MipBaselib::CameraPar3DArma Class Reference

#include <CameraParameters.h>

List of all members.

Public Member Functions

 CameraPar3DArma ()
 Default constructor.
 CameraPar3DArma (const Decimal info1, const Decimal info2, const Decimal info3, int opt, const Position2DArma &pp=Position2DArma(), const Decimal sk=0.0, const Roto3DHomoArma &rcfw=Roto3DHomoArma(IDENTITY_ARMA_MATRIX), CanonicalCameraArmaMatrix cc=PIXEL_CAMERA_ARMA_MATRIX)
 Constructor with inputs: if cc==PIXEL_CAMERA_ARMA_MATRIX the in input is in pixels; otherwise in meter.
 CameraPar3DArma (const CameraPar3DArma &rhs)
 Copy constructor.
void _findMetricInfo (const Decimal info, int opt)
 Find metric information.
void _findPixelInfo (const Decimal info, int opt, const Position2DArma &pp=Position2DArma())
 Find parameter in pixel.
Position2DArma getPrincipalPoint () const
 Get principal point.
Decimal getPrincipalPointX () const
 Get x component of principal point.
Decimal getPrincipalPointY () const
 Get y component of principal point.
void setPrincipalPoint (const Position2DArma &pp)
 Set principal point.
void setPrincipalPoint (const Decimal &ppx, const Decimal &ppy)
 Set principal point.
void setPrincipalPointX (const Decimal x)
 Set principal point x coordinate.
void setPrincipalPointY (const Decimal y)
 Set principal point y coordinate.
CameraPar3DArma & operator= (const CameraPar3DArma &rhs)
 Assignment operator.
Decimal getWidthMetric () const
 Get the width of the camera in meter.
void setWidthMetric (const Decimal w)
 Set the width of the camera in meter.
Decimal getWidthPixel () const
 Get the width of the camera in pixel.
void setWidthPixel (const Decimal w)
 Set the width of the camera in pixel.
Decimal getHeightMetric () const
 Get the height of the camera in meter.
void setHeightMetric (const Decimal h)
 Set the height of the camera in meter.
Decimal getHeightPixel () const
 Get the height of the camera in pixel.
void setHeightPixel (const Decimal h)
 Set the height of the camera in pixel.
Decimal getFocalMetric () const
 Get the focal length of the camera in meter.
void setFocalMetric (const Decimal f)
 Set the focal length of the camera in meter.
Decimal getFocalPixel () const
 Get the focal length of the camera in pixel.
void setFocalPixel (const Decimal f, bool update=true)
 Set the focal length of the camera in pixel.
Decimal getFovW () const
 Get the field of view (fov) along width.
Angle getFovWAngle () const
 Get the field of view (fov) along width.
void setFovW (const Decimal fov)
 Set the field of view (fov) along width.
void setFovWAngle (const Angle fov)
 Set the field of view (fov) along width.
Decimal getFovH () const
 Get the field of view (fov) along height.
Angle getFovHAngle () const
 Get the field of view (fov) along height.
void setFovH (const Decimal fov)
 Set the field of view (fov) along height.
void setFovHAngle (const Angle fov)
 Set the field of view (fov) along height.
Roto3DHomoArma getRotoCamFromW () const
 Get the rototranslation matrix between world and camera.
Roto3DHomoArma * getRotoCamFromWPointer ()
 Get the rototranslation matrix pointer between world and camera.
Roto3DArma getRotationCamFromW () const
 Get the rotation matrix between world and camera.
Position3DArma getTranslationCamFromW () const
 Get the translation matrix between world and camera.
void setRotoCamFromWPointer (const Roto3DHomoArma &roto)
 Set the rototranslation matrix pointer between world and camera.
arma::Mat< Decimal >::fixed< 3, 3 > getCalibMatrix () const
 Get the calibration matrix of the camera.
arma::Mat< Decimal >::fixed< 3, 3 > getCalibInvMatrix () const
 Get the inverse of calibration matrix of the camera in closed form.
arma::Mat< Decimal >::fixed< 3, 3 > * getCalibMatrixPointer ()
 Get the pointer to calibration matrix of the camera.
void setCalibMatrix (arma::Mat< Decimal >::fixed< 3, 3 > calib)
 Set the calibration matrix of the camera.
void setCalibMatrix (const Decimal f)
 Set the calibration matrix of the camera.
void setCalibMatrix (const Decimal f, const Position2DArma &pp)
 Set the calibration matrix of the camera.
void setCalibMatrix (const Decimal f, const Decimal ppx, const Decimal ppy)
 Set the calibration matrix of the camera.
Decimal getSkew () const
 Get the 0x1 element of the calibration matrix: skew.
void setSkew (const Decimal skew)
 Set the 0x1 element of the calibration matrix: skew.
string print (int opt=0)
 Print function.

Constructor & Destructor Documentation

CameraPar3DArma::CameraPar3DArma (  ) 

Default constructor.

