3D to 2D projection matrix More...

#include <projection_matrix.h>

Public Member Functions
	projection_matrix (void)
	~projection_matrix ()
projection_matrix &	operator= (const projection_matrix &P)
void	print (FILE file, char calibration_filename)
bool	load_tdir (const char *tdir_filename)
bool	load_tdir (const char *tdir_filename, int w, int h)
void	load (FILE *f)
bool	read_from_matchmover_output (FILE *f)
void	set_3x4_matrix (double P[3][4], int width, int height)
void	get_3x4_matrix (double P[3][4])
void	set_original_internal_parameters (int image_width, int image_height, double fx, double fy, double cx, double cy)
void	set_original_internal_parameters (double fx, double fy, double cx, double cy)
void	change_image_size (int new_width, int new_height)
bool	read_internal_parameters_from_tdir_file (const char *tdir_filename)
double	get_cx (void)
double	get_cy (void)
double	get_fx (void)
double	get_fy (void)
void	set_camera_centre_and_lookat_point (double Cx, double Cy, double Cz, double Lx, double Ly, double Lz, double angle_vertical)
void	set_external_parameters (double omega, double phi, double kappa, double Tx, double Ty, double Tz)
void	set_angles (double omega, double phi, double kappa)
void	set_external_parameters (double rot[3][3], double transl[3])
void	set_external_parameters (double wc2vc[3][4])
void	set_external_parameters (double **wc2vc)
void	set_external_parameters (double *state)
void	set_external_parameters_exp_map (double state, CvMat JR=0)
void	set_external_parameters (CvMat *H)
void	set_rotation_to_Id (void)
void	set_translation_to_0 (void)
void	get_external_parameters (double omega, double phi, double kappa, double Tx, double Ty, double Tz)
void	get_external_parameters (double *state)
void	get_external_parameters_exp_map (double *state)
void	get_angles (double omega, double phi, double *kappa)
void	translate_x (double delta)
void	translate_y (double delta)
void	translate_z (double delta)
void	rotate_x (double delta)
void	rotate_y (double delta)
void	rotate_z (double delta)
void	world_to_cam (double M, double Mc)
void	get_optical_centre (double Cx, double Cy, double *Cz)
double *	get_optical_centre (void)
double *	get_V (double u, double v)
void	get_V (double u, double v, double *V)
void	get_V (double u, double v, double Vx, double Vy, double *Vz)
void	set_GL_zmin_zmax (double zmin, double zmax)
void	set_GL_PROJECTION (int xdim, int ydim, float *gl_vector)
void	set_GL_MODELVIEW (double *gl_matrix)
bool	visible_triangle (double X1, double Y1, double Z1, double X2, double Y2, double Z2, double X3, double Y3, double Z3)

void	project (const double X, const double Y, const double Z, double u, double v)
void	project (const double X, const double Y, const double Z, float u, float v)

Static Public Member Functions
static FILE *	open_matchmover_output (char *filename)
static void	close_matchmover_output (FILE *f)

Friends
ostream &	operator<< (ostream &o, const projection_matrix &P)

Detailed Description

3D to 2D projection matrix

Definition at line 35 of file projection_matrix.h.

Constructor & Destructor Documentation

projection_matrix::projection_matrix ( void )

Definition at line 31 of file projection_matrix.cpp.

projection_matrix::~projection_matrix ( )

Definition at line 41 of file projection_matrix.cpp.

Member Function Documentation

void projection_matrix::change_image_size	(	int	new_width,
		int	new_height
	)

Definition at line 380 of file projection_matrix.cpp.

void projection_matrix::close_matchmover_output ( FILE * f )

static

Definition at line 268 of file projection_matrix.cpp.

void projection_matrix::get_3x4_matrix ( double P[3][4] )

Definition at line 737 of file projection_matrix.cpp.

References gfla_copy_3x4().

void projection_matrix::get_angles	(	double *	omega,
		double *	phi,
		double *	kappa
	)

double projection_matrix::get_cx ( void )

inline

Definition at line 71 of file projection_matrix.h.

double projection_matrix::get_cy ( void )

inline

Definition at line 72 of file projection_matrix.h.

void projection_matrix::get_external_parameters	(	double *	omega,
		double *	phi,
		double *	kappa,
		double *	Tx,
		double *	Ty,
		double *	Tz
	)

Definition at line 704 of file projection_matrix.cpp.

References gfla_get_euler_angles_from_rotation().

void projection_matrix::get_external_parameters ( double * state )

Definition at line 699 of file projection_matrix.cpp.

void projection_matrix::get_external_parameters_exp_map ( double * state )

Definition at line 519 of file projection_matrix.cpp.

References cvmSet().

double projection_matrix::get_fx ( void )

inline

Definition at line 73 of file projection_matrix.h.

double projection_matrix::get_fy ( void )

inline

Definition at line 74 of file projection_matrix.h.

void projection_matrix::get_optical_centre	(	double *	Cx,
		double *	Cy,
		double *	Cz
	)

Definition at line 748 of file projection_matrix.cpp.

double * projection_matrix::get_optical_centre ( void )

Definition at line 758 of file projection_matrix.cpp.

double * projection_matrix::get_V	(	double	u,
		double	v
	)

Definition at line 769 of file projection_matrix.cpp.

void projection_matrix::get_V	(	double	u,
		double	v,
		double *	V
	)

Definition at line 778 of file projection_matrix.cpp.

References gfla_normalize_3().

void projection_matrix::get_V	(	double	u,
		double	v,
		double *	Vx,
		double *	Vy,
		double *	Vz
	)

Definition at line 790 of file projection_matrix.cpp.

References gfla_norme().

void projection_matrix::load ( FILE * f )

Definition at line 213 of file projection_matrix.cpp.

bool projection_matrix::load_tdir ( const char * tdir_filename )

Load external and internal parameters from a tdir file, estimating image width and height.

THE WIDTH AND HEIGHT ESTIMATION MIGHT BE WRONG!

Returns: true on success, false on failure.

Definition at line 181 of file projection_matrix.cpp.

References diagDiff().

bool projection_matrix::load_tdir	(	const char *	tdir_filename,
		int	w,
		int	h
	)

Load external and internal parameters from a tdir file. The w and h specify the size of the projection rectangle.

Returns: true on success, false on failure.

Definition at line 146 of file projection_matrix.cpp.

FILE * projection_matrix::open_matchmover_output ( char * filename )

static

Definition at line 251 of file projection_matrix.cpp.

projection_matrix & projection_matrix::operator= ( const projection_matrix & P )

Definition at line 45 of file projection_matrix.cpp.

References gfla_copy_3(), and gfla_copy_3x3().

void projection_matrix::print	(	FILE *	file,
		char *	calibration_filename
	)

Definition at line 337 of file projection_matrix.cpp.

void projection_matrix::project	(	const double	X,
		const double	Y,
		const double	Z,
		double *	u,
		double *	v
	)

inline

Definition at line 163 of file projection_matrix.h.

References gfla_mul_mat_vect_3x4().

void projection_matrix::project	(	const double	X,
		const double	Y,
		const double	Z,
		float *	u,
		float *	v
	)

inline

Definition at line 177 of file projection_matrix.h.

References gfla_mul_mat_vect_3x4().

bool projection_matrix::read_from_matchmover_output ( FILE * f )

Definition at line 273 of file projection_matrix.cpp.

References gfla_mul_mat_vect_3x3(), and gfla_opp_3().

bool projection_matrix::read_internal_parameters_from_tdir_file ( const char * tdir_filename )

Definition at line 396 of file projection_matrix.cpp.

void projection_matrix::rotate_x ( double delta )

Definition at line 666 of file projection_matrix.cpp.

void projection_matrix::rotate_y ( double delta )

Definition at line 677 of file projection_matrix.cpp.

void projection_matrix::rotate_z ( double delta )

Definition at line 688 of file projection_matrix.cpp.

void projection_matrix::set_3x4_matrix	(	double	P[3][4],
		int	width,
		int	height
	)

Definition at line 96 of file projection_matrix.cpp.

References gfla_det().

void projection_matrix::set_angles	(	double	omega,
		double	phi,
		double	kappa
	)

void projection_matrix::set_camera_centre_and_lookat_point	(	double	Cx,
		double	Cy,
		double	Cz,
		double	Lx,
		double	Ly,
		double	Lz,
		double	angle_vertical
	)

Definition at line 431 of file projection_matrix.cpp.

References gfla_cross_product(), and gfla_normalize_3().

void projection_matrix::set_external_parameters	(	double	omega,
		double	phi,
		double	kappa,
		double	Tx,
		double	Ty,
		double	Tz
	)

Definition at line 463 of file projection_matrix.cpp.

References gfla_get_rotation_from_euler_angles().

void projection_matrix::set_external_parameters	(	double	rot[3][3],
		double	transl[3]
	)

Definition at line 566 of file projection_matrix.cpp.

References gfla_copy_3(), and gfla_copy_3x3().

void projection_matrix::set_external_parameters ( double wc2vc[3][4] )

Definition at line 542 of file projection_matrix.cpp.

void projection_matrix::set_external_parameters ( double ** wc2vc )

Definition at line 554 of file projection_matrix.cpp.

void projection_matrix::set_external_parameters ( double * state )

Definition at line 475 of file projection_matrix.cpp.

void projection_matrix::set_external_parameters ( CvMat * H )

Definition at line 590 of file projection_matrix.cpp.

References cvmGet(), gfla_add_3(), gfla_cross_product(), gfla_normalize_3(), gfla_scale_3(), and gfla_sub_3().

void projection_matrix::set_external_parameters_exp_map	(	double *	state,
		CvMat *	JR = `0`
	)

Definition at line 480 of file projection_matrix.cpp.

References cvmGet().

void projection_matrix::set_GL_MODELVIEW ( double * gl_matrix )

Definition at line 857 of file projection_matrix.cpp.

void projection_matrix::set_GL_PROJECTION	(	int	xdim,
		int	ydim,
		float *	gl_vector
	)

Definition at line 815 of file projection_matrix.cpp.

References gfla_mul_mat_3x3x4(), and S.

void projection_matrix::set_GL_zmin_zmax	(	double	zmin,
		double	zmax
	)

Definition at line 809 of file projection_matrix.cpp.

void projection_matrix::set_original_internal_parameters	(	int	image_width,
		int	image_height,
		double	fx,
		double	fy,
		double	cx,
		double	cy
	)

Definition at line 356 of file projection_matrix.cpp.

void projection_matrix::set_original_internal_parameters	(	double	fx,
		double	fy,
		double	cx,
		double	cy
	)

Definition at line 370 of file projection_matrix.cpp.

void projection_matrix::set_rotation_to_Id ( void )

Definition at line 574 of file projection_matrix.cpp.

void projection_matrix::set_translation_to_0 ( void )

Definition at line 583 of file projection_matrix.cpp.

void projection_matrix::translate_x ( double delta )

Definition at line 645 of file projection_matrix.cpp.

void projection_matrix::translate_y ( double delta )

Definition at line 652 of file projection_matrix.cpp.

void projection_matrix::translate_z ( double delta )

Definition at line 659 of file projection_matrix.cpp.

bool projection_matrix::visible_triangle	(	double	X1,
		double	Y1,
		double	Z1,
		double	X2,
		double	Y2,
		double	Z2,
		double	X3,
		double	Y3,
		double	Z3
	)

Definition at line 865 of file projection_matrix.cpp.

References gfla_cross_product(), and gfla_dot_product().

void projection_matrix::world_to_cam	(	double *	M,
		double *	Mc
	)

Definition at line 714 of file projection_matrix.cpp.

Friends And Related Function Documentation

ostream& operator<<	(	ostream &	o,
		const projection_matrix &	P
	)

friend

Definition at line 328 of file projection_matrix.cpp.

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

/home/adrien/Téléchargements/bazar/bazar-1.3.1/starter/geometry/projection_matrix.h
/home/adrien/Téléchargements/bazar/bazar-1.3.1/starter/geometry/projection_matrix.cpp

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation