Basic Image AlgorithmS Library
2.8.0
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camera parameters which define the mapping between rays in the camera coordinate system and pixels in the image as well as external pose More...
#include <Geometry/ProjectionParametersSpherical.hh>
Public Member Functions | |
virtual ProjectionParametersSpherical * | Clone () const |
covariant virtual copy constructor for use in Projection More... | |
virtual bool | CValid () const |
Check of current projection center is valid. More... | |
virtual bool | Distort (BIAS::HomgPoint2D &point2d) const |
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... | |
bool | DoesPointProjectIntoImageLocal (const BIAS::Vector3< double > &localX, HomgPoint2D &x, bool IgnoreDistortion=false) const |
Checks if 3D point projects into specified image and returns belonging 2D image point. More... | |
virtual const bool | DoExtrinsicsDiffer (const ProjectionParametersBase *p) const |
virtual const bool | DoIntrinsicsDiffer (const ProjectionParametersBase *p) const |
int | EstimateDistortionPolynomial (std::vector< double > &coefficients, const unsigned int degree=4, bool LinearMonomialIsZero=false) |
Estimates distortion polynomial mapping angle theta to radius according to Scaramuzza's Matlab toolbox. More... | |
int | EstimateUndistortionPolynomial (std::vector< double > &coefficients, const unsigned int degree=4, bool LinearMonomialIsZero=true) |
Estimates undistortion polynomial mapping z coordinates to radius according to Scaramuzza's Matlab toolbox. More... | |
void | GetAngleCorr (std::vector< double > &undistAngles, std::vector< double > &distAngles) const |
Returns samples for undistorted and distorted angles from which the angle correction polynomial (aka undistortion polynomial) has been interpolated. More... | |
void | GetAngleCorrBack (std::vector< double > &distAngles, std::vector< double > &undistAngles) const |
Returns samples for distorted and unddistorted angles from which the angleback correction polynomial (aka distortion polynomial) has been interpolated. More... | |
void | GetAngleCorrCoefficients (std::vector< double > &coeffs) const |
Returns polynomial coefficients of angle correction polynomial (aka undistortion polynomial) mapping distorted to undistorted azimuth angles. More... | |
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 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 fisheye camera. More... | |
virtual BIAS::KMatrix | GetFakeKMatrix (int resolution=0, const double &maxangle=1.4) const |
stupid reimplementation since this class does not inherit function from base class (gcc) More... | |
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... | |
double | GetMaxCamAngle () const |
Get maximal camera angle (in rad), i.e. 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... | |
bool | GetPerspectiveCutOutParameters (const BIAS::HomgPoint2D &viewCenter, const double perspHalfViewingAngleDEG, ProjectionParametersPerspective &pp) const |
Calculates perspective camera with specified viewing angle and optical axis aligned with the optical ray corresponding to viewCenter in spherical camera. 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... | |
double | GetRadius () const |
Return radius of spherical image in pixels. More... | |
virtual int | GetSphericalViewingRange (const CoordinateTransform3D &sphericalReferenceFrame, double &minPhi, double &maxPhi, double ¢erPhi, double &minTheta, double &maxTheta) |
Determines the maximal and minimal viewing range in means of spherical coordinates. More... | |
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 |
int | InitAngleCorrFromPoly (const double maxCamAngle, const double acCoeff0, const double acCoeff1, const double acCoeff2, const double acCoeff3, const double acCoeff4) |
int | InitAngleCorrFromPoly (const double maxCamAngle, const std::vector< double > &coefficients, const bool mapsRadiusToZ=true) |
Set undistortion polynomial from from polynomial coefficients of undistortion (mapping radius to z coordinate) or distortion (mapping theta to radius) function. 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... | |
const bool | LookAt (const Vector3< double > &eye, const Vector3< double > ¢er, const Vector3< double > &up) |
Looks at given point, similar to gluLookAt. More... | |
const bool | LookAt (const Vector3< double > ¢er, const Vector3< double > &up) |
Looks at given point, similar to gluLookAt. More... | |
const bool | LookAtGL (const Vector3< double > &eye, const Vector3< double > ¢er, const Vector3< double > &up) |
Looks at given point, similar to gluLookAt. More... | |
const bool | LookAtGL (const Vector3< double > ¢er, const Vector3< double > &up) |
Looks at given point, similar to gluLookAt. More... | |
ProjectionParametersSpherical & | operator= (const ProjectionParametersSpherical &P) |
virtual bool | PoseValid () const |
Check if current pose is valid. More... | |
virtual HomgPoint2D | Project (const HomgPoint3D &X, bool IgnoreDistortion=false) const |
calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera !warning! the function my return an invalid point (0,0,0) in certain cases (3d point) behind camera or 3d point to close to camera center More... | |
virtual int | Project (const HomgPoint3D &X, HomgPoint2D &p2d, bool IgnoreDistortion=false) const |
calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera. More... | |
ProjectionParametersSpherical (const unsigned int width=0, const unsigned int height=0) | |
ProjectionParametersSpherical (const double radius, const double maxAngle, const unsigned int width, const unsigned int height) | |
ProjectionParametersSpherical (const ProjectionParametersSpherical &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 | RecalculateUndistortion (const double maxCamAngle) |
Recalculate undistortion polynomial for new maximal camera angle. More... | |
virtual void | Rescale (double ratio, const double offset=0.0) |
Adapt internal parameters to resampled image. More... | |
virtual void | Rescale (unsigned int width, unsigned int height) |
adapt internal parameters to new image size More... | |
virtual void | SetAspectratio (const double AspectRatio) |
Set CCD aspect ratio (i.e. More... | |
virtual void | SetC (const BIAS::Vector3< double > &C) |
Set projection center. More... | |
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... | |
void | SetMaxCamAngle (const double maxCamAngle) |
Set maximal camera angle (in rad), i.e. More... | |
virtual void | SetPose (const BIAS::Pose pose) |
Set pose from pose object. More... | |
virtual void | SetPoseParametrization (const BIAS::PoseParametrization &pp) |
Set pose from pose parametrization. More... | |
virtual void | SetPrincipal (const double x, const double y) |
Set principal point (in pixels relative to top left corner). More... | |
virtual void | SetQ (const BIAS::Quaternion< double > &Q) |
Set orientation from unit quaternion Q. More... | |
virtual void | SetQC (const BIAS::Quaternion< double > &Q, const BIAS::Vector3< double > &C) |
Set pose from unit quaternion Q and projection center C. More... | |
virtual void | SetR (const BIAS::RMatrix &R) |
Set orientation from rotation matrix R. More... | |
void | SetRadius (const double r) |
Set radius of spherical image in pixels. More... | |
int | SetUndistortion (const std::vector< double > &undistAngles, const std::vector< double > &distAngles, const double radius) |
Set undistortion polynomial from corresponding undistorted and distorted azimuth angles (in rad) and image radius (in pixels). 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 > &origin, Vector3< double > &direction, bool IgnoreDistortion=false) const |
calculates the viewing ray from the camera center (in the camera coordinate system) which belongs to the image position pos e.g. More... | |
