Abstract class for projective cameras. More...

#include <fvmodels/camera/projective_cam.h>

Inheritance diagram for firevision::ProjectiveCam:

Public Member Functions
	ProjectiveCam (const ProjectiveCam &pc)
	Copy Constructor.
virtual	~ProjectiveCam ()
	Destructor.
virtual ProjectiveCam &	set_location (const fawkes::HomTransform &loc)
	Sets a new location for the camera.
virtual ProjectiveCam &	set_location (float roll, float pitch, float yaw, float height, float x=0, float y=0)
	Sets a new location for the camera.
virtual fawkes::cart_coord_2d_t	get_GPA_world_coord (const center_in_roi_t &img_p) const
	Returns a point in the world under the ground plane assumption.
virtual center_in_roi_t	get_GPA_image_coord (const fawkes::cart_coord_2d_t &wld_p) const
	Returns an image point of a world point under the ground plane assumption.
virtual void	print_info (const char name=0, const char col_sep=0, const char *row_sep=0) const
	Prints the matrix P.

Protected Member Functions
	ProjectiveCam (const Calibration &cal, const fawkes::HomTransform *loc=0)
	Constructor.
	ProjectiveCam (const Calibration &cal, float roll, float pitch, float yaw, float height, float x=0, float y=0)
	Constructor.
Calibration	get_cal () const
	Calibration getter.
fawkes::Matrix	get_p () const
	P matrix getter.
fawkes::Matrix	get_GPA_p () const
	Returns the modified P matrix.

Detailed Description

Abstract class for projective cameras.

Author:: Christof Rath

Definition at line 49 of file projective_cam.h.

Constructor & Destructor Documentation

firevision::ProjectiveCam::ProjectiveCam ( const ProjectiveCam & pc )

Copy Constructor.

Parameters:

pc	the ProjectiveCam to copy

Definition at line 111 of file projective_cam.cpp.

firevision::ProjectiveCam::~ProjectiveCam ( )

virtual

Destructor.

Definition at line 129 of file projective_cam.cpp.

firevision::ProjectiveCam::ProjectiveCam	(	const Calibration &	cal,
		const fawkes::HomTransform *	loc = `0`
	)

protected

Constructor.

Parameters:

cal	Calibration matrix of the camera
loc	Location of the camera (= translation + rotation)

Definition at line 77 of file projective_cam.cpp.

References set_location().

firevision::ProjectiveCam::ProjectiveCam	(	const Calibration &	cal,
		float	roll,
		float	pitch,
		float	yaw,
		float	height,
		float	x = `0`,
		float	y = `0`
	)

protected

Constructor.

Parameters:

cal	Calibration matrix of the camera
roll	of the camera
pitch	of the camera
yaw	of the camera
height	of the camera
x	of the camera (in front if yaw is zero)
y	of the camera (left if yaw is zero)

Definition at line 96 of file projective_cam.cpp.

References set_location().

Member Function Documentation

Calibration firevision::ProjectiveCam::get_cal ( ) const

protected

Calibration getter.

Returns:: the calibration matrix

Definition at line 242 of file projective_cam.cpp.

center_in_roi_t firevision::ProjectiveCam::get_GPA_image_coord ( const fawkes::cart_coord_2d_t & wld_p ) const

virtual

Returns an image point of a world point under the ground plane assumption.

Parameters:

wld_p a point on the ground (x-meters, y-meters)

Returns:: a point in the image (x-px, y-px)

Definition at line 219 of file projective_cam.cpp.

References fawkes::Vector::set(), firevision::center_in_roi_t::x, fawkes::cart_coord_2d_t::x, fawkes::Vector::x(), firevision::center_in_roi_t::y, fawkes::cart_coord_2d_t::y, fawkes::Vector::y(), and fawkes::Vector::z().

Matrix firevision::ProjectiveCam::get_GPA_p ( ) const

protected

Returns the modified P matrix.

With the ground plane assumption the third column can be ignored.

Returns:: modified P matrix

Definition at line 262 of file projective_cam.cpp.

References fawkes::Matrix::get_submatrix(), and fawkes::Matrix::overlay().

fawkes::cart_coord_2d_t firevision::ProjectiveCam::get_GPA_world_coord ( const center_in_roi_t & img_p ) const

virtual

Returns a point in the world under the ground plane assumption.

Parameters:

img_p a point in the image (x-px, y-px)

Returns:: a point in the world (x-meters, y-meters)

Definition at line 196 of file projective_cam.cpp.

References firevision::center_in_roi_t::x, fawkes::Vector::x(), firevision::center_in_roi_t::y, fawkes::Vector::y(), and fawkes::Vector::z().

Referenced by firevision::BackProjectionPositionModel::calc().

Matrix firevision::ProjectiveCam::get_p ( ) const

protected

P matrix getter.

Returns:: the P matrix

Definition at line 252 of file projective_cam.cpp.

void firevision::ProjectiveCam::print_info	(	const char *	name = `0`,
		const char *	col_sep = `0`,
		const char *	row_sep = `0`
	)		const

virtual

Prints the matrix P.

Parameters:

name	Heading of the output
col_sep	a string used to separate columns (defaults to '\t')
row_sep	a string used to separate rows (defaults to '\n')

Definition at line 277 of file projective_cam.cpp.

References fawkes::Matrix::print_info().

ProjectiveCam & firevision::ProjectiveCam::set_location ( const fawkes::HomTransform & loc )

virtual

Sets a new location for the camera.

Parameters:

loc	the new location (remember the transformation from world frame into cam frame [rot_x(-pi/2)+rot_z(-pi/2)] before the rest of the transformation)

Returns:: a reference to the camera

Definition at line 173 of file projective_cam.cpp.

References fawkes::HomTransform::get_matrix(), fawkes::Matrix::get_submatrix(), fawkes::Matrix::invert(), and fawkes::Matrix::overlay().

Referenced by firevision::BackProjectionPositionModel::calc(), ProjectiveCam(), and set_location().

ProjectiveCam & firevision::ProjectiveCam::set_location	(	float	roll,
		float	pitch,
		float	yaw,
		float	height,
		float	x = `0`,
		float	y = `0`
	)

virtual

Sets a new location for the camera.

Parameters:

roll	of the camera
pitch	of the camera
height	of the camera
yaw	of the camera
x	of the camera (in front if yaw is zero)
y	of the camera (left if yaw is zero)

Returns:: a reference to the camera

Definition at line 147 of file projective_cam.cpp.

References fawkes::HomTransform::rotate_x(), fawkes::HomTransform::rotate_y(), fawkes::HomTransform::rotate_z(), set_location(), and fawkes::HomTransform::trans().

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

src/libs/fvmodels/camera/projective_cam.h
src/libs/fvmodels/camera/projective_cam.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation