fovis::PrimeSenseCalibration Class Reference

Computes useful information from a PrimeSenseCalibrationParameters object. More...

#include <primesense_depth.hpp>

List of all members.

Public Member Functions
Eigen::Matrix4d	getDepthUvdToDepthXyz () const
Eigen::Matrix< double, 3, 4 >	getDepthUvdToRgbUvw () const
Eigen::Matrix4d	getDepthUvdToRgbXyz () const
Eigen::Isometry3d	getDepthXyzToRgbXyz () const
const PrimeSenseCalibrationParameters &	getParameters () const
const Rectification *	getRgbRectification () const
Eigen::Matrix< double, 3, 4 >	getRgbXyzToRgbUvw () const
	PrimeSenseCalibration (const PrimeSenseCalibrationParameters &params)
	~PrimeSenseCalibration ()
Private Attributes
PrimeSenseCalibrationParameters	params
Rectification *	rgb_rectification

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Detailed Description

Computes useful information from a PrimeSenseCalibrationParameters object.

Definition at line 93 of file primesense_depth.hpp.

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Constructor & Destructor Documentation

fovis::PrimeSenseCalibration::PrimeSenseCalibration

(

const PrimeSenseCalibrationParameters &

params

)

Constructs a PrimeSenseCalibration object using the specified parameters.

Definition at line 11 of file primesense_depth.cpp.

fovis::PrimeSenseCalibration::~PrimeSenseCalibration

(

)

Definition at line 17 of file primesense_depth.cpp.

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Member Function Documentation

Eigen::Matrix4d fovis::PrimeSenseCalibration::getDepthUvdToDepthXyz

(

)

const [inline]

Compute the 4x4 transformation matrix mapping [ u, v, disparity, 1 ] coordinates to [ x, y, z, w ] homogeneous coordinates in depth camera space.

Definition at line 108 of file primesense_depth.hpp.

Eigen::Matrix<double, 3, 4> fovis::PrimeSenseCalibration::getDepthUvdToRgbUvw

(

)

const [inline]

Convenience function to retrieve the transformation mapping [u, v, disparity] coordinates in the depth camera space to [u, v, w] coordinates in rectified RGB image space. In most cases, the w coordinate will not be 1, so to normalize the [u, v, w] homogeneous coordinate to pixel coordinates, u and v need to be divided by w.

Definition at line 153 of file primesense_depth.hpp.

Eigen::Matrix4d fovis::PrimeSenseCalibration::getDepthUvdToRgbXyz

(

)

const [inline]

Convenience function to retrieve the transformation mapping [u, v, disparity] coordinates in the depth camera space to [X, Y, Z, W] coordinates in RGB XYZ space.

Definition at line 162 of file primesense_depth.hpp.

Eigen::Isometry3d fovis::PrimeSenseCalibration::getDepthXyzToRgbXyz

(

)

const [inline]

Compute the transformation mapping [ x, y, z, w ] coordinates in depth camera space to RGB camera space.

Definition at line 128 of file primesense_depth.hpp.

const PrimeSenseCalibrationParameters& fovis::PrimeSenseCalibration::getParameters

(

)

const [inline]

Returns:

the calibration parameters used to initialize this object.

Definition at line 169 of file primesense_depth.hpp.

const Rectification* fovis::PrimeSenseCalibration::getRgbRectification

(

)

const [inline]

return the rectification object calculated from the calibration parameters.

Definition at line 176 of file primesense_depth.hpp.

Eigen::Matrix<double, 3, 4> fovis::PrimeSenseCalibration::getRgbXyzToRgbUvw

(

)

const [inline]

Compute the 3x4 transformation matrix projecting [ x, y, z, w ] coordinates in RGB camera space to RGB image space.

Definition at line 140 of file primesense_depth.hpp.

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Member Data Documentation

PrimeSenseCalibrationParameters fovis::PrimeSenseCalibration::params [private]

Definition at line 181 of file primesense_depth.hpp.

Rectification* fovis::PrimeSenseCalibration::rgb_rectification [private]

Definition at line 183 of file primesense_depth.hpp.

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

• primesense_depth.hpp
• primesense_depth.cpp