HomgPoint3D | UnProjectToImagePlane (const HomgPoint2D &pos, const double &depth=1.0, bool IgnoreDistortion=false) const |
map points from image onto unit diameter image plane in 3D. More... | |
virtual HomgPoint3D | UnProjectToPoint (const HomgPoint2D &pos, double depth, bool IgnoreDistortion=false) const |
calculates a 3D point in the global (not the rig) coordinate system, which belongs to the image position pos with distance depth to the camera center. More... | |
virtual HomgPoint3D | UnProjectToPoint (const HomgPoint2D &pos, const double depth, const ProjectionParametersBase &proj, bool IgnoreDistortion=false) const |
virtual Vector3< double > | UnProjectToPointLocal (const HomgPoint2D &pos, const double &depth, 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... | |
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 *pPPB) const |
Returns difference between two projections like |C1-C2|. More... | |
xmlNodePtr | XMLAdd (const xmlNodePtr Node, XMLIO &XMLObject) const |
call this to add the class to a node of a given xml tree More... | |
virtual int | XMLGetClassName (std::string &TopLevelTag, double &Version) const |
specialization of XML block name function More... | |
virtual int | XMLIn (const xmlNodePtr Node, XMLIO &XMLObject) |
specialization of XML read function More... | |
virtual int | XMLOut (const xmlNodePtr Node, XMLIO &XMLObject) const |
specialization of XML write function More... | |
int | XMLRead (const std::string &Filename) |
derived classes must implement the function XMLIn which is called by this function XMLRead to read everything with name Filename into (*this). More... | |
int | XMLReadFromString (const std::string &str) |
reconstruct xml tree from string More... | |
int | XMLWrite (const std::string &Filename, int CompressionLevel=0, bool AutoAddCompressionSuffix=true, std::string encoding="UTF-8") const |
call this to add the class to a new xml tree and write it to the file Filename. More... | |
int | XMLWriteToString (std::string &str, std::string encoding="UTF-8") const |
serialize xml tree to string More... | |
virtual | ~ProjectionParametersSpherical () |
Public Attributes | |
std::vector< double > | mylocationsPolynomialWithoutLinearMonomialError |
std::vector< double > | myvaluesPolynomialWithoutLinearMonomialError |
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 |
void | EnforceNormalRange_ (double &theta, double &phi) const |
theta and phi are periodic in 2*M_PI, if they are out of a suitable range, try to find best equivalent angle by adding 2*l*M_PI More... | |
int | FitPolynomialWithoutLinearMonomial_ (const unsigned int degree, const std::vector< double > &x, const std::vector< double > &y, std::vector< double > &coefficients) |
helper function for EstimateUndistortionPolynomial More... | |
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 | ProjectOutsidePositions_ (int &posX, int &posY) |
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... | |
void | TransfCoordCalibImage2Sphere_ (const HomgPoint2D &Source, double &theta, double &phi) const |
Transforms a coordinate pair of image coordinates x, y in the calibrated spherical image, to a calibrated pair of polar coordinates phi, theta. More... | |
void | TransfCoordImage2Sphere_ (const HomgPoint2D &Source, double &theta, double &phi) const |
Transforms a coordinate pair of image coordinates x, y in the uncalibrated spherical image, to a calibrated pair of polar coordinates phi, theta. More... | |
int | TransfCoordRotateSphere2Image_ (double theta, double phi, double viewCenterX, double viewCenterY, HomgPoint2D &Source) const |
Transforms a calibrated pair of polar coordinates phi, theta to a coordinate pair of image coordinates x, y in the uncalibrated spherical image. More... | |
void | TransfCoordSphere2CalibImage_ (double theta, double phi, HomgPoint2D &Source) const |
Transforms a calibrated pair of polar coordinates phi, theta to a coordinate pair of image coordinates x, y in an equidistant spherical image. More... | |
void | TransfCoordSphere2Image_ (double theta, double phi, HomgPoint2D &Source) const |
Transforms a calibrated pair of polar coordinates phi, theta to a coordinate pair of image coordinates x, y in the uncalibrated spherical image. 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 |
std::vector< double > | acCoeff_ |
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_ |
BresenhamCircle | fovCircle_ |
unsigned int | height_ |
height of image in pixels More... | |
std::string | identifier_ |
Multifunctional identifier. More... | |
Interpolator | interpolatorAngle_ |
Interpolator | interpolatorAngleBack_ |
bool | interpolatorInit_ |
double | Kappa_ |
kappa is a secondary scaling parameter. More... | |
double | MaxCamAngle_ |
Pose | Pose_ |
pose More... | |
double | principalX_ |
principal point in pixel coordinates (one for all zoom settings) More... | |
double | principalY_ |
bool | QValid_ |
validity flag for orientation and position More... | |
double | radius_ |
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 ProjectionParametersSpherical &p) |
camera parameters which define the mapping between rays in the camera coordinate system and pixels in the image as well as external pose
Definition at line 44 of file ProjectionParametersSpherical.hh.
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Definition at line 48 of file ProjectionParametersSpherical.hh.
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Definition at line 57 of file ProjectionParametersSpherical.hh.
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Definition at line 68 of file ProjectionParametersSpherical.hh.
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Definition at line 85 of file ProjectionParametersSpherical.hh.
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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().
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covariant virtual copy constructor for use in Projection
Implements BIAS::ProjectionParametersBase.
Definition at line 167 of file ProjectionParametersSpherical.hh.
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The covariance of a n-dimensional vector is approximated using 2n+1 so called sigma points with associated weights.
The points and weights are computed in this function
Definition at line 138 of file UnscentedTransform.cpp.
References BIAS::UnscentedTransform::Alpha_, BIAS::UnscentedTransform::Beta_, BIAS::Debug::DebugLevelIsSet(), BIAS::Matrix< T >::GetCol(), BIAS::Matrix< T >::GetCols(), BIAS::UnscentedTransform::Kappa_, Lapack_Cholesky_SymmetricPositiveDefinit(), BIAS::Less(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::Vector< T >::Size(), BIAS::SVD::SqrtT(), and BIAS::UnscentedTransform::UseSVD_.
Referenced by BIAS::UnscentedTransform::Transform().
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Check of current projection center is valid.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 673 of file ProjectionParametersBase.hh.
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Definition at line 341 of file Debug.hh.
Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().
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Interface defintion for lens distortion function, implemented by derived classes.
Implements BIAS::ProjectionParametersBase.
Definition at line 35 of file ProjectionParametersSpherical.cpp.
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Checks if 3D point projects into specified image and returns belonging 2D image point.
X | assumes homogenized point! |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 223 of file ProjectionParametersBase.cpp.
References BIAS::HomgPoint3D::GetEuclidean().
Referenced by BIAS::ImageBlender::BlendImages(), BIAS::ImageBlenderIncremental::BlendImages(), BIAS::ImageBlender::CheckFov(), BIAS::ImageBlenderIncremental::CheckFov_(), and BIAS::EpipolarLine::DrawDistortedLine().
