This class implements the base wrapper around Ocean's fisheye camera profile. More...

Public Types
typedef FisheyeCameraT< T >	ActualCamera
	Definition of the actual camera object wrapped by this class. More...

using	WrappedCamera = CameraWrapperT< T, CameraWrapperBaseFisheyeT< T > >
	Definition of the parent WrappedCamera class using this base class. More...

Public Member Functions
	CameraWrapperBaseFisheyeT (ActualCamera &&actualCamera)
	Creates a new CameraWrapperBaseFisheyeT object wrapping the actual camera model. More...

	CameraWrapperBaseFisheyeT (const ActualCamera &actualCamera)
	Creates a new CameraWrapperBaseFisheyeT object wrapping the actual camera model. More...

const ActualCamera &	actualCamera () const
	Returns the actual camera object wrapped in this class. More...

unsigned int	width () const
	Returns the width of the camera image. More...

unsigned int	height () const
	Returns the height of the camera image. More...

VectorT2< T >	principalPoint () const
	Returns the coordinate of the principal point of the camera image in the pixel domain. More...

T	principalPointX () const
	Returns the x-value of the principal point of the camera image in the pixel domain. More...

T	principalPointY () const
	Returns the y-value of the principal point of the camera image in the pixel domain. More...

T	focalLengthX () const
	Returns the horizontal focal length parameter. More...

T	focalLengthY () const
	Returns the vertical focal length parameter. More...

T	inverseFocalLengthX () const
	Returns the inverse horizontal focal length parameter. More...

T	inverseFocalLengthY () const
	Returns the inverse vertical focal length parameter. More...

VectorT2< T >	projectToImageIF (const VectorT3< T > &objectPoint) const
	Projects a 3D object point into the camera frame. More...

VectorT2< T >	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > &objectPoint) const
	Projects a 3D object point into the camera frame. More...

void	projectToImageIF (const VectorT3< T > objectPoints, const size_t size, VectorT2< T > imagePoints) const
	Projects several 3D object points into the camera frame at once. More...

void	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > objectPoints, const size_t size, VectorT2< T > imagePoints) const
	Projects several 3D object points into the camera frame at once. More...

VectorT3< T >	vectorIF (const VectorT2< T > &distortedImagePoint, const bool makeUnitVector) const
	Returns a vector starting at the camera's center and intersecting a given 2D point in the image. More...

void	vectorIF (const VectorT2< T > distortedImagePoint, const size_t size, VectorT3< T > vectors, const bool makeUnitVector) const
	Returns vectors starting at the camera's center and intersecting a given 2D points in the image. More...

void	pointJacobian2x3IF (const VectorT3< T > &flippedCameraObjectPoint, T jx, T jy) const
	Calculates the 2x3 jacobian matrix for the 3D object point projection into the camera frame. More...

bool	isEqual (const CameraWrapperBaseFisheyeT< T > &baseFisheye, const T eps=NumericT< T >::eps()) const
	Returns whether two camera objects are identical up to a given epsilon. More...

bool	isValid () const
	Returns whether this camera is valid. More...

template<typename U >
std::unique_ptr< AnyCameraT< U > >	clone (const unsigned int width=0u, const unsigned int height=0u) const
	Returns a copy of the actual camera object. More...

Static Public Member Functions
static AnyCameraType	anyCameraType ()
	Returns the type of this camera. More...

static std::string	name ()
	Returns the name of this camera. More...

Protected Attributes
ActualCamera	actualCamera_
	The actual fisheye camera object. More...

Detailed Description

template<typename T>
class Ocean::CameraWrapperBaseFisheyeT< T >

This class implements the base wrapper around Ocean's fisheye camera profile.

The class can be used as 'TCameraWrapperBase' in 'CameraWrapperT' to create a full wrapper class e.g., 'CameraWrapperT<T, CameraWrapperBaseFisheyeT<T>>'.

Template Parameters

T	The data type of a scalar, 'float' or 'double'

Member Typedef Documentation

◆ ActualCamera

template<typename T >

typedef FisheyeCameraT<T> Ocean::CameraWrapperBaseFisheyeT< T >::ActualCamera

Definition of the actual camera object wrapped by this class.

