dlr::computerVision::CameraIntrinsics Class Reference

This abstract base class defines an interface for classes that describe camera projection and distortion parameters. More...

#include <cameraIntrinsics.h>

Inheritance diagram for dlr::computerVision::CameraIntrinsics:

[legend]

List of all members.

Public Member Functions
	CameraIntrinsics ()
	The default constructor currently does nothing.
virtual	~CameraIntrinsics ()
	The destructor currently does nothing.
virtual dlr::numeric::Vector2D	project (const dlr::numeric::Vector3D &point) const =0
	This function should be overridden by derived classes so that it takes points in 3D camera coordinates and projects them into image pixel coordinates.
virtual geometry::Ray3D	reverseProject (const dlr::numeric::Index2D &pixelPosition, bool normalize=true) const
	This function returns a ray in 3D camera coordinates starting at the camera focus, and passing through the center of the specified pixel.
virtual geometry::Ray3D	reverseProject (const dlr::numeric::Vector2D &pixelPosition, bool normalize=true) const =0
	This function should be overridden by derived classes to return a ray in 3D camera coordinates starting at the camera focus and passing through the specified pixel position.

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Detailed Description

This abstract base class defines an interface for classes that describe camera projection and distortion parameters.

There are two coordinate systems referenced in the documentation for this class:

The "camera coordinate system" has its origin at the camera focus, its Z axis pointing in the direction of camera gaze, its X axis pointing to the right (from the camera's perspective), and its Y axis pointing down. The upper left corner of the image has pixel coordinate (0, 0). The center of the upper left pixel of the image has pixel coordinate (0.5, 0.5). The upper left corner of the next-to-leftmost pixel in the top row is at pixel coordinate (1, 0).

Definition at line 43 of file cameraIntrinsics.h.

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Constructor & Destructor Documentation

dlr::computerVision::CameraIntrinsics::CameraIntrinsics

(

)

[inline]

The default constructor currently does nothing.

Definition at line 49 of file cameraIntrinsics.h.

virtual dlr::computerVision::CameraIntrinsics::~CameraIntrinsics

(

)

[inline, virtual]

The destructor currently does nothing.

Definition at line 56 of file cameraIntrinsics.h.

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Member Function Documentation

virtual dlr::numeric::Vector2D dlr::computerVision::CameraIntrinsics::project

(

const dlr::numeric::Vector3D &

point

)

const [pure virtual]

This function should be overridden by derived classes so that it takes points in 3D camera coordinates and projects them into image pixel coordinates.

Parameters:

point

This argument is the 3D point to be projected.

Returns:

The return value is the resulting pixel coordinate.

Implemented in dlr::computerVision::CameraIntrinsicsPinhole, and dlr::computerVision::CameraIntrinsicsPlumbBob.

virtual geometry::Ray3D dlr::computerVision::CameraIntrinsics::reverseProject	(	const dlr::numeric::Vector2D &	pixelPosition,
		bool	normalize = true
	)			const [pure virtual]

This function should be overridden by derived classes to return a ray in 3D camera coordinates starting at the camera focus and passing through the specified pixel position.

Parameters:

	pixelPosition	This argument is the point in pixel coordinates through which the returned ray should pass.
	normalize	This argument indicates whether the ray should be normalized to unit length before being returned.

Returns:

The return value is the resulting ray.

Implemented in dlr::computerVision::CameraIntrinsicsPinhole, and dlr::computerVision::CameraIntrinsicsPlumbBob.

dlr::geometry::Ray3D dlr::computerVision::CameraIntrinsics::reverseProject	(	const dlr::numeric::Index2D &	pixelPosition,
		bool	normalize = true
	)			const [inline, virtual]

This function returns a ray in 3D camera coordinates starting at the camera focus, and passing through the center of the specified pixel.

Parameters:

	pixelPosition	This argument is the pixel through which the ray should pass.
	normalize	This argument indicates whether the ray should be normalized to unit length before being returned.

Returns:

The return value is the resulting ray.

Definition at line 131 of file cameraIntrinsics.h.

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

• cameraIntrinsics.h