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Checks if 3D point projects into specified image and returns belonging 2D image point.
localX | assumes homogenized point! |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 91 of file ProjectionParametersSpherical.cpp.
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Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 257 of file ProjectionParametersBase.cpp.
References BIAS::ProjectionParametersBase::CValid_, BIAS::Equal(), BIAS::ProjectionParametersBase::GetC(), BIAS::ProjectionParametersBase::GetR(), and BIAS::ProjectionParametersBase::QValid_.
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Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 66 of file ProjectionParametersSpherical.cpp.
References BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), interpolatorAngle_, interpolatorInit_, MaxCamAngle_, and radius_.
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theta and phi are periodic in 2*M_PI, if they are out of a suitable range, try to find best equivalent angle by adding 2*l*M_PI
Definition at line 512 of file ProjectionParametersSpherical.cpp.
int ProjectionParametersSpherical::EstimateDistortionPolynomial | ( | std::vector< double > & | coefficients, |
const unsigned int | degree = 4 , |
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bool | LinearMonomialIsZero = false |
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Estimates distortion polynomial mapping angle theta to radius according to Scaramuzza's Matlab toolbox.
Scaramuzza's distortion polynomial is a function radius(theta) which is usually close to linear for fisheye cameras and SHOULD therefore have a linear monomial.
Definition at line 862 of file ProjectionParametersSpherical.cpp.
References BIAS::PolynomialSolve::FitPolynomial().
int ProjectionParametersSpherical::EstimateUndistortionPolynomial | ( | std::vector< double > & | coefficients, |
const unsigned int | degree = 4 , |
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bool | LinearMonomialIsZero = true |
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Estimates undistortion polynomial mapping z coordinates to radius according to Scaramuzza's Matlab toolbox.
Scaramuzza's undistortion polynomial is a function z(radius) which typically has a local extremum at radius = 0 and therefore can not have a linear monomial.
Definition at line 828 of file ProjectionParametersSpherical.cpp.
References BIAS::Vector3< T >::CoordSphereToEuclidean(), and BIAS::PolynomialSolve::FitPolynomial().
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helper function for EstimateUndistortionPolynomial
Definition at line 765 of file ProjectionParametersSpherical.cpp.
References BIAS::LevenbergMarquardt(), and BIAS::SVD::Solve().
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Returns samples for undistorted and distorted angles from which the angle correction polynomial (aka undistortion polynomial) has been interpolated.
[out] | undistAngles | Returns knot points of distortion interpolator, i.e. samples of undistorted azimuth angles |
[out] | distAngles | Returns control points of distortion interpolator, i.e. samples of distorted azimuth angles |
Definition at line 361 of file ProjectionParametersSpherical.hh.
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Returns samples for distorted and unddistorted angles from which the angleback correction polynomial (aka distortion polynomial) has been interpolated.
[out] | distAngles | Returns knot points of undistortion interpolator, i.e. samples of distorted azimuth angles |
[out] | undistAngles | Returns control points of undistortion interpolator, i.e. samples of undistorted azimuth angles |
Definition at line 375 of file ProjectionParametersSpherical.hh.
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Returns polynomial coefficients of angle correction polynomial (aka undistortion polynomial) mapping distorted to undistorted azimuth angles.
[out] | coeffs | Returns coefficients of undistortion polynomial |
Definition at line 347 of file ProjectionParametersSpherical.hh.
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Return aspectratio (i.e.
cellsizeX / cellsizeY).
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 582 of file ProjectionParametersBase.hh.
Referenced by BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_(), BIAS::VideoSource_Controller_Kinect::OnLoadCalib(), and BIAS::operator<<().
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Get projection center.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 464 of file ProjectionParametersBase.hh.
Referenced by BIAS::GLProjectionParametersBase::Assign(), BIAS::clfTrimmedICP::Compute(), BIAS::RectificationViaProjectionMappingBase< InputStorageType, OutputStorageType >::Disp2Depth(), BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::TriangleMesh::GenerateTexturedCamera(), BIAS::GLProjectionParametersBase::GetExtrinsics(), BIAS::ProjectionParametersBase::IsLeftOf(), BIAS::glfMatrix::MakeViewMatrix(), BIAS::operator<<(), BIAS::RenderContextBase::Render(), BIAS::Projection3DData::Set(), BIAS::MultipleDepthWarp::SetupNViewsWarp(), BIAS::Triangulation::Triangulate(), BIAS::PMDWarp::UseProjectiveTexturing(), BIAS::ProjectionParametersCylindric::ViewDifference(), BIAS::ProjectionParametersSphericalFast::ViewDifference(), ViewDifference(), BIAS::ProjectionParametersProjective::ViewDifference(), and BIAS::ProjectionParametersPerspective::ViewDifference().
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inlinevirtualinherited |
Return pose covariance as 7x7 matrix with respect to C, Q.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 500 of file ProjectionParametersBase.hh.
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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.
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inlineinherited |
Definition at line 332 of file Debug.hh.
Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().
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inlineinherited |
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inlineinherited |
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inlinevirtualinherited |
Return cached 3x4 representation of external matrix [R|C].
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 533 of file ProjectionParametersBase.hh.
Referenced by BIAS::EpipolarLine::ProjectEpipolarPlane().
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virtual |
Returns a fake KMatrix for the fisheye camera.
Uses MaxAngle_ to limit maxangle, then calls PPB::GetFakeK. The FoV of the KMatrix is specified by maxangle (PI*80/180 for 160deg) or the max fisheye angle, if this is <160deg.
resolution | The resolution parameter influences the Resolution of the perspective image that is represented by the camera. 0 - The perspective image has the same size as the fisheye image 1 - The perspective image has the same resolution as the fisheye image in the center (highest resolution) 2 - The perspective image has the same resolution as the fisheye image near the border (lowest resolution) |
imgsize | returns the image size |
maxangle | maximum theta in rad, e.g. (PI*80/180 for 160deg fov) |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 616 of file ProjectionParametersSpherical.cpp.
References BIAS::ProjectionParametersBase::GetFakeKMatrix().
Referenced by BIAS::EpipolarLine::DrawDistortedLine().
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inlinevirtual |
stupid reimplementation since this class does not inherit function from base class (gcc)
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 287 of file ProjectionParametersSpherical.hh.
References BIAS::ProjectionParametersBase::GetFakeKMatrix().
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virtual |
call this to start a run at the outer boundary of an image.
You get the first boundary position in it, e.g. (0,0) for a perspective image. Feed this into GetNextBorderPixel to get the next position. Special implmentation here, because we need to run around the FOV circle. NOT YET IMPLEMENTED, PLEASE DO !
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 905 of file ProjectionParametersSpherical.cpp.
References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
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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.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 107 of file ProjectionParametersBase.cpp.
References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
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inlinestaticinherited |
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inlinevirtualinherited |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 573 of file ProjectionParametersBase.hh.
