ntk::Pose3D Class Reference

#include <pose_3d.h>

List of all members.

Classes
class	PrivatePose3D
Public Member Functions
	Pose3D ()
	~Pose3D ()
	Pose3D (const Pose3D &rhs)
Pose3D &	operator= (const Pose3D &rhs)
virtual void	saveToYaml (cv::FileStorage &yaml) const
virtual void	loadFromYaml (cv::FileNode yaml)
void	setCameraParametersFromOpencv (const cv::Mat1d &cv_matrix)
void	setCameraParameters (double fx, double fy, double cx, double cy, bool orthographic=false)
void	toLeftCamera (const cv::Mat1d &intrinsics_matrix, const cv::Mat1d &R, const cv::Mat1d &T)
void	toRightCamera (const cv::Mat1d &cv_matrix, const cv::Mat1d &R, const cv::Mat1d &T)
Pose3D	computeDeltaPoseWith (const Pose3D &new_pose) const
double	focalX () const
double	focalY () const
double	imageCenterX () const
double	imageCenterY () const
bool	focalAreIdentical () const
double	meanFocal () const
bool	isValid () const
void	setOrthographic (bool ortho)
bool	isOrthographic () const
const cv::Vec3f	cvTranslation () const
const cv::Vec3f	cvEulerRotation () const
const cv::Vec3f	cvRodriguesRotation () const
const cv::Mat1f	cvCameraTransform () const
cv::Mat1f	cvInvCameraTransform () const
cv::Mat1f	cvProjectionMatrix () const
cv::Mat1f	cvInvProjectionMatrix () const
void	resetCameraTransform ()
void	invert ()
void	setCameraTransform (const cv::Mat1d &tvec, const cv::Mat1d &rvec)
void	setCameraTransform (const cv::Mat1f &H)
void	setCameraTransformFromCvFundamentalMatrix (const cv::Mat1f &F)
void	applyTransformBefore (const Pose3D &rhs_pose)
void	applyTransformBefore (const cv::Vec3f &cvTranslation, const cv::Vec3f &rotation_euler_angles)
void	applyTransformBefore (const cv::Vec3f &cvTranslation, const cv::Mat1d &rotation_matrix)
void	applyTransformBeforeRodrigues (const cv::Vec3f &cvTranslation, const cv::Vec3f &rotation_rodrigues)
void	applyTransformAfter (const Pose3D &rhs_pose)
void	applyTransformAfter (const cv::Vec3f &translation, const cv::Vec3f &rotation_euler_angles)
void	applyTransformAfter (const cv::Vec3f &translation, const cv::Mat1d &rotation_matrix)
void	applyTransformAfterRodrigues (const cv::Vec3f &translation, const cv::Vec3f &rotation_rodrigues)
cv::Point3f	cameraTransform (const cv::Point3f &p) const
cv::Point3f	invCameraTransform (const cv::Point3f &p) const
cv::Point3f	projectToImage (const cv::Point3f &p) const
void	projectToImage (const cv::Mat3f &voxels, const cv::Mat1b &mask, cv::Mat3f &pixels) const
cv::Point3f	unprojectFromImage (const cv::Point2f &p, double depth) const
cv::Point3f	unprojectFromImage (const cv::Point3f &p) const
void	unprojectFromImage (const cv::Mat1f &pixels, const cv::Mat1b &mask, cv::Mat3f &voxels) const
Friends
class	PrivatePose3D

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Detailed Description

Represent transformations within a Pin-Hole or orthographic camera model. Can be used both for 3D camera transforms and projections on an image plane using perspective or othogonal model.

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Constructor & Destructor Documentation

ntk::Pose3D::Pose3D

(

)

ntk::Pose3D::~Pose3D

(

)

ntk::Pose3D::Pose3D

(

const Pose3D &

rhs

)

---

Member Function Documentation

void ntk::Pose3D::applyTransformAfter

(

const Pose3D &

rhs_pose

)

Apply a camera transform on the left.

void ntk::Pose3D::applyTransformAfter	(	const cv::Vec3f &	translation,
		const cv::Vec3f &	rotation_euler_angles
	)

void ntk::Pose3D::applyTransformAfter	(	const cv::Vec3f &	translation,
		const cv::Mat1d &	rotation_matrix
	)

void ntk::Pose3D::applyTransformAfterRodrigues	(	const cv::Vec3f &	translation,
		const cv::Vec3f &	rotation_rodrigues
	)

void ntk::Pose3D::applyTransformBefore	(	const cv::Vec3f &	cvTranslation,
		const cv::Mat1d &	rotation_matrix
	)

void ntk::Pose3D::applyTransformBefore

(

const Pose3D &

rhs_pose

)

Apply a camera transform on the right.

void ntk::Pose3D::applyTransformBefore	(	const cv::Vec3f &	cvTranslation,
		const cv::Vec3f &	rotation_euler_angles
	)

void ntk::Pose3D::applyTransformBeforeRodrigues	(	const cv::Vec3f &	cvTranslation,
		const cv::Vec3f &	rotation_rodrigues
	)

cv::Point3f ntk::Pose3D::cameraTransform

(

const cv::Point3f &

p

)

const

Apply the camera transform on a given 3D point.

