bsfm::Camera Class Reference

#include <camera.h>

Public Member Functions
	Camera ()
	~Camera ()
	Camera (CameraExtrinsics, CameraIntrinsics)
void	SetExtrinsics (const CameraExtrinsics &)
void	SetIntrinsics (const CameraIntrinsics &)
CameraExtrinsics &	MutableExtrinsics ()
CameraIntrinsics &	MutableIntrinsics ()
const CameraExtrinsics &	Extrinsics () const
const CameraIntrinsics &	Intrinsics () const
Matrix34d	P () const
Matrix3d	K () const
Matrix34d	Rt () const
Vector3d	Translation () const
Matrix3d	Rotation () const
Vector3d	AxisAngleRotation () const
void	WorldToCamera (double wx, double wy, double wz, double *cx, double *cy, double *cz) const
void	CameraToWorld (double cx, double cy, double cz, double *wx, double *wy, double *wz) const
bool	CameraToImage (double cx, double cy, double cz, double *u_distorted, double *v_distorted) const
bool	WorldToImage (double wx, double wy, double wz, double *u_distorted, double *v_distorted) const
bool	DirectionToImage (double u_normalized, double v_normalized, double *u_distorted, double *v_distorted) const
void	ImageToDirection (double u_distorted, double v_distorted, double *u_normalized, double *v_normalized) const
void	Distort (double u, double v, double *u_distorted, double *v_distorted) const
void	Undistort (double u_distorted, double v_distorted, double *u, double *v) const

Private Attributes
CameraExtrinsics	extrinsics_
CameraIntrinsics	intrinsics_

Detailed Description

Definition at line 62 of file camera.h.

Constructor & Destructor Documentation

bsfm::Camera::Camera ( )

inline

Definition at line 66 of file camera.h.

{ };

bsfm::Camera::~Camera ( )

inline

Definition at line 67 of file camera.h.

{ };

bsfm::Camera::Camera	(	CameraExtrinsics	extrinsics,
		CameraIntrinsics	intrinsics
	)

Definition at line 53 of file camera.cpp.

    : extrinsics_(extrinsics), intrinsics_(intrinsics) {}

Member Function Documentation

Vector3d bsfm::Camera::AxisAngleRotation

(

)

const

Definition at line 98 of file camera.cpp.

                                         {
  return extrinsics_.WorldToCamera().AxisAngle();
}

bool bsfm::Camera::CameraToImage	(	double	cx,
		double	cy,
		double	cz,
		double *	u_distorted,
		double *	v_distorted
	)		const

Definition at line 116 of file camera.cpp.

                                                      {
  return intrinsics_.CameraToImage(cx, cy, cz, u_distorted, v_distorted);
}

void bsfm::Camera::CameraToWorld	(	double	cx,
		double	cy,
		double	cz,
		double *	wx,
		double *	wy,
		double *	wz
	)		const

Definition at line 109 of file camera.cpp.

                                                         {
  extrinsics_.CameraToWorld(cx, cy, cz, wx, wy, wz);
}

bool bsfm::Camera::DirectionToImage	(	double	u_normalized,
		double	v_normalized,
		double *	u_distorted,
		double *	v_distorted
	)		const

Definition at line 130 of file camera.cpp.

                                                                              {
  return intrinsics_.DirectionToImage(u_normalized, v_normalized, u_distorted,
                                      v_distorted);
}

void bsfm::Camera::Distort	(	double	u,
		double	v,
		double *	u_distorted,
		double *	v_distorted
	)		const

Definition at line 146 of file camera.cpp.

                                                {
  intrinsics_.Distort(u, v, u_distorted, v_distorted);
}

const CameraExtrinsics & bsfm::Camera::Extrinsics

(

)

const

Definition at line 69 of file camera.cpp.

{ return extrinsics_; }

void bsfm::Camera::ImageToDirection	(	double	u_distorted,
		double	v_distorted,
		double *	u_normalized,
		double *	v_normalized
	)		const

Definition at line 138 of file camera.cpp.

                                                          {
  intrinsics_.ImageToDirection(u_distorted, v_distorted, u_normalized,
                               v_normalized);
}

const CameraIntrinsics & bsfm::Camera::Intrinsics

(

)

const

Definition at line 70 of file camera.cpp.

{ return intrinsics_; }

Matrix3d bsfm::Camera::K

(

)

const

Definition at line 78 of file camera.cpp.

                         {
  return intrinsics_.K();
}

CameraExtrinsics & bsfm::Camera::MutableExtrinsics

(

)

Definition at line 67 of file camera.cpp.

{ return extrinsics_; }

CameraIntrinsics & bsfm::Camera::MutableIntrinsics

(

)

Definition at line 68 of file camera.cpp.

{ return intrinsics_; }

Matrix34d bsfm::Camera::P

(

)

const

Definition at line 73 of file camera.cpp.

                          {
  return intrinsics_.K() * extrinsics_.Rt();
}

Matrix3d bsfm::Camera::Rotation

(

)

const

Definition at line 93 of file camera.cpp.

                                {
  return extrinsics_.Rotation();
}

Matrix34d bsfm::Camera::Rt

(

)

const

Definition at line 83 of file camera.cpp.

                           {
  return extrinsics_.Rt();
}

void bsfm::Camera::SetExtrinsics

(

const CameraExtrinsics &

extrinsics

)

Definition at line 57 of file camera.cpp.

                                                             {
  extrinsics_ = extrinsics;
}

void bsfm::Camera::SetIntrinsics

(

const CameraIntrinsics &

intrinsics

)

Definition at line 62 of file camera.cpp.

                                                             {
  intrinsics_ = intrinsics;
}

Vector3d bsfm::Camera::Translation

(

)

const

Definition at line 88 of file camera.cpp.

                                   {
  return extrinsics_.Translation();
}

void bsfm::Camera::Undistort	(	double	u_distorted,
		double	v_distorted,
		double *	u,
		double *	v
	)		const

Definition at line 152 of file camera.cpp.

                                        {
  intrinsics_.Undistort(u_distorted, v_distorted, u, v);
}

void bsfm::Camera::WorldToCamera	(	double	wx,
		double	wy,
		double	wz,
		double *	cx,
		double *	cy,
		double *	cz
	)		const

Definition at line 103 of file camera.cpp.

                                                         {
  extrinsics_.WorldToCamera(wx, wy, wz, cx, cy, cz);
}

bool bsfm::Camera::WorldToImage	(	double	wx,
		double	wy,
		double	wz,
		double *	u_distorted,
		double *	v_distorted
	)		const

Definition at line 121 of file camera.cpp.

                                                     {
  double cx = 0.0, cy = 0.0, cz = 0.0;
  WorldToCamera(wx, wy, wz, &cx, &cy, &cz);
  return CameraToImage(cx, cy, cz, u_distorted, v_distorted);
}

Member Data Documentation

CameraExtrinsics bsfm::Camera::extrinsics_

private

Definition at line 139 of file camera.h.

CameraIntrinsics bsfm::Camera::intrinsics_

private

Definition at line 140 of file camera.h.

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

• /Users/eanelson/Git/berkeley_sfm/src/cpp/camera/camera.h
• /Users/eanelson/Git/berkeley_sfm/src/cpp/camera/camera.cpp