◆ WrappedCamera

template<typename T >

using Ocean::CameraWrapperBaseFisheyeT< T >::WrappedCamera = CameraWrapperT<T, CameraWrapperBaseFisheyeT<T> >

Definition of the parent WrappedCamera class using this base class.

Constructor & Destructor Documentation

◆ CameraWrapperBaseFisheyeT() [1/2]

template<typename T >

Ocean::CameraWrapperBaseFisheyeT< T >::CameraWrapperBaseFisheyeT ( ActualCamera && actualCamera )

explicit

Creates a new CameraWrapperBaseFisheyeT object wrapping the actual camera model.

Parameters

actualCamera The actual camera object to be wrapped

◆ CameraWrapperBaseFisheyeT() [2/2]

template<typename T >

Ocean::CameraWrapperBaseFisheyeT< T >::CameraWrapperBaseFisheyeT ( const ActualCamera & actualCamera )

explicit

Creates a new CameraWrapperBaseFisheyeT object wrapping the actual camera model.

Parameters

actualCamera The actual camera object to be wrapped

Member Function Documentation

◆ actualCamera()

template<typename T >

const CameraWrapperBaseFisheyeT< T >::ActualCamera & Ocean::CameraWrapperBaseFisheyeT< T >::actualCamera

inline

Returns the actual camera object wrapped in this class.

Returns: The wrapped camera object

◆ anyCameraType()

template<typename T >

AnyCameraType Ocean::CameraWrapperBaseFisheyeT< T >::anyCameraType

inlinestatic

Returns the type of this camera.

See also: AnyCamera::anyCameraType().

◆ clone()

template<typename T >

template<typename U >

std::unique_ptr< AnyCameraT< U > > Ocean::CameraWrapperBaseFisheyeT< T >::clone	(	const unsigned int	width = `0u`,
		const unsigned int	height = `0u`
	)		const

inline

Returns a copy of the actual camera object.

Returns: New instance of the actual camera object used in this wrapper.

◆ focalLengthX()

template<typename T >

T Ocean::CameraWrapperBaseFisheyeT< T >::focalLengthX

inline

Returns the horizontal focal length parameter.

See also: AnyCameraT::focalLengthX().

◆ focalLengthY()

template<typename T >

T Ocean::CameraWrapperBaseFisheyeT< T >::focalLengthY

inline

Returns the vertical focal length parameter.

See also: AnyCameraT::focalLengthY().

◆ height()

template<typename T >

unsigned int Ocean::CameraWrapperBaseFisheyeT< T >::height

inline

Returns the height of the camera image.

See also: AnyCameraT::height().

◆ inverseFocalLengthX()

template<typename T >

T Ocean::CameraWrapperBaseFisheyeT< T >::inverseFocalLengthX

inline

Returns the inverse horizontal focal length parameter.

See also: AnyCameraT::inverseFocalLengthX().

◆ inverseFocalLengthY()

template<typename T >

T Ocean::CameraWrapperBaseFisheyeT< T >::inverseFocalLengthY

inline

Returns the inverse vertical focal length parameter.

See also: AnyCameraT::inverseFocalLengthY().

◆ isEqual()

template<typename T >

bool Ocean::CameraWrapperBaseFisheyeT< T >::isEqual	(	const CameraWrapperBaseFisheyeT< T > &	baseFisheye,
		const T	eps = `NumericT<T>::eps()`
	)		const

inline

Returns whether two camera objects are identical up to a given epsilon.

See also: AnyCameraT::isEqual().

◆ isValid()

template<typename T >

bool Ocean::CameraWrapperBaseFisheyeT< T >::isValid

inline

Returns whether this camera is valid.

Returns: True, if so

◆ name()

template<typename T >

std::string Ocean::CameraWrapperBaseFisheyeT< T >::name

inlinestatic

Returns the name of this camera.

See also: AnyCamera::name().

◆ pointJacobian2x3IF()

template<typename T >

void Ocean::CameraWrapperBaseFisheyeT< T >::pointJacobian2x3IF	(	const VectorT3< T > &	flippedCameraObjectPoint,
		T *	jx,
		T *	jy
	)		const

inline

Calculates the 2x3 jacobian matrix for the 3D object point projection into the camera frame.

See also: AnyCameraT::pointJacobian2x3IF().

◆ principalPoint()

template<typename T >

VectorT2< T > Ocean::CameraWrapperBaseFisheyeT< T >::principalPoint

inline

Returns the coordinate of the principal point of the camera image in the pixel domain.