Referenced by BIAS::operator<<(), and BIAS::wxProjectionPanel::SetProjection().
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inlinevirtualinherited |
Returns the image height.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 568 of file ProjectionParametersBase.hh.
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inlinevirtualinherited |
Obtain image dimensions.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 545 of file ProjectionParametersBase.hh.
Referenced by BIAS::MultipleDepthWarp::ChangeTargetCam(), BIAS::OutputLensDistortion::CreateLookupTable(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesCylindric_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesPerspective_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::RectificationViaProjectionMappingBase< InputStorageType, OutputStorageType >::Disp2Depth(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::PMDImageProc::FitDepthTo2DImage(), BIAS::TriangleMesh::GenerateSimplifiedMesh(), BIAS::TriangleMesh::GenerateTexturedCamera(), BIAS::DistortionRendering::Init(), BIAS::ImageWarper< StorageType >::Init(), BIAS::PMDWarp::Init(), BIAS::Primitives::LocalNormalizedPointCloud(), BIAS::Primitives::LocalNormalizedTriangleMesh(), BIAS::Primitives::LocalNormalizedTriangleStrip(), BIAS::Primitives::LocalNormalizedVertexCloud(), BIAS::Primitives::LocalPerspectivePatches(), BIAS::Primitives::LocalPerspectivePatchOverLine(), BIAS::Primitives::LocalPerspectiveQuad(), BIAS::glfMatrix::MakeProjectionMatrix(), BIAS::glfMatrix::MakeProjectionMatrixNew(), BIAS::glfMatrix::MakeTextureMatrix(), BIAS::glfMatrix::MakeTextureMatrixNew(), BIAS::operator<<(), BIAS::Projection3DData::Set(), BIAS::GLProjectionParametersPerspective::SetGLMatrices(), BIAS::ImageBlenderIncremental::SetOutputParameters(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetSinkCam(), BIAS::ForwardMappingNearestNeighbour< InputStorageType, OutputStorageType >::SetSourceCam(), BIAS::ImageWarper< StorageType >::SetTargetCamera(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().
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inlinevirtualinherited |
Returns the image width.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 557 of file ProjectionParametersBase.hh.
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inline |
Get maximal camera angle (in rad), i.e.
azimuth angle of rays corresponding to the outer rim of the image.
Definition at line 183 of file ProjectionParametersSpherical.hh.
Referenced by BIAS::SphericalRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_().
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inlinevirtualinherited |
Delivers the assumed minimal angular distance between two optical rays belonging to integer image coordinates within the FoV.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersPerspective.
Definition at line 180 of file ProjectionParametersBase.hh.
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virtual |
call this iteratively to run at the outer boundary of an image.
All returned coordinates must have valid local rays in the camera coordinate system (e.g. in fisheye cams, we run at the fov circle) and must be in the image. Two subsequent coordinates must not be more distant than 1 pixel. NOT YET IMPLEMENTED, PLEASE DO !
it | must be initialized by GetFirstBorderPixel |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 918 of file ProjectionParametersSpherical.cpp.
References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
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virtualinherited |
call this iteratively to run at the outer edge of an image.
Like the GetNextBorderPixel() method, however runs along the outer rim of an image, i.e. the coordinate range (-0.5, -0.5) and (W-0.5, H-0.5). The positions returned are the upper left corner of the pixels. These are at the same time the upper right corners of the neighboring pixel.
it | must be initialized by GetFirstBorderPixel |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 114 of file ProjectionParametersBase.cpp.
References BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
bool ProjectionParametersSpherical::GetPerspectiveCutOutParameters | ( | const BIAS::HomgPoint2D & | viewCenter, |
const double | perspHalfViewingAngleDEG, | ||
ProjectionParametersPerspective & | pp | ||
) | const |
Calculates perspective camera with specified viewing angle and optical axis aligned with the optical ray corresponding to viewCenter in spherical camera.
viewCenter | pixel position in spherical image that is the center of the perspective cutout. |
perspHalfViewingAngle | half field of view of the cutout in Degree returning cutout parameters |
Definition at line 569 of file ProjectionParametersSpherical.cpp.
References BIAS::Quaternion< T >::MultVec(), BIAS::ProjectionParametersBase::SetCov(), BIAS::ProjectionParametersPerspective::SetFocalLengthAndAspect(), BIAS::ProjectionParametersBase::SetImageSize(), BIAS::ProjectionParametersPerspective::SetPrincipal(), BIAS::ProjectionParametersBase::SetQC(), BIAS::ProjectionParametersPerspective::SetUndistortion(), and BIAS::Quaternion< T >::SetValueAsAxisRad().
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inlinevirtualinherited |
Return complete pose object.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 505 of file ProjectionParametersBase.hh.
Referenced by BIAS::Projection::AddAbsoluteCamera(), BIAS::ThreeDOut::AddProjection(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesCylindric_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesPerspective_(), BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::CylindricDepthPanorama::Init(), BIAS::glfMatrix::MakeTextureMatrix(), BIAS::glfMatrix::MakeTextureMatrixNew(), BIAS::glfMatrix::MakeViewMatrixNew(), BIAS::operator<<(), BIAS::CylindricDepthTrackingPanorama::ProcessCylindricProjection(), BIAS::GLProjectionParametersPerspective::SetIntrinsics(), and BIAS::PMDWarp::UseProjectiveTexturing().
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inlinevirtualinherited |
Return copy of pose parametrization object.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 517 of file ProjectionParametersBase.hh.
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inlinevirtualinherited |
Get principal point (in pixels relative to top left corner).
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 587 of file ProjectionParametersBase.hh.
Referenced by BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), BIAS::ProjectionParametersPerspectiveDepth::DistortReflectivity(), BIAS::GLProjectionParametersPerspective::DrawWithMatchedParamsAndViewport_(), BIAS::VideoSource_Controller_Kinect::OnLoadCalib(), and BIAS::ProjectionParametersPerspectiveDepth::UnDistortReflectivity().
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inlinevirtualinherited |
Get orientation as unit quaternion.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 474 of file ProjectionParametersBase.hh.
Referenced by BIAS::operator<<().
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virtualinherited |
Get orientation as rotation matrix R.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 282 of file ProjectionParametersBase.cpp.
References BIAS::RMatrixBase::SetFromQuaternion().
Referenced by BIAS::GLProjectionParametersBase::Assign(), BIAS::clfTrimmedICP::Compute(), BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::GLProjectionParametersBase::GetExtrinsics(), BIAS::glfMatrix::MakeViewMatrix(), BIAS::Projection3DData::Set(), BIAS::ProjectionParametersSphericalSimple::ValidatePose(), BIAS::ProjectionParametersCylindric::ViewDifference(), BIAS::ProjectionParametersSphericalFast::ViewDifference(), ViewDifference(), BIAS::ProjectionParametersPerspective::ViewDifference(), and BIAS::ProjectionParametersSphericalSimple::XMLIn().
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inline |
Return radius of spherical image in pixels.
Definition at line 172 of file ProjectionParametersSpherical.hh.
