ExampleMultipleDepthWarp.cpp, ExampleMultisampleBlit.cpp, ExampleProjection.cpp, ExampleProjectionMapping.cpp, ExampleRectification.cpp, ExampleTransformToCartesian.cpp, ExampleTriangleMesh.cpp, ExampleTriangleMeshQuad.cpp, ExampleUndistort.cpp, ExampleVRMLOutProjection.cpp, and ExampleXB3Rectification.cpp.

Definition at line 194 of file Projection.hh.

ProjectionParametersBase* BIAS::Projection::GetParameters ( unsigned int cam = 0 )

inline

Non-const access function to parameters.

Returns: NULL on error, pointer to parameters otherwise

Definition at line 204 of file Projection.hh.

virtual const Pose& BIAS::Projection::GetPose ( unsigned int cam = 0 ) const

inlinevirtual

return complete pose object.

If cam>0 this is a relative pose in the coordinate system of cam 0

Examples:: ExampleCalcRelativeTransform.cpp, and ExampleXB3Rectification.cpp.

Definition at line 318 of file Projection.hh.

BIAS::Quaternion< double > Projection::GetQ ( unsigned int cam = 0 ) const

return rotation quaternion of camera with index cam if cam>0 this is a relative pose in the coordinate system of cam 0

Examples:: ExampleMultisampleBlit.cpp.

Definition at line 524 of file Projection.cpp.

Referenced by BIAS::ThreeDOut::AddProjection(), and BIAS::SphericalDepthPanorama::ProcessSphericalProjection().

RMatrix BIAS::Projection::GetR ( unsigned int cam = 0 ) const

inline

return RMatrix of camera with index cam.

If cam>0 this is a relative pose in the coordinate system of cam 0

Examples:: ExampleXB3Rectification.cpp.

Definition at line 243 of file Projection.hh.

Referenced by BIAS::Projection3DData::Set().

int Projection::InitFromCameraData ( const std::vector< CameraData > & vcd )

initializes projection from cameradata object

Author: streckel (separated by koeser 11/06)

Definition at line 120 of file Projection.cpp.

References BIAS::ProjectionParametersFactory::Create().

bool BIAS::Projection::IsEmpty ( ) const

inline

Determine whether the Projection is Empty.

Returns: true if Projection is empty, false otherwise

Definition at line 174 of file Projection.hh.

Referenced by BIAS::ImageBlenderIncremental::BlendImages(), and BIAS::ImageBlenderIncremental::SetOutputParameters().

int Projection::Load ( const std::string & filename )

virtual

convenience wrapper which tries to read different formats

Author: bartczak, koeser

Examples:: Example3DImagePlane.cpp, ExampleCalcRelativeTransform.cpp, ExampleEstimateFisheyePolynomial.cpp, ExampleMultipleDepthWarp.cpp, ExampleTriangleMesh.cpp, and ExampleTriangleMeshQuad.cpp.

Definition at line 62 of file Projection.cpp.

References BIAS::ProjectionParametersPerspective::Clone(), BIAS::FileHandling::GetCwd(), BIAS::PMatrix::GetK(), BIAS::PMatrix::Load(), BIAS::ProjectionParametersBase::SetImageSize(), and BIAS::ProjectionParametersPerspective::SetP().

Referenced by BIAS::biasGLviewerGLUT::Init(), BIAS::ProjectionParametersFactory::Load(), BIAS::IOUtils::LoadParameters(), and BIAS::VideoSource_Controller_Kinect::OnLoadCalib().

const Projection& BIAS::Projection::operator= ( const Projection & p )

inline

operator=

Definition at line 85 of file Projection.hh.

References vecParameters_.

bool BIAS::Projection::PoseValid ( unsigned int cam = 0 ) const

inline

Determine whether the pose is valid or not.

Returns: true if pose valid, false otherwise.

Definition at line 359 of file Projection.hh.

HomgPoint2D Projection::Project	(	const HomgPoint3D &	X,
		unsigned int	cam = `0`,
		bool	IgnoreDistortion = `false`
	)		const

virtual

returns the 2d projection of X in camera cam, where X is given in the global coordinate frame (not the rig) (needs HomgPoint3D to map points at infinity)

Returns: A HomgPoint2D with the 2D positio nof the 3D point in the image of the camera.

Examples:: ExampleProjection.cpp.

Definition at line 250 of file Projection.cpp.

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

Referenced by BIAS::PMDImageProc::FitDepthTo2DImage(), BIAS::PMDImageProc::FitDepthTo2DImageFree_(), and BIAS::TriangleMesh::GenerateTexturedQuadStrip().

int Projection::ReadFromBBC	(	const std::string &	filename,
		const bool	silent = `false`
	)

read BBC's FreeD data from file and constructs a perspective projection (may have radial distortion)

Author: koeser

Date: 11/2006

Definition at line 110 of file Projection.cpp.

References BIAS::ProjectionParametersIO::ReadFromBBC().

int Projection::ReadFromCamParamFile	(	const std::string &	filename,
		const bool	silent = `false`
	)

Reads a camera data XML file and constructs the ProjectionParametersBase-pointer, using the ProjectionParametersIO and the CameraParameter file format.

Parameters

filename Name of the XML parameter file

Examples:: ExampleProjection.cpp, and ExampleProjectionMapping.cpp.

Definition at line 99 of file Projection.cpp.

References BIAS::ProjectionParametersIO::ReadRigData().

void BIAS::Projection::Rescale	(	float	ratio,
		unsigned int	cam = `0`
	)

inline

adapt internal params to resampled image

Parameters

ratio 2.0 = downsample, 0.5 = upsample

Examples:: ExampleTriangleMesh.cpp.

Definition at line 471 of file Projection.hh.

Referenced by BIAS::CylindricDepthTrackingPanorama::GetTriangleMesh(), BIAS::SphericalDepthPanorama::GetTriangleMesh(), and BIAS::CylindricDepthPanorama::GetTriangleMesh().

virtual void BIAS::Projection::SetC	(	const Vector3< double > &	C,
		unsigned int	cam = `0`
	)

inlinevirtual

Set center of camera with index cam.

If cam>0 this is a relative pose in the coordinate system of cam 0

Definition at line 331 of file Projection.hh.

virtual void BIAS::Projection::SetCov	(	const Matrix< double > &	Cov,
		unsigned int	cam = `0`
	)

inlinevirtual

Set the Pose covariance.

Definition at line 324 of file Projection.hh.

void BIAS::Projection::SetIdentifier ( const std::string & identString )

inline

Set the identifier of the Projection such as a name.

Definition at line 478 of file Projection.hh.

virtual void BIAS::Projection::SetPose	(	const BIAS::Pose	pose,
		unsigned int	cam = `0`
	)

inlinevirtual

Set the Pose of the camera with index cam.

If cam>0 this is a relative pose in the coordinate system of cam 0

Definition at line 352 of file Projection.hh.

virtual void BIAS::Projection::SetQ	(	const Quaternion< double > &	Q,
		unsigned int	cam = `0`
	)

inlinevirtual

Set rotation quaternion of camera with index cam.

If cam>0 this is a relative pose in the coordinate system of cam 0

Definition at line 338 of file Projection.hh.

virtual void BIAS::Projection::SetR	(	const RMatrix &	R,
		unsigned int	cam = `0`
	)

inlinevirtual

Set rotation matrix of camera with index cam.

If cam>0 this is a relative pose in the coordinate system of cam 0

Definition at line 345 of file Projection.hh.

unsigned int BIAS::Projection::Size ( ) const

inline

Determine number of ProjectionParameterBase pointers in Projection.

Returns: The number of ProjectionParameterBase and derived objects in Projection

Definition at line 178 of file Projection.hh.

Referenced by BIAS::ThreeDOut::AddProjection(), BIAS::ProjectionParametersFactory::Load(), and BIAS::operator<<().

Matrix3x3< double > Projection::UnProjectToCovLocal	(	const HomgPoint2D &	pos,
		const Matrix3x3< double > &	cov2D,
		const double &	depth,
		unsigned int	camSystem = `0`,
		unsigned int	cam = `0`,
		bool	IgnoreDistortion = `false`,
		bool	Normalize = `false`
	)		const

calculate 3D point and associated covariance by unprojection

Author: woelk 03/2006

Definition at line 403 of file Projection.cpp.