See also: AnyCameraT::principalPoint().

◆ principalPointX()

template<typename T >

T Ocean::CameraWrapperBaseFisheyeT< T >::principalPointX

inline

Returns the x-value of the principal point of the camera image in the pixel domain.

See also: AnyCameraT::principalPointX().

◆ principalPointY()

template<typename T >

T Ocean::CameraWrapperBaseFisheyeT< T >::principalPointY

inline

Returns the y-value of the principal point of the camera image in the pixel domain.

See also: AnyCameraT::principalPointY().

◆ projectToImageIF() [1/4]

template<typename T >

VectorT2< T > Ocean::CameraWrapperBaseFisheyeT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const VectorT3< T > &	objectPoint
	)		const

inline

Projects a 3D object point into the camera frame.

See also: AnyCameraT::projectToImageIF().

◆ projectToImageIF() [2/4]

template<typename T >

void Ocean::CameraWrapperBaseFisheyeT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const VectorT3< T > *	objectPoints,
		const size_t	size,
		VectorT2< T > *	imagePoints
	)		const

inline

Projects several 3D object points into the camera frame at once.

See also: AnyCameraT::projectToImageIF().

◆ projectToImageIF() [3/4]

template<typename T >

VectorT2< T > Ocean::CameraWrapperBaseFisheyeT< T >::projectToImageIF ( const VectorT3< T > & objectPoint ) const

inline

Projects a 3D object point into the camera frame.

See also: AnyCameraT::projectToImageIF().

◆ projectToImageIF() [4/4]

template<typename T >

void Ocean::CameraWrapperBaseFisheyeT< T >::projectToImageIF	(	const VectorT3< T > *	objectPoints,
		const size_t	size,
		VectorT2< T > *	imagePoints
	)		const

inline

Projects several 3D object points into the camera frame at once.

See also: AnyCameraT::projectToImageIF().

◆ vectorIF() [1/2]

template<typename T >

VectorT3< T > Ocean::CameraWrapperBaseFisheyeT< T >::vectorIF	(	const VectorT2< T > &	distortedImagePoint,
		const bool	makeUnitVector
	)		const

inline

Returns a vector starting at the camera's center and intersecting a given 2D point in the image.

See also: AnyCameraT::vectorIF().

◆ vectorIF() [2/2]

template<typename T >

void Ocean::CameraWrapperBaseFisheyeT< T >::vectorIF	(	const VectorT2< T > *	distortedImagePoint,
		const size_t	size,
		VectorT3< T > *	vectors,
		const bool	makeUnitVector
	)		const

inline

Returns vectors starting at the camera's center and intersecting a given 2D points in the image.

See also: AnyCameraT::vectorIF().

◆ width()

template<typename T >

unsigned int Ocean::CameraWrapperBaseFisheyeT< T >::width

inline

Returns the width of the camera image.

See also: AnyCameraT::width().

Field Documentation

◆ actualCamera_

template<typename T >

ActualCamera Ocean::CameraWrapperBaseFisheyeT< T >::actualCamera_

protected

The actual fisheye camera object.

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

AnyCamera.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

template<typename T> class Ocean::CameraWrapperBaseFisheyeT< T >

Member Typedef Documentation

◆ ActualCamera

◆ WrappedCamera

Constructor & Destructor Documentation

◆ CameraWrapperBaseFisheyeT() [1/2]

◆ CameraWrapperBaseFisheyeT() [2/2]

Member Function Documentation

◆ actualCamera()

◆ anyCameraType()

◆ clone()

◆ focalLengthX()

◆ focalLengthY()

◆ height()

◆ inverseFocalLengthX()

◆ inverseFocalLengthY()

◆ isEqual()

◆ isValid()

◆ name()

◆ pointJacobian2x3IF()

◆ principalPoint()

◆ principalPointX()

◆ principalPointY()

◆ projectToImageIF() [1/4]

◆ projectToImageIF() [2/4]

◆ projectToImageIF() [3/4]

◆ projectToImageIF() [4/4]

◆ vectorIF() [1/2]

◆ vectorIF() [2/2]

◆ width()

Field Documentation

◆ actualCamera_

template<typename T>
class Ocean::CameraWrapperBaseFisheyeT< T >