#include <svlCameraGeometry.h>

Classes
struct	_Extrinsics

struct	_Intrinsics

Public Types
typedef struct svlCameraGeometry::_Intrinsics	Intrinsics

typedef struct svlCameraGeometry::_Extrinsics	Extrinsics

Public Member Functions
void	SetIntrinsics (const Intrinsics &intrinsics, const unsigned int cam_id=0)

void	SetIntrinsics (const double fc[2], const double cc[2], const double a, const double kc[5], 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 unsigned int cam_id=0)

void	SetExtrinsics (const Extrinsics &extrinsics, const unsigned int cam_id=0)

void	SetExtrinsics (const double om[3], const double T[3], 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)

void	SetPerspective (const double focallength, const unsigned int width, const unsigned int height, const unsigned int cam_id=0)

int	LoadCalibration (const std::string &filepath)

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, 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)

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 ()

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

Member Typedef Documentation

typedef struct svlCameraGeometry::_Extrinsics svlCameraGeometry::Extrinsics

typedef struct svlCameraGeometry::_Intrinsics svlCameraGeometry::Intrinsics

Member Function Documentation

template<class _ValueType >

void svlCameraGeometry::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> svlCameraGeometry::Cam2Wrld	(	const unsigned int	cam_id1,
		const vctFixedSizeVector< _ValueType, 2 > &	point2D_1,
		const unsigned int	cam_id2,
		const vctFixedSizeVector< _ValueType, 2 > &	point2D_2
	)

void svlCameraGeometry::Empty ( )

int svlCameraGeometry::GetAxis	(	vctDouble3 &	axis,
		const unsigned int	cam_id = `0`
	)		const

int svlCameraGeometry::GetExtrinsics	(	Extrinsics &	extrinsics,
		const unsigned int	cam_id = `0`
	)		const

Extrinsics svlCameraGeometry::GetExtrinsics ( const unsigned int cam_id = 0 ) const

int svlCameraGeometry::GetExtrinsics	(	double &	om0,
		double &	om1,
		double &	om2,
		double &	T0,
		double &	T1,
		double &	T2,
		const unsigned int	cam_id = `0`
	)

const Extrinsics* svlCameraGeometry::GetExtrinsicsPtr ( const unsigned int cam_id = 0 ) const

int svlCameraGeometry::GetIntrinsics	(	Intrinsics &	intrinsics,
		const unsigned int	cam_id = `0`
	)		const

Intrinsics svlCameraGeometry::GetIntrinsics ( const unsigned int cam_id = 0 ) const

int svlCameraGeometry::GetIntrinsics	(	double &	fcx,
		double &	fcy,
		double &	ccx,
		double &	ccy,
		double &	a,
		double &	kc0,
		double &	kc1,
		double &	kc2,
		double &	kc3,
		double &	kc4,
		const unsigned int	cam_id = `0`
	)

const Intrinsics* svlCameraGeometry::GetIntrinsicsPtr ( const unsigned int cam_id = 0 ) const

int svlCameraGeometry::GetPosition	(	vctDouble3 &	position,
		const unsigned int	cam_id = `0`
	)		const

int svlCameraGeometry::GetPositionAxisViewUp	(	vctDouble3 &	position,
		vctDouble3 &	axis,
		vctDouble3 &	viewup,
		const unsigned int	cam_id = `0`
	)		const

double svlCameraGeometry::GetViewAngleHorizontal	(	double	imagewidth,
		const unsigned int	cam_id = `0`
	)		const

double svlCameraGeometry::GetViewAngleVertical	(	double	imageheight,
		const unsigned int	cam_id = `0`
	)		const

int svlCameraGeometry::GetViewUp	(	vctDouble3 &	viewup,
		const unsigned int	cam_id = `0`
	)		const

int svlCameraGeometry::IsCameraPairRectified	(	const unsigned int	cam_id1,
		const unsigned int	cam_id2
	)		const

int svlCameraGeometry::IsCameraPerspective ( const unsigned int cam_id ) const

int svlCameraGeometry::LoadCalibration ( const std::string & filepath )

int svlCameraGeometry::RotateWorldAboutY ( double degrees )

int svlCameraGeometry::RotateWorldAboutZ ( double degrees )

void svlCameraGeometry::SetExtrinsics	(	const Extrinsics &	extrinsics,
		const unsigned int	cam_id = `0`
	)

void svlCameraGeometry::SetExtrinsics	(	const double	om[3],
		const double	T[3],
		const unsigned int	cam_id = `0`
	)

void svlCameraGeometry::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 svlCameraGeometry::SetIntrinsics	(	const Intrinsics &	intrinsics,
		const unsigned int	cam_id = `0`
	)

void svlCameraGeometry::SetIntrinsics	(	const double	fc[2],
		const double	cc[2],
		const double	a,
		const double	kc[5],
		const unsigned int	cam_id = `0`
	)

void svlCameraGeometry::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 unsigned int	cam_id = `0`
	)

void svlCameraGeometry::SetPerspective	(	const double	focallength,
		const unsigned int	width,
		const unsigned int	height,
		const unsigned int	cam_id = `0`
	)

int svlCameraGeometry::SetWorldToCenter ( )

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

vctDouble2 svlCameraGeometry::Wrld2Cam	(	const unsigned int	cam_id,
		const vctDouble3 &	point3D
	)

Friends And Related Function Documentation

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

friend

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstStereoVision/svlCameraGeometry.h

Classes

Public Types

Public Member Functions

Friends

Member Typedef Documentation

Member Function Documentation

Friends And Related Function Documentation