Pose3D ntk::Pose3D::computeDeltaPoseWith

(

const Pose3D &

new_pose

)

const

Compute the delta camera transform with another pose.

const cv::Mat1f ntk::Pose3D::cvCameraTransform

(

)

const

Returns the camera transform as an OpenCV 4x4 matrix.

const cv::Vec3f ntk::Pose3D::cvEulerRotation

(

)

const

Returns the camera rotation as OpenCV vector of euler angles. First angle is around X, second around Y and third around Z.

cv::Mat1f ntk::Pose3D::cvInvCameraTransform

(

)

const

Returns the inverse camera transform as an OpenCV 4x4 matrix.

cv::Mat1f ntk::Pose3D::cvInvProjectionMatrix

(

)

const

Returns the 4x4 inverse projection matrix from image to plane.

cv::Mat1f ntk::Pose3D::cvProjectionMatrix

(

)

const

Returns the 4x4 projection matrix (intrinsics * camera)

const cv::Vec3f ntk::Pose3D::cvRodriguesRotation

(

)

const

Returns the camera rotation as a rodrigues vector.

const cv::Vec3f ntk::Pose3D::cvTranslation

(

)

const

Returns the camera translation as OpenCV 3x3 matrix.

bool ntk::Pose3D::focalAreIdentical

(

)

const [inline]

Whether pixels have square size.

double ntk::Pose3D::focalX

(

)

const [inline]

Focal lenghts in pixels.

double ntk::Pose3D::focalY

(

)

const [inline]

double ntk::Pose3D::imageCenterX

(

)

const [inline]

Image plane center.

double ntk::Pose3D::imageCenterY

(

)

const [inline]

cv::Point3f ntk::Pose3D::invCameraTransform

(

const cv::Point3f &

p

)

const

Apply the inverse camera transform on a given 3D point.

void ntk::Pose3D::invert

(

)

Invert the camera transform.

bool ntk::Pose3D::isOrthographic

(

)

const [inline]

bool ntk::Pose3D::isValid

(

)

const [inline]

Whether it can be used as a complete camera model.

virtual void ntk::Pose3D::loadFromYaml

(

cv::FileNode

yaml

)

[virtual]

double ntk::Pose3D::meanFocal

(

)

const [inline]

Mean focal.

Pose3D & ntk::Pose3D::operator=

(

const Pose3D &

rhs

)

void ntk::Pose3D::projectToImage	(	const cv::Mat3f &	voxels,
		const cv::Mat1b &	mask,
		cv::Mat3f &	pixels
	)			const

Project a set of 3D points onto image plane.

cv::Point3f ntk::Pose3D::projectToImage

(

const cv::Point3f &

p

)

const

Project a 3D point to image plane.

void ntk::Pose3D::resetCameraTransform

(

)

Reset the camera transform to Identity.

virtual void ntk::Pose3D::saveToYaml

(

cv::FileStorage &

yaml

)

const [virtual]

void ntk::Pose3D::setCameraParameters	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		bool	orthographic = false
	)

Set parameters from intrinsics matrix.

void ntk::Pose3D::setCameraParametersFromOpencv

(

const cv::Mat1d &

cv_matrix

)

Set parameters from intrinsics matrix.

void ntk::Pose3D::setCameraTransform	(	const cv::Mat1d &	tvec,
		const cv::Mat1d &	rvec
	)

Set the 3D camera transformation from OpenCV translation and rodrigues vector.

void ntk::Pose3D::setCameraTransform

(

const cv::Mat1f &

H

)

Set the 3D camera transform from 4x4 matrix.

void ntk::Pose3D::setCameraTransformFromCvFundamentalMatrix

(

const cv::Mat1f &

F

)

Set the 3D camera transform from 3x3 fundamental matrix.

Compute 3D rotation and translation from a fundamental matrix. Assumes both images come from the same camera. See http://en.wikipedia.org/wiki/Essential_matrix for details. WARNING 1: the translation is known up to a scale. WARNING 2: this implementation is not tested and is probably wrong.

void ntk::Pose3D::setOrthographic

(

bool

ortho

)

Change from pin-hole to orthographic model.

void ntk::Pose3D::toLeftCamera	(	const cv::Mat1d &	intrinsics_matrix,
		const cv::Mat1d &	R,
		const cv::Mat1d &	T
	)

Transform a right camera into a left camera using stereo parameters.

Parameters:

	intrinsics_matrix	intrinsics matrix of the left camera.
	R	extrinsics 3x3 rotation matrix.
	T	extrinsics 1x3 translation matrix.

See also:

RGBDCalibration

void ntk::Pose3D::toRightCamera	(	const cv::Mat1d &	cv_matrix,
		const cv::Mat1d &	R,
		const cv::Mat1d &	T
	)

Transform a left camera into a right camera using stereo parameters.

See also:

toLeftCamera

cv::Point3f ntk::Pose3D::unprojectFromImage	(	const cv::Point2f &	p,
		double	depth
	)			const

Project a point from image plane to 3D using the given depth.

void ntk::Pose3D::unprojectFromImage	(	const cv::Mat1f &	pixels,
		const cv::Mat1b &	mask,
		cv::Mat3f &	voxels
	)			const

Project a set of image points to 3D.

cv::Point3f ntk::Pose3D::unprojectFromImage

(

const cv::Point3f &

p

)

const [inline]

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Friends And Related Function Documentation

friend class PrivatePose3D [friend]

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

• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/geometry/pose_3d.h
• /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/ntk/geometry/pose_3d.cpp