Vector3< double > Projection::UnProjectToPoint	(	const HomgPoint2D &	pos,
		double	depth,
		unsigned int	cam = `0`,
		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 of cam.

Examples:: ExampleTriangleMeshQuad.cpp.

Definition at line 349 of file Projection.cpp.

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

Referenced by BIAS::PMDImageProc::Fit2DToDepthImage(), BIAS::PMDImageProc::FitDepthTo2DImage(), BIAS::PMDImageProc::FitDepthTo2DImageFree_(), BIAS::TriangleMesh::GenerateDenseMesh(), and BIAS::CylindricDepthPanorama::ProcessCylindricProjection().

Vector3< double > Projection::UnProjectToPointLocal	(	const HomgPoint2D &	pos,
		const double &	depth,
		unsigned int	camSystem = `0`,
		unsigned int	cam = `0`,
		bool	IgnoreDistortion = `false`
	)		const

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

Author: koeser

Definition at line 368 of file Projection.cpp.

References BIAS::HomgPoint3D::GetEuclidean(), BIAS::CoordinateTransform3D::GlobalToLocal(), and BIAS::CoordinateTransform3D::LocalToGlobal().

void Projection::UnProjectToRay	(	const HomgPoint2D &	pos,
		Vector3< double > &	origin,
		Vector3< double > &	rayDir,
		unsigned int	cam = `0`,
		bool	IgnoreDistortion = `false`
	)		const

calculates the viewing ray in the global coordinate frame (not the rig) from the camera center which belongs to the given image position.

The resulting vector3 may have any length.

Returns: Vector3<double> with ray parameters.

Definition at line 323 of file Projection.cpp.

Referenced by BIAS::TriangleMesh::MakeTriangles_().

void Projection::UnProjectToRay	(	const HomgPoint2D &	pos,
		Vector3< double > &	rayDir,
		unsigned int	cam = `0`,
		bool	IgnoreDistortion = `false`
	)		const

calculates the viewing ray in the global coordinate frame (not the rig) from the camera center which belongs to the given image position.

The resulting vector3 may have any length.

Returns: Vector3<double> with ray parameters.

Definition at line 337 of file Projection.cpp.

void Projection::UnProjectToRayLocal	(	const HomgPoint2D &	pos,
		Vector3< double > &	origin,
		Vector3< double > &	rayDir,
		unsigned int	camSystem = `0`,
		unsigned int	cam = `0`,
		bool	IgnoreDistortion = `false`
	)		const

calculates a 3D ray in a local camera coordinate system specified by camSystem, which belongs to the image position pos in cam.

Definition at line 419 of file Projection.cpp.

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

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

virtual

specialization of XML block name function for BIAS::Projection.

returns the xml class name Projection

Implements BIAS::XMLBase.

Definition at line 461 of file Projection.cpp.

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

virtual

specialization of XML read function for BIAS::Projection.

Called if the function XMLRead is called.

Implements BIAS::XMLBase.

Definition at line 489 of file Projection.cpp.

References BIAS::ProjectionParametersFactory::Create(), BIAS::XMLIO::getFirstChild(), BIAS::XMLIO::getNextChild(), BIAS::XMLIO::getNodeContentString(), BIAS::XMLIO::getNodeName(), and BIAS::ProjectionParametersBase::XMLIn().

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

virtual

specialization of XML write function for BIAS::Projection.

Called if the function XMLWrite is called.

Implements BIAS::XMLBase.

Definition at line 468 of file Projection.cpp.

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

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 Projection &	p
	)

friend

The outstream operator, used in XMLOut, etc.

Definition at line 503 of file Projection.hh.

Member Data Documentation

std::string BIAS::Projection::identifier_

protected

Multifunctional identifier.

Definition at line 499 of file Projection.hh.

std::vector<ProjectionParametersBase* > BIAS::Projection::vecParameters_

protected

the intrinsics (like K, ...) of the camera usually only one only in rig mode there may be many, in that case vecIntrinsics[0] holds the external pose while the others hold the internal pose (pose in the coordinate system of the first camera)

Definition at line 496 of file Projection.hh.

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

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

Geometry/Projection.hh
Geometry/Projection.cpp

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation