#include <camera_extrinsics.h>

Public Member Functions
	CameraExtrinsics ()

	CameraExtrinsics (const Pose &world_to_camera)

void	SetWorldToCamera (const Pose &world_to_camera)

Pose	WorldToCamera () const

Pose	CameraToWorld () const

void	SetRotation (const Matrix3d &rotation)

void	SetRotation (double phi, double theta, double psi)

void	Rotate (const Matrix3d &delta)

void	Rotate (double dphi, double dtheta, double dpsi)

Matrix3d	Rotation () const

void	SetTranslation (const Vector3d &translation)

void	SetTranslation (double wx, double wy, double wz)

void	Translate (const Vector3d &delta)

void	Translate (double dx, double dy, double dz)

void	TranslateX (double dx)

void	TranslateY (double dy)

void	TranslateZ (double dz)

Vector3d	Translation () const

Matrix34d	Rt () 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

Private Attributes
Pose	world_to_camera_

Detailed Description

Definition at line 76 of file camera_extrinsics.h.

Constructor & Destructor Documentation

bsfm::CameraExtrinsics::CameraExtrinsics ( )

Definition at line 53 of file camera_extrinsics.cpp.

                                    {
   world_to_camera_ = Pose();
 }

bsfm::CameraExtrinsics::CameraExtrinsics ( const Pose & world_to_camera )

Definition at line 58 of file camera_extrinsics.cpp.

59 : world_to_camera_(world_to_camera) {}

bsfm::CameraExtrinsics::world_to_camera_

Pose world_to_camera_

Definition: camera_extrinsics.h:122

Member Function Documentation

Pose bsfm::CameraExtrinsics::CameraToWorld ( ) const

Definition at line 71 of file camera_extrinsics.cpp.

                                            {
   return CameraExtrinsics::WorldToCamera().Inverse();
 }

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

Definition at line 167 of file camera_extrinsics.cpp.

                                                                                {
   CHECK_NOTNULL(wx);
   CHECK_NOTNULL(wy);
   CHECK_NOTNULL(wz);
 
   const Vector4d c_h(cx, cy, cz, 1.0);
   const Vector4d w_h = CameraExtrinsics::CameraToWorld().Project(c_h);
 
   *wx = w_h(0);
   *wy = w_h(1);
   *wz = w_h(2);
 }

void bsfm::CameraExtrinsics::Rotate ( const Matrix3d & delta )

Definition at line 93 of file camera_extrinsics.cpp.

                                                    {
   const Matrix3d R = world_to_camera_.Rotation();
   SetRotation(delta * R);
 }

void bsfm::CameraExtrinsics::Rotate	(	double	dphi,
		double	dtheta,
		double	dpsi
	)

Definition at line 98 of file camera_extrinsics.cpp.

                                                                      {
   Rotate(EulerAnglesToMatrix(dphi, dtheta, dpsi));
 }

Matrix3d bsfm::CameraExtrinsics::Rotation ( ) const

Definition at line 102 of file camera_extrinsics.cpp.

                                           {
   return world_to_camera_.Rotation();
 }

Matrix34d bsfm::CameraExtrinsics::Rt ( ) const

Definition at line 147 of file camera_extrinsics.cpp.

                                      {
   return WorldToCamera().Dehomogenize();
 }

void bsfm::CameraExtrinsics::SetRotation ( const Matrix3d & rotation )

Definition at line 80 of file camera_extrinsics.cpp.

                                                            {
   const Vector3d t = world_to_camera_.Translation();
   const Matrix3d R = world_to_camera_.Rotation();
   const Vector3d c = -R.transpose() * t;
 
   world_to_camera_.SetRotation(rotation);
   world_to_camera_.SetTranslation(-rotation * c);
 }

void bsfm::CameraExtrinsics::SetRotation	(	double	phi,
		double	theta,
		double	psi
	)

Definition at line 89 of file camera_extrinsics.cpp.

                                                                        {
   SetRotation(EulerAnglesToMatrix(phi, theta, psi));
 }

void bsfm::CameraExtrinsics::SetTranslation ( const Vector3d & translation )

Definition at line 106 of file camera_extrinsics.cpp.

                                                                  {
   const Matrix3d R = world_to_camera_.Rotation();
   world_to_camera_.SetTranslation(-R * translation);
 }

void bsfm::CameraExtrinsics::SetTranslation	(	double	wx,
		double	wy,
		double	wz
	)

Definition at line 111 of file camera_extrinsics.cpp.

                                                                   {
   SetTranslation(Vector3d(x, y, z));
 }

void bsfm::CameraExtrinsics::SetWorldToCamera ( const Pose & world_to_camera )

Definition at line 62 of file camera_extrinsics.cpp.

                                                                    {
   world_to_camera_ = world_to_camera;
 }

void bsfm::CameraExtrinsics::Translate ( const Vector3d & delta )

Definition at line 115 of file camera_extrinsics.cpp.

                                                       {
   const Vector3d t = world_to_camera_.Translation();
   const Matrix3d R = world_to_camera_.Rotation();
   Vector3d c = -R.transpose() * t;
 
   c += delta;
   world_to_camera_.SetTranslation(-R*c);
 }

void bsfm::CameraExtrinsics::Translate	(	double	dx,
		double	dy,
		double	dz
	)

Definition at line 124 of file camera_extrinsics.cpp.

                                                                 {
   Translate(Vector3d(dx, dy, dz));
 }

void bsfm::CameraExtrinsics::TranslateX ( double dx )

Definition at line 128 of file camera_extrinsics.cpp.

                                            {
   Translate(Vector3d(dx, 0, 0));
 }

void bsfm::CameraExtrinsics::TranslateY ( double dy )

Definition at line 132 of file camera_extrinsics.cpp.

                                            {
   Translate(Vector3d(0, dy, 0));
 }

void bsfm::CameraExtrinsics::TranslateZ ( double dz )

Definition at line 136 of file camera_extrinsics.cpp.

                                            {
   Translate(Vector3d(0, 0, dz));
 }

Vector3d bsfm::CameraExtrinsics::Translation ( ) const

Definition at line 140 of file camera_extrinsics.cpp.

                                              {
   const Vector3d t = world_to_camera_.Translation();
   const Matrix3d R = world_to_camera_.Rotation();
   return -R.transpose() * t;
 }

Pose bsfm::CameraExtrinsics::WorldToCamera ( ) const

Definition at line 67 of file camera_extrinsics.cpp.

                                            {
   return world_to_camera_;
 }

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

Definition at line 152 of file camera_extrinsics.cpp.

                                                                                {
   CHECK_NOTNULL(cx);
   CHECK_NOTNULL(cy);
   CHECK_NOTNULL(cz);
 
   const Vector4d w_h(wx, wy, wz, 1.0);
   const Vector4d c_h = CameraExtrinsics::WorldToCamera().Project(w_h);
 
   *cx = c_h(0);
   *cy = c_h(1);
   *cz = c_h(2);
 }

Member Data Documentation

Pose bsfm::CameraExtrinsics::world_to_camera_

private

Definition at line 122 of file camera_extrinsics.h.

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

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation