cisst-saw
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Classes | Public Member Functions | Friends | List of all members
svlSampleCameraGeometry Class Reference

#include <svlSampleCameraGeometry.h>

Inheritance diagram for svlSampleCameraGeometry:
svlSample mtsGenericObject cmnGenericObject

Classes

struct  Extrinsics
 
struct  Intrinsics
 

Public Member Functions

 svlSampleCameraGeometry ()
 
 svlSampleCameraGeometry (const svlSampleCameraGeometry &other)
 
svlSampleCameraGeometry & operator= (const svlSampleCameraGeometry &other)
 
svlSample * GetNewInstance () const
 
svlStreamType GetType () const
 
int SetSize (const svlSample *sample)
 
int SetSize (const svlSample &sample)
 
int CopyOf (const svlSample *sample)
 
int CopyOf (const svlSample &sample)
 
bool IsInitialized () const
 
unsigned char * GetUCharPointer ()
 
const unsigned char * GetUCharPointer () const
 
unsigned int GetDataSize () const
 
void SerializeRaw (std::ostream &outputStream) const
 
void DeSerializeRaw (std::istream &inputStream)
 
 svlSampleCameraGeometry (const std::string &calibration_filepath)
 
unsigned int GetCameraCount () const
 
int LoadCalibration (const std::string &filepath)
 
void SetIntrinsics (const Intrinsics &intrinsics, const unsigned int cam_id=0)
 
void SetIntrinsics (const vctDouble2 fc, const vctDouble2 cc, const double a, const vctDouble7 kc, const unsigned int cam_id=0)
 
void SetIntrinsics (const double fcx, const double fcy, const double ccx, const double ccy, const double a, const double kc0, const double kc1, const double kc2, const double kc3, const double kc4, const double kc5, const double kc6, const unsigned int cam_id=0)
 
void SetExtrinsics (const Extrinsics &extrinsics, const unsigned int cam_id=0)
 
void SetExtrinsics (const vctDouble3 om, const vctDouble3 T, const unsigned int cam_id=0)
 
void SetExtrinsics (const double om0, const double om1, const double om2, const double T0, const double T1, const double T2, const unsigned int cam_id=0)
 
int GetIntrinsics (Intrinsics &intrinsics, const unsigned int cam_id=0) const
 
Intrinsics GetIntrinsics (const unsigned int cam_id=0) const
 
const Intrinsics * GetIntrinsicsPtr (const unsigned int cam_id=0) const
 
int GetIntrinsics (double &fcx, double &fcy, double &ccx, double &ccy, double &a, double &kc0, double &kc1, double &kc2, double &kc3, double &kc4, double &kc5, double &kc6, const unsigned int cam_id=0)
 
int GetExtrinsics (Extrinsics &extrinsics, const unsigned int cam_id=0) const
 
Extrinsics GetExtrinsics (const unsigned int cam_id=0) const
 
const Extrinsics * GetExtrinsicsPtr (const unsigned int cam_id=0) const
 
int GetExtrinsics (double &om0, double &om1, double &om2, double &T0, double &T1, double &T2, const unsigned int cam_id=0)
 
void SetPerspective (const double focallength, const unsigned int width, const unsigned int height, const unsigned int cam_id=0)
 
int GetPosition (vctDouble3 &position, const unsigned int cam_id=0) const
 
int GetAxis (vctDouble3 &axis, const unsigned int cam_id=0) const
 
int GetViewUp (vctDouble3 &viewup, const unsigned int cam_id=0) const
 
int GetPositionAxisViewUp (vctDouble3 &position, vctDouble3 &axis, vctDouble3 &viewup, const unsigned int cam_id=0) const
 
double GetViewAngleHorizontal (double imagewidth, const unsigned int cam_id=0) const
 
double GetViewAngleVertical (double imageheight, const unsigned int cam_id=0) const
 
int IsCameraPerspective (const unsigned int cam_id) const
 
int IsCameraPairRectified (const unsigned int cam_id1, const unsigned int cam_id2) const
 
int SetWorldToCenter ()
 
int RotateWorldAboutY (double degrees)
 
int RotateWorldAboutZ (double degrees)
 
void Wrld2Cam (const unsigned int cam_id, vctDouble2 &point2D, const vctDouble3 &point3D)
 
vctDouble2 Wrld2Cam (const unsigned int cam_id, const vctDouble3 &point3D)
 
template<class _ValueType >
void Cam2Wrld (vctFixedSizeVector< _ValueType, 3 > &point3D, const unsigned int cam_id1, const vctFixedSizeVector< _ValueType, 2 > &point2D_1, const unsigned int cam_id2, const vctFixedSizeVector< _ValueType, 2 > &point2D_2)
 
template<class _ValueType >
vctFixedSizeVector< _ValueType, 3 > Cam2Wrld (const unsigned int cam_id1, const vctFixedSizeVector< _ValueType, 2 > &point2D_1, const unsigned int cam_id2, const vctFixedSizeVector< _ValueType, 2 > &point2D_2)
 
void Empty ()
 
- Public Member Functions inherited from svlSample
 svlSample ()
 
 svlSample (const svlSample &other)
 
svlSample & operator= (const svlSample &other)
 
virtual ~svlSample ()
 
void SetTimestamp (double ts)
 
double GetTimestamp () const
 
void SetEncoder (const std::string &codec, const int parameter)
 
void GetEncoder (std::string &codec, int &parameter) const
 
- Public Member Functions inherited from mtsGenericObject
 mtsGenericObject (void)
 
 mtsGenericObject (double timestamp, bool automaticTimestamp, bool valid)
 
 mtsGenericObject (const mtsGenericObject &other)
 
virtual ~mtsGenericObject (void)
 
bool SetTimestampIfAutomatic (double timestamp)
 
virtual void ToStream (std::ostream &outputStream) const
 
virtual void ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const
 
virtual bool FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')
 
size_t ScalarNumber (void) const
 
bool ScalarNumberIsFixed (void) const
 
double Scalar (const size_t index) const throw (std::out_of_range)
 
std::string ScalarDescription (const size_t index, const std::string &userDescription="") const throw (std::out_of_range)
 
- Public Member Functions inherited from cmnGenericObject
virtual ~cmnGenericObject (void)
 
virtual const
cmnClassServicesBase * 		Services (void) const =0
 
bool ReconstructFrom (const cmnGenericObject &other)
 
std::string ToString (void) const
 
virtual cmnLogger::StreamBufType * GetLogMultiplexer (void) const
 
virtual double Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)
 
virtual std::string ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const
 

Friends

CISST_EXPORT std::ostream & operator<< (std::ostream &stream, const svlSampleCameraGeometry &objref)
 

Additional Inherited Members

- Static Public Member Functions inherited from svlSample
static svlSample * GetNewFromType (svlStreamType type)
 

Constructor & Destructor Documentation

svlSampleCameraGeometry::svlSampleCameraGeometry ( )
svlSampleCameraGeometry::svlSampleCameraGeometry ( const svlSampleCameraGeometry &  other)
svlSampleCameraGeometry::svlSampleCameraGeometry ( const std::string &  calibration_filepath)

Member Function Documentation

template<class _ValueType >
void svlSampleCameraGeometry::Cam2Wrld ( vctFixedSizeVector< _ValueType, 3 > &  point3D,
const unsigned int  cam_id1,
const vctFixedSizeVector< _ValueType, 2 > &  point2D_1,
const unsigned int  cam_id2,
const vctFixedSizeVector< _ValueType, 2 > &  point2D_2 
)
template<class _ValueType >
vctFixedSizeVector<_ValueType, 3> svlSampleCameraGeometry::Cam2Wrld ( const unsigned int  cam_id1,
const vctFixedSizeVector< _ValueType, 2 > &  point2D_1,
const unsigned int  cam_id2,
const vctFixedSizeVector< _ValueType, 2 > &  point2D_2 
)
int svlSampleCameraGeometry::CopyOf ( const svlSample *  sample)
virtual

Implements svlSample.

int svlSampleCameraGeometry::CopyOf ( const svlSample &  sample)
virtual

Implements svlSample.

void svlSampleCameraGeometry::DeSerializeRaw ( std::istream &  inputStream)
virtual

Binary deserialization

Implements svlSample.

void svlSampleCameraGeometry::Empty ( )
int svlSampleCameraGeometry::GetAxis ( vctDouble3 &  axis,
const unsigned int  cam_id = 0 
) const
unsigned int svlSampleCameraGeometry::GetCameraCount ( ) const
unsigned int svlSampleCameraGeometry::GetDataSize ( ) const
virtual

Implements svlSample.

int svlSampleCameraGeometry::GetExtrinsics ( Extrinsics &  extrinsics,
const unsigned int  cam_id = 0 
) const
Extrinsics svlSampleCameraGeometry::GetExtrinsics ( const unsigned int  cam_id = 0) const
int svlSampleCameraGeometry::GetExtrinsics ( double &  om0,
double &  om1,
double &  om2,
double &  T0,
double &  T1,
double &  T2,
const unsigned int  cam_id = 0 
)
const Extrinsics* svlSampleCameraGeometry::GetExtrinsicsPtr ( const unsigned int  cam_id = 0) const
int svlSampleCameraGeometry::GetIntrinsics ( Intrinsics &  intrinsics,
const unsigned int  cam_id = 0 
) const
Intrinsics svlSampleCameraGeometry::GetIntrinsics ( const unsigned int  cam_id = 0) const
int svlSampleCameraGeometry::GetIntrinsics ( double &  fcx,
double &  fcy,
double &  ccx,
double &  ccy,
double &  a,
double &  kc0,
double &  kc1,
double &  kc2,
double &  kc3,
double &  kc4,
double &  kc5,
double &  kc6,
const unsigned int  cam_id = 0 
)
const Intrinsics* svlSampleCameraGeometry::GetIntrinsicsPtr ( const unsigned int  cam_id = 0) const
svlSample* svlSampleCameraGeometry::GetNewInstance ( ) const
virtual

Implements svlSample.

int svlSampleCameraGeometry::GetPosition ( vctDouble3 &  position,
const unsigned int  cam_id = 0 
) const
int svlSampleCameraGeometry::GetPositionAxisViewUp ( vctDouble3 &  position,
vctDouble3 &  axis,
vctDouble3 &  viewup,
const unsigned int  cam_id = 0 
) const
svlStreamType svlSampleCameraGeometry::GetType ( ) const
virtual

Implements svlSample.

unsigned char* svlSampleCameraGeometry::GetUCharPointer ( )
virtual

Implements svlSample.

const unsigned char* svlSampleCameraGeometry::GetUCharPointer ( ) const
virtual

Implements svlSample.

double svlSampleCameraGeometry::GetViewAngleHorizontal ( double  imagewidth,
const unsigned int  cam_id = 0 
) const
double svlSampleCameraGeometry::GetViewAngleVertical ( double  imageheight,
const unsigned int  cam_id = 0 
) const
int svlSampleCameraGeometry::GetViewUp ( vctDouble3 &  viewup,
const unsigned int  cam_id = 0 
) const
int svlSampleCameraGeometry::IsCameraPairRectified ( const unsigned int  cam_id1,
const unsigned int  cam_id2 
) const
int svlSampleCameraGeometry::IsCameraPerspective ( const unsigned int  cam_id) const
bool svlSampleCameraGeometry::IsInitialized ( ) const
virtual

Reimplemented from svlSample.

int svlSampleCameraGeometry::LoadCalibration ( const std::string &  filepath)
svlSampleCameraGeometry& svlSampleCameraGeometry::operator= ( const svlSampleCameraGeometry &  other)
int svlSampleCameraGeometry::RotateWorldAboutY ( double  degrees)
int svlSampleCameraGeometry::RotateWorldAboutZ ( double  degrees)
void svlSampleCameraGeometry::SerializeRaw ( std::ostream &  outputStream) const
virtual

Binary serialization

Implements svlSample.

void svlSampleCameraGeometry::SetExtrinsics ( const Extrinsics &  extrinsics,
const unsigned int  cam_id = 0 
)
void svlSampleCameraGeometry::SetExtrinsics ( const vctDouble3  om,
const vctDouble3  T,
const unsigned int  cam_id = 0 
)
void svlSampleCameraGeometry::SetExtrinsics ( const double  om0,
const double  om1,
const double  om2,
const double  T0,
const double  T1,
const double  T2,
const unsigned int  cam_id = 0 
)
void svlSampleCameraGeometry::SetIntrinsics ( const Intrinsics &  intrinsics,
const unsigned int  cam_id = 0 
)
void svlSampleCameraGeometry::SetIntrinsics ( const vctDouble2  fc,
const vctDouble2  cc,
const double  a,
const vctDouble7  kc,
const unsigned int  cam_id = 0 
)
void svlSampleCameraGeometry::SetIntrinsics ( const double  fcx,
const double  fcy,
const double  ccx,
const double  ccy,
const double  a,
const double  kc0,
const double  kc1,
const double  kc2,
const double  kc3,
const double  kc4,
const double  kc5,
const double  kc6,
const unsigned int  cam_id = 0 
)
void svlSampleCameraGeometry::SetPerspective ( const double  focallength,
const unsigned int  width,
const unsigned int  height,
const unsigned int  cam_id = 0 
)
int svlSampleCameraGeometry::SetSize ( const svlSample *  sample)
virtual

Implements svlSample.

int svlSampleCameraGeometry::SetSize ( const svlSample &  sample)
virtual

Implements svlSample.

int svlSampleCameraGeometry::SetWorldToCenter ( )
void svlSampleCameraGeometry::Wrld2Cam ( const unsigned int  cam_id,
vctDouble2 &  point2D,
const vctDouble3 &  point3D 
)
vctDouble2 svlSampleCameraGeometry::Wrld2Cam ( const unsigned int  cam_id,
const vctDouble3 &  point3D 
)

Friends And Related Function Documentation

CISST_EXPORT std::ostream& operator<< ( std::ostream &  stream,
const svlSampleCameraGeometry &  objref 
)
friend
The documentation for this class was generated from the following file:
Generated by   doxygen 1.8.6