Referenced by BIAS::CylindricalRectification< InputStorageType, OutputStorageType >::DetermineCylindricCameraBoundriesSpherical_(), and BIAS::SphericalRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_().
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virtualinherited |
Determines the maximal and minimal viewing range in means of spherical coordinates.
The spherical coordinates are calculated relatively to the passed coordinate frame. The method is using the class SphericalCoordinates, see also the documentation there in order to understand the meaning of the sphericalReferenceFrame.
sphericalReferenceFrame | reference frame for the calculation of spherical coordinates belonging to optical rays, must be defined in the same coordinate frame like the local frame of the ProjectionParameters. |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 148 of file ProjectionParametersBase.cpp.
References BIAS::CoordinateTransform3D::BecomeRelativeTransform(), BIAS::CoordinateTransform3D::GetC(), BIAS::SphericalCoordinates::GetCartesianRayFromFullPhi(), BIAS::HomgPoint3D::GetEuclidean(), BIAS::SphericalCoordinates::GetSphericalCoordinatesFullPhi(), BIAS::Vector3< T >::NormL2(), BIAS::HomgPoint3D::Set(), BIAS::SphericalCoordinates::SetAffineBase(), BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
Referenced by BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_().
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virtualinherited |
Get warp (local magnification/shear/...) when going from the real image to ideal image with focal length = 1.
When an image is undistorted to an ideal perspective camera with K=id, the region around each pixel must be warped. For perspective cameras without radial distortion this is the undoing (inverse) of the upper 2x2 part of the KMatrix (simply a rescale of coordinates). If radial distortion is present, the local warp depends on the image position. Same for most other camera models. This matrix is closely related to the absolute local image resolution.
Instead of going to the w=1 (homogenized) ideal image, we can as well go to a tangent image. This can be steered by the parameter homogenized (if false, we use normalized mode).
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 632 of file ProjectionParametersBase.cpp.
References BIAS::Vector3< T >::CrossProduct(), BIAS::HomgPoint2D::IsHomogenized(), BIAS::MatrixIdentity, BIAS::Vector3< T >::Normalize(), BIAS::Vector3< T >::NormL2(), and BIAS::RMatrixBase::Set().
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inlinevirtualinherited |
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 577 of file ProjectionParametersBase.hh.
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inline |
Definition at line 216 of file ProjectionParametersSpherical.hh.
int ProjectionParametersSpherical::InitAngleCorrFromPoly | ( | const double | maxCamAngle, |
const std::vector< double > & | coefficients, | ||
const bool | mapsRadiusToZ = true |
||
) |
Set undistortion polynomial from from polynomial coefficients of undistortion (mapping radius to z coordinate) or distortion (mapping theta to radius) function.
[in] | maxCamAngle | Maximal azimuth angle corresponding to the outer rim of the spherical image |
[in] | coefficients | Vector of polynomial coefficients to estimate the undistortion polynomial from |
[in] | mapsRadiusToZ | Specifies if the given polynomial coefficients describe the undistortion (mapping radius to z cooordinate), or distortion (mapping theta to radius). |
Definition at line 266 of file ProjectionParametersSpherical.cpp.
References BIAS::PolynomialSolve::EvaluatePolynomial(), BIAS::Interpolator::InitSpline(), BIAS::Interpolator::SetControlPoints(), BIAS::Interpolator::SetKnotPoints(), and BIAS::Interpolator::Spline().
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inlinevirtualinherited |
Invalidate currently set pose.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 683 of file ProjectionParametersBase.hh.
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inherited |
Returns true if the camera represented by this ProjectionParametersBase is left of the given one.
Computes the baseline vector and rotates it so that this cam would have zero rotation. This cam is left of the given one if the x component of the transformed baseline is non-negative.
Note that the orientation of the given camere is not considered, only its position.
ppb | the parameters of the cam to compare this to |
Definition at line 711 of file ProjectionParametersBase.cpp.
References BIAS::ProjectionParametersBase::GetC(), and BIAS::Matrix3x3< T >::GetInverse().
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inlineinherited |
Looks at given point, similar to gluLookAt.
eye | Eye coordinate |
center | 3D point to look at |
up | Up vector of the camera |
Definition at line 751 of file ProjectionParametersBase.hh.
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inlineinherited |
Looks at given point, similar to gluLookAt.
center | 3D point to look at |
up | Up vector of the camera |
Definition at line 760 of file ProjectionParametersBase.hh.
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inlineinherited |
Looks at given point, similar to gluLookAt.
eye | Eye coordinate |
center | 3D point to look at |
up | Up vector of the camera |
Definition at line 770 of file ProjectionParametersBase.hh.
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inlineinherited |
Looks at given point, similar to gluLookAt.
center | 3D point to look at |
up | Up vector of the camera |
Definition at line 779 of file ProjectionParametersBase.hh.
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inlineinherited |
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inlineinherited |
creates a new debuglevel
Definition at line 474 of file Debug.hh.
Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().
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inline |
Definition at line 73 of file ProjectionParametersSpherical.hh.
References acCoeff_, interpolatorAngle_, interpolatorAngleBack_, interpolatorInit_, MaxCamAngle_, BIAS::ProjectionParametersBase::operator=(), and radius_.
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inlinevirtualinherited |
Check if current pose is valid.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 679 of file ProjectionParametersBase.hh.
Referenced by BIAS::IOUtils::GetProjection(), and BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam().
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inlineinherited |
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inlinevirtualinherited |
calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera !warning! the function my return an invalid point (0,0,0) in certain cases (3d point) behind camera or 3d point to close to camera center
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 221 of file ProjectionParametersBase.hh.
References BIAS::Vector3< T >::Mult().
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inlinevirtualinherited |
calculates the projection of a point in the world coordinate system to a pixel in the image plane of the camera.
The only case when this function may not compute the 2d point is when the camera center and the 3d point coincide. This case must be indicated by a negative return value. In all other cases, a valid 2d point is computed, particularily when the 3d point is behind the camera or when the resulting 2d point is at infinity. returns negative, when 3d point and camera center coincide
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 237 of file ProjectionParametersBase.hh.
References BIAS::Vector3< T >::Mult().
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inlinevirtual |
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 is indicated by a return value of (0, 0, 0). 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.
Implements BIAS::ProjectionParametersBase.
Definition at line 128 of file ProjectionParametersSpherical.hh.
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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 is indicated by a return value of zero. In all other cases, a 2d point must be computed, particularily when the 3d point is behind the camera or when the resulting 2d point is at infinity.
In the simplest case perspective pinhole projection x = K * point where point is transformed of X using point = (R^T | -R^T C) X
Implements BIAS::ProjectionParametersBase.
Definition at line 107 of file ProjectionParametersSpherical.cpp.
References BIAS::Vector3< T >::CoordEuclideanToSphere(), BIAS::Equal(), and BIAS::Vector3< T >::SetZero().
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protected |
Definition at line 897 of file ProjectionParametersSpherical.cpp.
