This class implements the base wrapper around an invalid camera profile. More...

#include <AnyCamera.h>

Public Types
using	ActualCamera = InvalidCameraT< T >
	Definition of the actual camera object wrapped by this class.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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.

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.

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.

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.

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.

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

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

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.

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

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

Protected Attributes
ActualCamera	actualCamera_
	The actual invalid camera.

Detailed Description

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

This class implements the base wrapper around an invalid camera profile.

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

Template Parameters

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

Member Typedef Documentation

◆ ActualCamera

template<typename T >

using Ocean::CameraWrapperBaseInvalidT< T >::ActualCamera = InvalidCameraT<T>

Definition of the actual camera object wrapped by this class.

◆ WrappedCamera

template<typename T >

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

Definition of the parent WrappedCamera class using this base class.

Constructor & Destructor Documentation

◆ CameraWrapperBaseInvalidT() [1/2]

template<typename T >

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

explicit

Creates a new CameraWrapperBaseInvalidT object wrapping the actual camera model.

Parameters

actualCamera The actual camera object to be wrapped

◆ CameraWrapperBaseInvalidT() [2/2]

template<typename T >

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

explicit

Creates a new CameraWrapperBaseInvalidT object wrapping the actual camera model.

Parameters

actualCamera The actual camera object to be wrapped

Member Function Documentation

◆ actualCamera()

template<typename T >

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

inline

Returns the actual camera object wrapped in this class.

Returns: The wrapped camera object

◆ anyCameraType()

template<typename T >

AnyCameraType Ocean::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< T >::focalLengthX ( ) const

inline

Returns the horizontal focal length parameter.

See also: AnyCameraT::focalLengthX().

◆ focalLengthY()

template<typename T >

T Ocean::CameraWrapperBaseInvalidT< T >::focalLengthY ( ) const

inline

Returns the vertical focal length parameter.

See also: AnyCameraT::focalLengthY().

◆ height()

template<typename T >

unsigned int Ocean::CameraWrapperBaseInvalidT< T >::height ( ) const

inline

Returns the height of the camera image.

See also: AnyCameraT::height().

◆ inverseFocalLengthX()

template<typename T >

T Ocean::CameraWrapperBaseInvalidT< T >::inverseFocalLengthX ( ) const

inline

Returns the inverse horizontal focal length parameter.

See also: AnyCameraT::inverseFocalLengthX().

◆ inverseFocalLengthY()

template<typename T >

T Ocean::CameraWrapperBaseInvalidT< T >::inverseFocalLengthY ( ) const

inline

Returns the inverse vertical focal length parameter.

See also: AnyCameraT::inverseFocalLengthY().

◆ isEqual()

template<typename T >

bool Ocean::CameraWrapperBaseInvalidT< T >::isEqual	(	const CameraWrapperBaseInvalidT< T > &	baseInvalid,
		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::CameraWrapperBaseInvalidT< T >::isValid ( ) const

inline

Returns whether this camera is valid.

Returns: True, if so

◆ name()

template<typename T >

std::string Ocean::CameraWrapperBaseInvalidT< T >::name ( )

inlinestatic

Returns the name of this camera.

See also: AnyCamera::name().

◆ pointJacobian2x3IF()

template<typename T >

void Ocean::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< T >::principalPoint ( ) const

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::CameraWrapperBaseInvalidT< T >::principalPointX ( ) const

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::CameraWrapperBaseInvalidT< T >::principalPointY ( ) const

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::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< 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::CameraWrapperBaseInvalidT< T >::width ( ) const

inline

Returns the width of the camera image.

See also: AnyCameraT::width().

Field Documentation

◆ actualCamera_

template<typename T >

ActualCamera Ocean::CameraWrapperBaseInvalidT< T >::actualCamera_

protected

The actual invalid camera.

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

Member Typedef Documentation

◆ ActualCamera

◆ WrappedCamera

Constructor & Destructor Documentation

◆ CameraWrapperBaseInvalidT() [1/2]

◆ CameraWrapperBaseInvalidT() [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_