CameraPar3DArma::CameraPar3DArma ( const Decimal  info1,
const Decimal  info2,
const Decimal  info3,
int  opt,
const Position2DArma &  pp = Position2DArma(),
const Decimal  sk = 0.0,
const Roto3DHomoArma &  rcfw = Roto3DHomoArma(IDENTITY_ARMA_MATRIX),
CanonicalCameraArmaMatrix  cc = PIXEL_CAMERA_ARMA_MATRIX 
)

Constructor with inputs: if cc==PIXEL_CAMERA_ARMA_MATRIX the in input is in pixels; otherwise in meter.

Parameters:
[in] info1 First information parameter. One between width (w), height (h), focal length (f), fov width (fovW) and fov height (fovH)
[in] info2 Second information parameter. One between width (w), height (h), focal length (f), fov width (fovW) and fov height (fovH)
[in] info3 Third information parameter. One between width (w), height (h), focal length (f), fov width (fovW) and fov height (fovH)
[in] opt Integer option to select which kind of input one wants to set. 0 = [w h f]; 1 = [w h fovW]; 2 = [w h fovH]; 3 = [w fovW fovH]; 4 = [w fovH f]; 5 = [fovW fovH f]; 6 = [h fovW fovH]; 7 = [h fovW f]
[in] &pp Position of the principal point in pixels
[in] &rcfw Rotation matrix in homogeneous coordinate from world to camera reference frame
[in] cc Inputs in pixels (default=PIXEL_CAMERA_ARMA_MATRIX) or in meters (METRIC_CAMERA_ARMA_MATRIX)

CameraPar3DArma::CameraPar3DArma ( const CameraPar3DArma &  rhs  ) 

Copy constructor.

Member Function Documentation

void CameraPar3DArma::_findMetricInfo ( const Decimal  info,
int  opt 
)

Find metric information.

Parameters:
[in] info One of the parameter in meter
[in] opt Select which kind of parameter is in input: 0 for focal length, 1 for width, 2 for height in meter

void CameraPar3DArma::_findPixelInfo ( const Decimal  info,
int  opt,
const Position2DArma &  pp = Position2DArma() 
)

Find parameter in pixel.

Parameters:
[in] info One of the parameter in pixel
[in] opt Select which kind of parameter is in input: 0 for focal length, 1 for width, 2 for height in pixel
[in] &pp Position of the principal point in pixels. Default: (0,0)

Position2DArma CameraPar3DArma::getPrincipalPoint (  )  const

Get principal point.

Returns:
Principal point

Decimal CameraPar3DArma::getPrincipalPointX (  )  const

Get x component of principal point.

Returns:
Principal point x coordinate

Decimal CameraPar3DArma::getPrincipalPointY (  )  const

Get y component of principal point.

Returns:
Principal point y coordinate

void CameraPar3DArma::setPrincipalPoint ( const Position2DArma &  pp  ) 

Set principal point.

Parameters:
[in] pp Principal point

void CameraPar3DArma::setPrincipalPoint ( const Decimal &  ppx,
const Decimal &  ppy 
)

Set principal point.

Parameters:
[in] ppx X coordinate of principal point in pixels
[in] ppy Y coordinate of principal point in pixels

void CameraPar3DArma::setPrincipalPointX ( const Decimal  x  ) 

Set principal point x coordinate.

Parameters:
[in] pp Principal point, x coordinate

void CameraPar3DArma::setPrincipalPointY ( const Decimal  y  ) 

Set principal point y coordinate.

Parameters:
[in] pp Principal point, y coordinate

CameraPar3DArma & CameraPar3DArma::operator= ( const CameraPar3DArma &  rhs  ) 

Assignment operator.

Decimal CameraPar3DArma::getWidthMetric (  )  const

Get the width of the camera in meter.

Returns:
Width of the camera in meter

void CameraPar3DArma::setWidthMetric ( const Decimal  w  ) 

Set the width of the camera in meter.

Parameters:
[in] w Width of the camera in meter

Decimal CameraPar3DArma::getWidthPixel (  )  const

Get the width of the camera in pixel.

Returns:
Width of the camera in pixel

void CameraPar3DArma::setWidthPixel ( const Decimal  w  ) 

Set the width of the camera in pixel.

Parameters:
[in] w Width of the camera in pixel

Decimal CameraPar3DArma::getHeightMetric (  )  const

Get the height of the camera in meter.

Returns:
Height of the camera in meter

void CameraPar3DArma::setHeightMetric ( const Decimal  h  ) 

Set the height of the camera in meter.

Parameters:
[in] h Height of the camera in meter

Decimal CameraPar3DArma::getHeightPixel (  )  const

Get the height of the camera in pixel.

Returns:
Height of the camera in pixel

void CameraPar3DArma::setHeightPixel ( const Decimal  h  ) 

Set the height of the camera in pixel.

Parameters:
[in] h Height of the camera in pixel

Decimal CameraPar3DArma::getFocalMetric (  )  const

Get the focal length of the camera in meter.