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inlinevirtualinherited |
Check if current orientation is valid.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 676 of file ProjectionParametersBase.hh.
void ProjectionParametersSpherical::RecalculateUndistortion | ( | const double | maxCamAngle | ) |
Recalculate undistortion polynomial for new maximal camera angle.
[in] | maxCamAngle | New maximal camera angle to set (in rad) |
Definition at line 229 of file ProjectionParametersSpherical.cpp.
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inlineinherited |
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inlineinherited |
|
inlinevirtual |
Adapt internal parameters to resampled image.
ratio | 2.0 = downsample by 2, 0.5 = upsample by 2 |
offset | Offset for principal point (applied before down/upsampling!) |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 253 of file ProjectionParametersSpherical.hh.
References BIAS::ProjectionParametersBase::Rescale().
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inlinevirtual |
adapt internal parameters to new image size
width | and height are the new images sizes |
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 258 of file ProjectionParametersSpherical.hh.
References BIAS::ProjectionParametersBase::Rescale().
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inlineinherited |
Sets the alpha parameter.
The alpha parameter determines the spread of the sigma points
Definition at line 80 of file UnscentedTransform.hh.
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inlinevirtualinherited |
Set CCD aspect ratio (i.e.
cellsizeX / cellsizeY).
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersPerspective.
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().
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inlineinherited |
Sets the beta parameter.
beta is used to incorporate prior knowledge of the distribution of x. For Gaussian distributions beta = 2.0 is optiomal
Definition at line 86 of file UnscentedTransform.hh.
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inlinevirtualinherited |
Set projection center.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 648 of file ProjectionParametersBase.hh.
Referenced by BIAS::clfTrimmedICP::Compute(), BIAS::ImageBlender::ComputeCylCamGeometry(), BIAS::ImageBlenderIncremental::ComputeCylCamGeometry_(), BIAS::ProjectionParametersFactory::Create(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::GLProjectionParametersBase::SetExtrinsics(), BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam(), and BIAS::MultipleDepthWarp::SetupNViewsWarp().
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inlinevirtualinherited |
Set pose covariance matrix with respect to C, Q.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 669 of file ProjectionParametersBase.hh.
Referenced by GetPerspectiveCutOutParameters().
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inlineinherited |
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().
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inlineinherited |
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inlineinherited |
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inlinestaticinherited |
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inlinevirtualinherited |
Set the identification string.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 616 of file ProjectionParametersBase.hh.
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inlinevirtualinherited |
Set image dimensions (in pixels).
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 609 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::Projection::CreatePerspective(), BIAS::Projection::CreateSpherical(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::GLProjectionParametersPerspective::DrawWithMatchedParamsAndViewport_(), BIAS::TriangleMesh::GenerateDenseMesh(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), GetPerspectiveCutOutParameters(), BIAS::Projection::Load(), BIAS::Camera< StorageType >::ParseMetaData(), BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam(), and BIAS::GLProjectionParametersPerspective::UpdateGLProjectionMatrix_().
void ProjectionParametersSpherical::SetMaxCamAngle | ( | const double | maxCamAngle | ) |
Set maximal camera angle (in rad), i.e.
azimuth angle of rays corresponding to the outer rim of the image.
[in] | maxCamAngle | New maximal camera angle to set (in rad) |
Definition at line 216 of file ProjectionParametersSpherical.cpp.
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inlinevirtualinherited |
Set pose from pose object.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
Definition at line 657 of file ProjectionParametersBase.hh.
Referenced by BIAS::Projection::AddAbsoluteCamera(), BIAS::Projection::CreatePerspective(), BIAS::Projection::CreateSpherical(), BIAS::PlanarRectification< InputStorageType, OutputStorageType >::DetermineRectificationParameters_(), BIAS::Projection::GetParameterCloneWithAbsolutePose(), BIAS::ProjectionParametersSphericalFast::GetPerspectiveCutOutParameters(), BIAS::CylindricDepthPanorama::Init(), BIAS::CylindricDepthTrackingPanorama::ProcessCylindricProjection(), BIAS::GLProjectionParametersPerspective::SetIntrinsics(), BIAS::ProjectionParametersSphericalSimple::SetPose(), and BIAS::PMDWarp::UseProjectiveTexturing().
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inlinevirtualinherited |
Set pose from pose parametrization.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
Definition at line 529 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersSphericalSimple::SetPoseParametrization().
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inlinevirtualinherited |
Set principal point (in pixels relative to top left corner).
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersPerspective, and BIAS::ProjectionParametersZoom.
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().
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inlinevirtualinherited |
Set orientation from unit quaternion Q.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
Definition at line 644 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersFactory::Create(), BIAS::GLProjectionParametersBase::SetExtrinsics(), and BIAS::ProjectionParametersSphericalSimple::SetQ().
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inlinevirtualinherited |
Set pose from unit quaternion Q and projection center C.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
Definition at line 652 of file ProjectionParametersBase.hh.
Referenced by GetPerspectiveCutOutParameters(), BIAS::GLProjectionParametersBase::SetExtrinsics(), and BIAS::ProjectionParametersSphericalSimple::SetQC().
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inlinevirtualinherited |
Set orientation from rotation matrix R.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
Definition at line 661 of file ProjectionParametersBase.hh.
References BIAS::RMatrixBase::GetQuaternion().
Referenced by BIAS::clfTrimmedICP::Compute(), BIAS::ImageBlender::ComputeCylCamGeometry(), BIAS::ImageBlenderIncremental::ComputeCylCamGeometry_(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::GLProjectionParametersBase::SetExtrinsics(), BIAS::ProjectionParametersSphericalSimple::SetR(), and BIAS::GLProjectionParametersPerspective::SetSimplePerspectiveCam().
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inline |
Set radius of spherical image in pixels.
Definition at line 177 of file ProjectionParametersSpherical.hh.
Referenced by BIAS::ProjectionParametersFactory::Create(), and BIAS::Projection::CreateSpherical().
int ProjectionParametersSpherical::SetUndistortion | ( | const std::vector< double > & | undistAngles, |
const std::vector< double > & | distAngles, | ||
const double | radius | ||
) |
Set undistortion polynomial from corresponding undistorted and distorted azimuth angles (in rad) and image radius (in pixels).
[in] | undistAngles | Vector of undistorted azimuth angles (in rad) |
[in] | distAngles | Vector of corresponding distorted angles |
[in] | radius | Radius of spherical image to set (in pixels) |
Definition at line 176 of file ProjectionParametersSpherical.cpp.
Referenced by BIAS::ProjectionParametersFactory::Create(), and BIAS::Projection::CreateSpherical().
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Definition at line 89 of file UnscentedTransform.hh.
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Set the camera source type.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 722 of file ProjectionParametersBase.cpp.
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Transforms a coordinate pair of image coordinates x, y in the calibrated spherical image, to a calibrated pair of polar coordinates phi, theta.
Definition at line 498 of file ProjectionParametersSpherical.cpp.
References BIAS::HomgPoint2D::Homogenize().
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Transforms a coordinate pair of image coordinates x, y in the uncalibrated spherical image, to a calibrated pair of polar coordinates phi, theta.
Definition at line 356 of file ProjectionParametersSpherical.cpp.
References BIAS::HomgPoint2D::Homogenize().
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Transforms a calibrated pair of polar coordinates phi, theta to a coordinate pair of image coordinates x, y in the uncalibrated spherical image.
Definition at line 387 of file ProjectionParametersSpherical.cpp.
References BIAS::Vector3< T >::CoordEuclideanToSphere(), BIAS::Vector3< T >::CoordSphereToEuclidean(), BIAS::Quaternion< T >::MultVec(), and BIAS::Quaternion< T >::SetValueAsAxisRad().
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Transforms a calibrated pair of polar coordinates phi, theta to a coordinate pair of image coordinates x, y in an equidistant spherical image.
Definition at line 483 of file ProjectionParametersSpherical.cpp.
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Transforms a calibrated pair of polar coordinates phi, theta to a coordinate pair of image coordinates x, y in the uncalibrated spherical image.
Definition at line 458 of file ProjectionParametersSpherical.cpp.
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computes the second order approximation of the transformations of the mean and the associated covariance for the point transformation Transform_().
Implements BIAS::UncertaintyTransformBase.
Definition at line 52 of file UnscentedTransform.cpp.
References BIAS::UnscentedTransform::ComputeSigmaPoints_(), TNT::Matrix< T >::newsize(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::Vector< T >::OuterProduct(), BIAS::Vector< T >::SetZero(), BIAS::Matrix< T >::SetZero(), BIAS::Vector< T >::Size(), TNT::Vector< T >::size(), BIAS::Matrix< T >::Trace(), and BIAS::UnscentedTransform::Transform_().
Referenced by BIAS::EssentialPoint2Line::Compute(), BIAS::CovEuler2Quaternion::CTransform(), BIAS::Covariance3Dto2D::Project(), BIAS::Covariance3Dto2DHomg::Project(), and BIAS::Cov3Dto2DPoseCertain::Transform().
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Worker function for Unscented Transform.
Implements BIAS::UnscentedTransform.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 472 of file ProjectionParametersBase.cpp.
References TNT::Vector< T >::size().
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Interface defintion for lens undistortion function, implemented by derived classes.
Implements BIAS::ProjectionParametersBase.
Definition at line 44 of file ProjectionParametersSpherical.cpp.
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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.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersPerspective.
Definition at line 502 of file ProjectionParametersBase.cpp.
References BIAS::MatrixZero.
Referenced by BIAS::ProjectionParametersPerspective::UnProjectCovLocal().
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calculates the viewing ray from the camera center (in the camera coordinate system) which belongs to the image position pos e.g.
(0,0,1) means optical axis
Implements BIAS::ProjectionParametersBase.
Definition at line 147 of file ProjectionParametersSpherical.cpp.
References BIAS::Vector3< T >::CoordSphereToEuclidean().
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map points from image onto unit diameter image plane in 3D.
Chosen is the spherical image plane with radius of one from the image center.
Implements BIAS::ProjectionParametersBase.
Definition at line 128 of file ProjectionParametersSpherical.cpp.
References BIAS::Equal(), and BIAS::HomgPoint3D.
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calculates a 3D point in the global (not the rig) coordinate system, which belongs to the image position pos with distance depth to the camera center.
Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 448 of file ProjectionParametersBase.cpp.
References BIAS::Vector3< T >::AddIP(), and BIAS::Vector3< T >::Mult().
Referenced by BIAS::PMDImageProc::CrossCheck(), BIAS::TriangleMesh::MakeTriangles_(), and BIAS::clfTrimmedICP::setFromDepthMap_().
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Reimplemented in BIAS::ProjectionParametersDynamicLoad.
Definition at line 460 of file ProjectionParametersBase.cpp.
References BIAS::Vector3< T >::AddIP(), BIAS::Vector3< T >::Mult(), and BIAS::ProjectionParametersBase::UnProjectToPointLocal().
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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.
Overload to habe return value (0,0,0) for undefined or out of image radius pixels.
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 164 of file ProjectionParametersSpherical.cpp.
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Calculates the view ray, which belongs to the given position on the image plane, in global coordinates.
pos | position on the image plane |
origin | origin of the ray |
direction | will be the direction of the ray |
ignoreDistortion | optional parameter which specifies if potential distortions are ignored (is false by default) |
In case of a perspective projection, the ray goes through the optical center of the projection and the given position on the image plane.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 325 of file ProjectionParametersBase.hh.
References BIAS::Matrix3x3< T >::Mult().
Referenced by BIAS::ImageBlender::BlendImages(), BIAS::ImageBlenderIncremental::BlendImages(), BIAS::ImageBlender::CheckFov(), BIAS::ImageBlenderIncremental::CheckFov_(), BIAS::EpipolarLine::DrawDistortedLine(), BIAS::Triangulation::Triangulate(), and BIAS::Triangulation::TriangulateProjective().
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Calculates the view ray, which belongs to the given position on the image plane, in global coordinates.
pos | position on the image plane |
direction | will be the direction of the ray |
ignoreDistortion | optional parameter which specifies if potential distortions are ignored (is false by default) |
In case of a perspective projection, the ray goes through the optical center of the projection and the given position on the image plane.
Definition at line 351 of file ProjectionParametersBase.hh.
References BIAS::Matrix3x3< T >::Mult().
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Calculates the view ray, which belongs to the given position on the image plane, using the given projection.
pos | position on the image plane |
origin | origin of the ray |
direction | will be the direction of the ray |
proj | reference to the projection which is used |
ignoreDistortion | optional parameter which specifies if potential distortions are ignored (is false by default) |
In case of a perspective projection, the ray goes through the optical center of the given projection and the given position on the image plane.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, and BIAS::ProjectionParametersProjective.
Definition at line 377 of file ProjectionParametersBase.hh.
References BIAS::Matrix3x3< T >::Mult(), and BIAS::ProjectionParametersBase::UnProjectLocal().
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Validate currently set pose.
Reimplemented in BIAS::ProjectionParametersDynamicLoad, BIAS::ProjectionParametersProjective, and BIAS::ProjectionParametersSphericalSimple.
Definition at line 687 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersSphericalSimple::ValidatePose().
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Returns difference between two projections like |C1-C2|.
This function can be used to calculate inter-camera distance e.g. for ordering purposes.
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 537 of file ProjectionParametersSpherical.cpp.
References BIAS::ProjectionParametersBase::GetC(), BIAS::ProjectionParametersBase::GetR(), BIAS::Vector3< T >::Normalize(), and BIAS::Vector3< T >::ScalarProduct().
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call this to add the class to a node of a given xml tree
Definition at line 26 of file XMLBase.cpp.
References BIAS::XMLIO::addAttribute(), and BIAS::XMLIO::addChildNode().
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specialization of XML block name function
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 629 of file ProjectionParametersSpherical.cpp.
