pano::Camera Class Reference

#include <Camera.h>

Inheritance diagram for pano::Camera:

List of all members.

Public Member Functions
	Camera ()
	Camera (const std::string &camera_file)
const cv::Mat &	D () const
virtual void	deserialize (const cv::FileNode &fn)
float	fov_max () const
float	fovX () const
float	fovY () const
const cv::Size &	img_size () const
void	initUndistort ()
const cv::Mat &	K () const
const cv::Mat &	Kinv () const
void	ptsToRays (const std::vector< cv::Point2f > &pts, std::vector< cv::Point3f > &rays) const
void	raysToPts (const std::vector< cv::Point3f > &rays, std::vector< cv::Point2f > &pts) const
void	scale (float x, float y)
virtual void	serialize (cv::FileStorage &fs) const
void	setCameraIntrinsics (const std::string &filename)
void	setCameraIntrinsics (const cv::Mat &K, const cv::Mat &D, const cv::Size &img_size)
void	undistort (const cv::Mat &image, cv::Mat &uimage) const
virtual int	version () const
void	write (const std::string &file_name) const
	~Camera ()
Static Public Member Functions
static void	KtoFOV (const cv::Mat &K, float &fovx, float &fovy)
Private Member Functions
void	setupK ()
Private Attributes
cv::Mat	D_
	distortion coeffecients;
float	fov_x_
	camera field of view x not focal length.
float	fov_y_
	camera field of view y
cv::Size	img_size_
	image size that this is based on
cv::Mat	K_
	camera matrix
cv::Mat	Kinv_
	pre computed camera inverse, for projecting points
cv::Mat	P_
cv::Mat	Pinv_
cv::Mat	u_rm1_
cv::Mat	u_rm2_

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Detailed Description

Definition at line 17 of file Camera.h.

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Constructor & Destructor Documentation

pano::Camera::Camera

(

)

Definition at line 58 of file Camera.cpp.

pano::Camera::~Camera

(

)

Definition at line 69 of file Camera.cpp.

pano::Camera::Camera

(

const std::string &

camera_file

)

[explicit]

Definition at line 64 of file Camera.cpp.

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Member Function Documentation

const cv::Mat& pano::Camera::D

(

)

const [inline]

Definition at line 60 of file Camera.h.

void pano::Camera::deserialize

(

const cv::FileNode &

fn

)

[virtual]

Implements pano::serializable.

Definition at line 166 of file Camera.cpp.

float pano::Camera::fov_max

(

)

const [inline]

Definition at line 44 of file Camera.h.

float pano::Camera::fovX

(

)

const [inline]

Definition at line 36 of file Camera.h.

float pano::Camera::fovY

(

)

const [inline]

Definition at line 40 of file Camera.h.

const cv::Size& pano::Camera::img_size

(

)

const [inline]

Definition at line 48 of file Camera.h.

void pano::Camera::initUndistort

(

)

Definition at line 73 of file Camera.cpp.

const cv::Mat& pano::Camera::K

(

)

const [inline]

Definition at line 52 of file Camera.h.

const cv::Mat& pano::Camera::Kinv

(

)

const [inline]

Definition at line 56 of file Camera.h.

void pano::Camera::KtoFOV	(	const cv::Mat &	K,
		float &	fovx,
		float &	fovy
	)		[static]

Definition at line 177 of file Camera.cpp.

void pano::Camera::ptsToRays	(	const std::vector< cv::Point2f > &	pts,
		std::vector< cv::Point3f > &	rays
	)		const

Definition at line 86 of file Camera.cpp.

void pano::Camera::raysToPts	(	const std::vector< cv::Point3f > &	rays,
		std::vector< cv::Point2f > &	pts
	)		const

Definition at line 92 of file Camera.cpp.

void pano::Camera::scale	(	float	x,
		float	y
	)

Definition at line 136 of file Camera.cpp.

void pano::Camera::serialize

(

cv::FileStorage &

fs

)

const [virtual]

Implements pano::serializable.

Definition at line 154 of file Camera.cpp.

void pano::Camera::setCameraIntrinsics

(

const std::string &

filename

)

Definition at line 117 of file Camera.cpp.

void pano::Camera::setCameraIntrinsics	(	const cv::Mat &	K,
		const cv::Mat &	D,
		const cv::Size &	img_size
	)

Definition at line 126 of file Camera.cpp.

void pano::Camera::setupK

(

)

[private]

Definition at line 109 of file Camera.cpp.

void pano::Camera::undistort	(	const cv::Mat &	image,
		cv::Mat &	uimage
	)		const

Definition at line 80 of file Camera.cpp.

virtual int pano::Camera::version

(

)

const [inline, virtual]

Implements pano::serializable.

Definition at line 69 of file Camera.h.

void pano::Camera::write

(

const std::string &

file_name

)

const

Definition at line 149 of file Camera.cpp.

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Member Data Documentation

cv::Mat pano::Camera::D_ [private]

distortion coeffecients;

Definition at line 85 of file Camera.h.

float pano::Camera::fov_x_ [private]

camera field of view x not focal length.

Definition at line 89 of file Camera.h.

float pano::Camera::fov_y_ [private]

camera field of view y

Definition at line 90 of file Camera.h.

cv::Size pano::Camera::img_size_ [private]

image size that this is based on

Definition at line 87 of file Camera.h.

cv::Mat pano::Camera::K_ [private]

camera matrix

Definition at line 82 of file Camera.h.

cv::Mat pano::Camera::Kinv_ [private]

pre computed camera inverse, for projecting points

Definition at line 83 of file Camera.h.

cv::Mat pano::Camera::P_ [private]

Definition at line 92 of file Camera.h.

cv::Mat pano::Camera::Pinv_ [private]

Definition at line 93 of file Camera.h.

cv::Mat pano::Camera::u_rm1_ [private]

Definition at line 94 of file Camera.h.

cv::Mat pano::Camera::u_rm2_ [private]

Definition at line 94 of file Camera.h.

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

• Camera.h
• Camera.cpp