Returns:
Focal length in meter

void CameraPar3DArma::setFocalMetric ( const Decimal  f  ) 

Set the focal length of the camera in meter.

Parameters:
[in] f Focal length in meter

Decimal CameraPar3DArma::getFocalPixel (  )  const

Get the focal length of the camera in pixel.

Returns:
Focal length in meter

void CameraPar3DArma::setFocalPixel ( const Decimal  f,
bool  update = true 
)

Set the focal length of the camera in pixel.

Parameters:
[in] f Focal length in meter
[in] update Boolean that selects if the calibration matrix has to be updated. Default: true

Decimal CameraPar3DArma::getFovW (  )  const

Get the field of view (fov) along width.

Returns:
Field of view (fov) along width

Angle CameraPar3DArma::getFovWAngle (  )  const

Get the field of view (fov) along width.

Returns:
Field of view (fov) along width in [0 pi]

void CameraPar3DArma::setFovW ( const Decimal  fov  ) 

Set the field of view (fov) along width.

Parameters:
[in] Field of view (fov) along width

void CameraPar3DArma::setFovWAngle ( const Angle  fov  ) 

Set the field of view (fov) along width.

Parameters:
[in] Field of view (fov) along width in [0 pi]

Decimal CameraPar3DArma::getFovH (  )  const

Get the field of view (fov) along height.

Returns:
Field of view (fov) along height

Angle CameraPar3DArma::getFovHAngle (  )  const

Get the field of view (fov) along height.

Returns:
Field of view (fov) along height in [0 pi]

void CameraPar3DArma::setFovH ( const Decimal  fov  ) 

Set the field of view (fov) along height.

Parameters:
[in] Field of view (fov) along height

void CameraPar3DArma::setFovHAngle ( const Angle  fov  ) 

Set the field of view (fov) along height.

Parameters:
[in] Field of view (fov) along height in [0 pi]

Roto3DHomoArma CameraPar3DArma::getRotoCamFromW (  )  const

Get the rototranslation matrix between world and camera.

Returns:
Rototranslation matrix from world to camera

Roto3DHomoArma * CameraPar3DArma::getRotoCamFromWPointer (  ) 

Get the rototranslation matrix pointer between world and camera.

Returns:
Pointer to rototranslation matrix from world to camera

Roto3DArma CameraPar3DArma::getRotationCamFromW (  )  const

Get the rotation matrix between world and camera.

Returns:
Rotation matrix from world to camera

Position3DArma CameraPar3DArma::getTranslationCamFromW (  )  const

Get the translation matrix between world and camera.

Returns:
Translation from world to camera

void CameraPar3DArma::setRotoCamFromWPointer ( const Roto3DHomoArma &  roto  ) 

Set the rototranslation matrix pointer between world and camera.

Parameters:
[in] roto Rototranslation matrix from world to camera

arma::Mat< Decimal >::fixed< 3, 3 > CameraPar3DArma::getCalibMatrix (  )  const

Get the calibration matrix of the camera.

Returns:
Calibration matrix of the camera

arma::Mat< Decimal >::fixed< 3, 3 > CameraPar3DArma::getCalibInvMatrix (  )  const

Get the inverse of calibration matrix of the camera in closed form.

Returns:
Inverse of the calibration matrix of the camera

arma::Mat< Decimal >::fixed< 3, 3 > * CameraPar3DArma::getCalibMatrixPointer (  ) 

Get the pointer to calibration matrix of the camera.

Returns:
Pointer to calibration matrix of the camera

void CameraPar3DArma::setCalibMatrix ( arma::Mat< Decimal >::fixed< 3, 3 >  calib  ) 

Set the calibration matrix of the camera.

Parameters:
[in] calib Calibration matrix of the camera

void CameraPar3DArma::setCalibMatrix ( const Decimal  f  ) 

Set the calibration matrix of the camera.

Parameters:
[in] f Focal length of the camera in pixel
Note:
Here it is assumed that the principal point is in (0,0)

void CameraPar3DArma::setCalibMatrix ( const Decimal  f,
const Position2DArma &  pp 
)

Set the calibration matrix of the camera.

Parameters:
[in] f Focal length of the camera in pixel
[in] pp Principal point in pixel

void CameraPar3DArma::setCalibMatrix ( const Decimal  f,
const Decimal  ppx,
const Decimal  ppy 
)

Set the calibration matrix of the camera.

Parameters:
[in] f Focal length of the camera in pixel
[in] ppx Principal point in pixel (x coordinate)
[in] ppy Principal point in pixel (y coordinate)

Decimal CameraPar3DArma::getSkew (  )  const

Get the 0x1 element of the calibration matrix: skew.

Returns:
Skew

void CameraPar3DArma::setSkew ( const Decimal  skew  ) 

Set the 0x1 element of the calibration matrix: skew.

Parameters:
[in] skew Skew to set

string CameraPar3DArma::print ( int  opt = 0  ) 

Print function.

Parameters:
[in] opt Option = 0 pixel, 1 metric 2 all. Default: pixel

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