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specialization of XML read function
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 667 of file ProjectionParametersSpherical.cpp.
References BIAS::XMLIO::getAttributeByName(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getChild(), BIAS::XMLIO::getFirstChild(), BIAS::XMLIO::getNextChild(), BIAS::XMLIO::getNodeName(), BIAS::ProjectionParametersBase::XMLGetClassName(), and BIAS::ProjectionParametersBase::XMLIn().
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specialization of XML write function
Reimplemented from BIAS::ProjectionParametersBase.
Definition at line 638 of file ProjectionParametersSpherical.cpp.
References BIAS::XMLIO::addAttribute(), BIAS::XMLIO::addChildNode(), BIAS::ProjectionParametersBase::XMLGetClassName(), and BIAS::ProjectionParametersBase::XMLOut().
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derived classes must implement the function XMLIn which is called by this function XMLRead to read everything with name Filename into (*this).
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().
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reconstruct xml tree from string
Definition at line 111 of file XMLBase.cpp.
References BIAS::XMLIO::clear(), BIAS::XMLIO::getAttributeValueDouble(), BIAS::XMLIO::getNodeName(), and BIAS::XMLIO::ReadFromString().
Referenced by BIAS::IOUtils::GetProjection().
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call this to add the class to a new xml tree and write it to the file Filename.
Calls function XMLOut of derived class
CompressionLevel | 0..9 (0=off, 9=highest compression) |
Definition at line 40 of file XMLBase.cpp.
References BIAS::XMLIO::addAttribute(), BIAS::XMLIO::clear(), BIAS::XMLIO::create(), BIAS::XMLIO::SetCompression(), BIAS::XMLIO::SetEncoding(), and BIAS::XMLIO::write().
Referenced by BIAS::SphericalDepthPanorama::GetTriangleMesh(), BIAS::SceneOpenSceneGraph::Save(), BIAS::ScreenShotListener::StoreNextScreenShot_(), and BIAS::GLProjectionParametersPerspective::XMLWrite().
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serialize xml tree to string
Definition at line 61 of file XMLBase.cpp.
References BIAS::XMLIO::addAttribute(), BIAS::XMLIO::clear(), BIAS::XMLIO::create(), BIAS::XMLIO::SetEncoding(), and BIAS::XMLIO::WriteToString().
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Definition at line 485 of file ProjectionParametersSpherical.hh.
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Definition at line 510 of file Debug.hh.
Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().
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new concept, debuglevel are managed here in the debug class
Definition at line 516 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 517 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 511 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 461 of file ProjectionParametersSpherical.hh.
Referenced by operator=().
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the alpha parameter determines the spread of the sigma points
Definition at line 94 of file UnscentedTransform.hh.
Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().
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aspect ratio of the camera CCD
Definition at line 799 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().
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beta is used to incorporate prior knowledge of the distribution of x.
For Gaussian distributions beta = 2.0 is optiomal
Definition at line 97 of file UnscentedTransform.hh.
Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().
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Definition at line 788 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().
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Definition at line 477 of file ProjectionParametersSpherical.hh.
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height of image in pixels
Definition at line 793 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersPerspectiveDepth::DistortDepthMapIP(), BIAS::ProjectionParametersSphericalSimple::DoesPointProjectIntoImageLocal(), BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::ProjectionParametersPerspective::GetCutOutParameters(), BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepthMapIP(), and BIAS::ProjectionParametersBufferedRay::UnProjectLocal().
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Multifunctional identifier.
Definition at line 806 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::operator=().
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Definition at line 468 of file ProjectionParametersSpherical.hh.
Referenced by DoIntrinsicsDiffer(), BIAS::operator<<(), and operator=().
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Definition at line 471 of file ProjectionParametersSpherical.hh.
Referenced by operator=().
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Definition at line 474 of file ProjectionParametersSpherical.hh.
Referenced by DoIntrinsicsDiffer(), and operator=().
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kappa is a secondary scaling parameter.
In other papers from Uhlman kappa is fixed to 1.0
Definition at line 100 of file UnscentedTransform.hh.
Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().
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Definition at line 459 of file ProjectionParametersSpherical.hh.
Referenced by DoIntrinsicsDiffer(), BIAS::operator<<(), and operator=().
std::vector<double> BIAS::ProjectionParametersSpherical::mylocationsPolynomialWithoutLinearMonomialError |
Definition at line 400 of file ProjectionParametersSpherical.hh.
std::vector<double> BIAS::ProjectionParametersSpherical::myvaluesPolynomialWithoutLinearMonomialError |
Definition at line 399 of file ProjectionParametersSpherical.hh.
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pose
Definition at line 781 of file ProjectionParametersBase.hh.
Referenced by BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), BIAS::ProjectionParametersSphericalSimple::SetPose(), BIAS::ProjectionParametersSphericalSimple::SetPoseParametrization(), BIAS::ProjectionParametersSphericalSimple::SetQ(), BIAS::ProjectionParametersSphericalSimple::SetQC(), and BIAS::ProjectionParametersSphericalSimple::UnProjectToImagePlane().
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principal point in pixel coordinates (one for all zoom settings)
Definition at line 796 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().
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Definition at line 796 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::operator<<(), and BIAS::ProjectionParametersBase::operator=().
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validity flag for orientation and position
Definition at line 788 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersSphericalSimple::Angles2GlobalOrientation(), BIAS::ProjectionParametersBase::DoExtrinsicsDiffer(), BIAS::ProjectionParametersSphericalSimple::GlobalOrientation2Angles(), BIAS::ProjectionParametersSphericalSimple::GlobalOrientation2Pixel(), BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), and BIAS::ProjectionParametersSphericalSimple::Pixel2GlobalOrientation().
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Definition at line 456 of file ProjectionParametersSpherical.hh.
Referenced by DoIntrinsicsDiffer(), BIAS::operator<<(), and operator=().
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Definition at line 102 of file UnscentedTransform.hh.
Referenced by BIAS::UnscentedTransform::ComputeSigmaPoints_().
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Definition at line 803 of file ProjectionParametersBase.hh.
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Definition at line 804 of file ProjectionParametersBase.hh.
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unscented transform worker variables
Definition at line 802 of file ProjectionParametersBase.hh.
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Definition at line 807 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersBase::operator=().
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width of image in pixels
Definition at line 791 of file ProjectionParametersBase.hh.
Referenced by BIAS::ProjectionParametersPerspectiveDepth::DistortDepthMapIP(), BIAS::ProjectionParametersSphericalSimple::DoesPointProjectIntoImageLocal(), BIAS::ProjectionParametersBase::DoIntrinsicsDiffer(), BIAS::ProjectionParametersPerspective::GetCutOutParameters(), BIAS::operator<<(), BIAS::ProjectionParametersBase::operator=(), BIAS::ProjectionParametersSphericalSimple::Rescale(), BIAS::ProjectionParametersPerspectiveDepth::UnDistortDepthMapIP(), and BIAS::ProjectionParametersBufferedRay::UnProjectLocal().