firevision::Calibration Class Reference

A Calibration matrix for a finite camera. More...

#include <>>

Inheritance diagram for firevision::Calibration:

List of all members.

Public Member Functions
	Calibration (const Calibration &cal)
	Copy Constructor.
	Calibration (const fawkes::Matrix &k)
	Constructor.
virtual	~Calibration ()
	Destructor.
Matrix	K () const
	Calibration getter.
Public Member Functions inherited from fawkes::Matrix
	Matrix (unsigned int num_rows=0, unsigned int num_cols=0, float *data=0, bool manage_own_memory=true)
	Constructor.
	Matrix (const Matrix &tbc)
	Copy-constructor.
	~Matrix ()
	Destructor.
void	size (unsigned int &num_rows, unsigned int &num_cols) const
	Determines the dimensions of the matrix.
unsigned int	num_rows () const
	Return the number of rows in the Matrix.
unsigned int	num_cols () const
	Return the number of columns in the Matrix.
Matrix &	id ()
	Sets the diagonal elements to 1.0 and all other to 0.0.
Matrix &	transpose ()
	Transposes the matrix.
Matrix	get_transpose () const
	Computes a matrix that is the transposed of this matrix.
Matrix &	invert ()
	Inverts the matrix.
Matrix	get_inverse () const
	Computes a matrix that is the inverse of this matrix.
float	det () const
	Computes the determinant of the matrix.
const float *	get_data () const
	Returns the const data pointer.
float *	get_data ()
	Returns the data pointer.
Matrix	get_submatrix (unsigned int row, unsigned int col, unsigned int num_rows, unsigned int num_cols) const
	Returns a submatrix of the matrix.
void	overlay (unsigned int row, unsigned int col, const Matrix &m)
	Overlays another matrix over this matrix.
float	operator() (unsigned int row, unsigned int col) const
	(Read-only) Access-operator.
float &	operator() (unsigned int row, unsigned int col)
	(RW) Access operator.
Matrix &	operator= (const Matrix &rhs)
	Assignment operator.
Matrix	operator* (const Matrix &rhs) const
	Matrix multiplication operator.
Matrix &	operator*= (const Matrix &rhs)
	Combined matrix-multipliation and assignement operator.
Vector	operator* (const Vector &cv) const
	Multiply the matrix with given vector.
Matrix	operator* (const float &f) const
	Mulitply every element of the matrix with the given scalar.
Matrix &	operator*= (const float &f)
	Combined scalar multiplication and assignment operator.
Matrix	operator/ (const float &f) const
	Divide every element of the matrix with the given scalar.
Matrix &	operator/= (const float &f)
	Combined scalar division and assignment operator.
Matrix	operator+ (const Matrix &rhs) const
	Addition operator.
Matrix &	operator+= (const Matrix &rhs)
	Add-assign operator.
Matrix	operator- (const Matrix &rhs) const
	Subtraction operator.
Matrix &	operator-= (const Matrix &rhs)
	Subtract-assign operator.
bool	operator== (const Matrix &rhs) const
	Comparison operator.
void	print_info (const char *name=0, const char *col_sep=0, const char *row_sep=0) const
	Print matrix to standard out.

Protected Member Functions
	Calibration ()
	Hidden default constructor.
Calibration &	K (const fawkes::Matrix &k)
	Sets the calibration matrix.

Additional Inherited Members
Static Public Member Functions inherited from fawkes::Matrix
static Matrix	get_id (unsigned int size, float *data_buffer=0)
	Creates a quadratic matrix with dimension size and sets the diagonal elements to 1.0.
static Matrix	get_diag (unsigned int size, float value, float *data_buffer=0)
	Creates a quadratic matrix with dimension size and sets the diagonal elements to value.

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Detailed Description

A Calibration matrix for a finite camera.

Author:

Christof Rath

Definition at line 35 of file calibration.h.

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Constructor & Destructor Documentation

firevision::Calibration::Calibration

(

const Calibration &

cal

)

Copy Constructor.

Parameters:

cal	the Calibration to copy

Definition at line 59 of file calibration.cpp.

References K().

firevision::Calibration::Calibration

(

const fawkes::Matrix &

k

)

Constructor.

Parameters:

k	3x3 Calibration matrix of the camera

Definition at line 51 of file calibration.cpp.

References K().

firevision::Calibration::~Calibration ( )

virtual

Destructor.

Definition at line 66 of file calibration.cpp.

firevision::Calibration::Calibration ( )

protected

Hidden default constructor.

Definition at line 43 of file calibration.cpp.

References fawkes::Matrix::id().

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Member Function Documentation

Matrix firevision::Calibration::K

(

)

const

Calibration getter.

Returns:

The calibration matrix

Definition at line 74 of file calibration.cpp.

References fawkes::Matrix::get_submatrix().

Referenced by Calibration(), and firevision::CCDCalibration::CCDCalibration().

Calibration & firevision::Calibration::K ( const fawkes::Matrix &  k )

protected

Sets the calibration matrix.

The matrix k has a size 3x3. The elements (row by row): scale factor in x-direction, skew, x-coordinate of the principal point 0, scale factor in y-direction, y-coordinate of the principal point 0, 0, 1

Parameters:

k	the calibration matrix

Returns:

reference to this instance

Definition at line 88 of file calibration.cpp.

References fawkes::Matrix::id(), fawkes::Matrix::overlay(), and fawkes::Matrix::size().

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

• src/libs/fvmodels/camera/calibration.h
• src/libs/fvmodels/camera/calibration.cpp