This class implements a wrapper for an actual camera object. More...

Inheritance diagram for Ocean::CameraWrapperT< T, TCameraWrapperBase >:

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

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

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

T	fovX () const
	Returns the field of view in x direction of the camera. More...

T	fovY () const
	Returns the field of view in x direction of the camera. More...

bool	isInside (const VectorT2< T > &imagePoint, const T signedBorder=T(0)) const
	Returns whether a given 2D image point lies inside the camera frame. More...

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

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

void	projectToImage (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	projectToImage (const HomogenousMatrixT4< T > &world_T_camera, 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 >	vector (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	vector (const VectorT2< T > distortedImagePoints, const size_t size, VectorT3< T > vectors, const bool makeUnitVector) const
	Determines vectors starting at the camera's center and intersecting given 2D points in the image. More...

LineT3< T >	ray (const VectorT2< T > &distortedImagePoint, const HomogenousMatrixT4< T > &world_T_camera) const
	Returns a ray starting at the camera's center and intersecting a given 2D point in the image. More...

LineT3< T >	ray (const VectorT2< T > &distortedImagePoint) const
	Returns a ray starting at the camera's center and intersecting a given 2D point in the image. More...

void	pointJacobian2nx3IF (const VectorT3< T > flippedCameraObjectPoints, const size_t numberObjectPoints, T jacobians) const
	Calculates the 2x3 jacobian matrix for the 3D object point projection into the camera frame. More...

Detailed Description

template<typename T, typename TCameraWrapperBase>
class Ocean::CameraWrapperT< T, TCameraWrapperBase >

This class implements a wrapper for an actual camera object.

TCameraWrapperBase implements the wrapper functions necessary for the individual camera models.
CameraWrapperT implements some additional functions necessary to fully implement all necessary functions for AnyCameraT.
Template Parameters

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

TCameraWrapperBase The base class implementing all functions necessary for the wrapped camera object.

Constructor & Destructor Documentation

◆ CameraWrapperT() [1/2]

template<typename T , typename TCameraWrapperBase >

Ocean::CameraWrapperT< T, TCameraWrapperBase >::CameraWrapperT ( ActualCamera && actualCamera )

explicit

Creates a new CameraWrapperT object wrapping the actual camera model.

Parameters

actualCamera The actual camera object to be wrapped

◆ CameraWrapperT() [2/2]

template<typename T , typename TCameraWrapperBase >

Ocean::CameraWrapperT< T, TCameraWrapperBase >::CameraWrapperT ( const ActualCamera & actualCamera )

explicit

Creates a new CameraWrapperT object wrapping the actual camera model.

Parameters

actualCamera The actual camera object to be wrapped

Member Function Documentation

◆ fovX()

template<typename T , typename TCameraWrapperBase >

T Ocean::CameraWrapperT< T, TCameraWrapperBase >::fovX

inline

Returns the field of view in x direction of the camera.

See also: AnyCameraT::fovX().

x = Fx * X / Z + mx

(x - mx) / Fx = X / Z

◆ fovY()

template<typename T , typename TCameraWrapperBase >

T Ocean::CameraWrapperT< T, TCameraWrapperBase >::fovY

inline

Returns the field of view in x direction of the camera.

See also: AnyCameraT::fovY().

y = Fy * Y / Z + my

(y - my) / Fy = Y / Z

◆ isInside()

template<typename T , typename TCameraWrapperBase >

bool Ocean::CameraWrapperT< T, TCameraWrapperBase >::isInside	(	const VectorT2< T > &	imagePoint,
		const T	signedBorder = `T(0)`
	)		const

inline

Returns whether a given 2D image point lies inside the camera frame.

See also: AnyCameraT::isInside().

◆ pointJacobian2nx3IF()

template<typename T , typename TCameraWrapperBase >

void Ocean::CameraWrapperT< T, TCameraWrapperBase >::pointJacobian2nx3IF	(	const VectorT3< T > *	flippedCameraObjectPoints,
		const size_t	numberObjectPoints,
		T *	jacobians
	)		const

inline

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

See also: AnyCameraT::pointJacobian2nx3IF().

◆ principalPoint()

template<typename T , typename TCameraWrapperBase >

VectorT2< T > Ocean::CameraWrapperT< T, TCameraWrapperBase >::principalPoint

inline

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

See also: AnyCameraT::principalPoint().

◆ projectToImage() [1/4]

template<typename T , typename TCameraWrapperBase >

VectorT2< T > Ocean::CameraWrapperT< T, TCameraWrapperBase >::projectToImage	(	const HomogenousMatrixT4< T > &	world_T_camera,
		const VectorT3< T > &	objectPoint
	)		const

inline

Projects a 3D object point into the camera frame.

See also: projectToImage().

◆ projectToImage() [2/4]

template<typename T , typename TCameraWrapperBase >

void Ocean::CameraWrapperT< T, TCameraWrapperBase >::projectToImage	(	const HomogenousMatrixT4< T > &	world_T_camera,
		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: projectToImage().

◆ projectToImage() [3/4]

template<typename T , typename TCameraWrapperBase >

VectorT2< T > Ocean::CameraWrapperT< T, TCameraWrapperBase >::projectToImage ( const VectorT3< T > & objectPoint ) const

inline

Projects a 3D object point into the camera frame.

See also: projectToImage().

◆ projectToImage() [4/4]

template<typename T , typename TCameraWrapperBase >

void Ocean::CameraWrapperT< T, TCameraWrapperBase >::projectToImage	(	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: projectToImage().

◆ ray() [1/2]

template<typename T , typename TCameraWrapperBase >

LineT3< T > Ocean::CameraWrapperT< T, TCameraWrapperBase >::ray ( const VectorT2< T > & distortedImagePoint ) const

inline

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

See also: ray().

◆ ray() [2/2]

template<typename T , typename TCameraWrapperBase >

LineT3< T > Ocean::CameraWrapperT< T, TCameraWrapperBase >::ray	(	const VectorT2< T > &	distortedImagePoint,
		const HomogenousMatrixT4< T > &	world_T_camera
	)		const

inline

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

See also: ray().

◆ vector() [1/2]

template<typename T , typename TCameraWrapperBase >

VectorT3< T > Ocean::CameraWrapperT< T, TCameraWrapperBase >::vector	(	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::vector().

◆ vector() [2/2]

template<typename T , typename TCameraWrapperBase >

void Ocean::CameraWrapperT< T, TCameraWrapperBase >::vector	(	const VectorT2< T > *	distortedImagePoints,
		const size_t	size,
		VectorT3< T > *	vectors,
		const bool	makeUnitVector
	)		const

inline

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

See also: AnyCameraT::vector().

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

AnyCamera.h

T	The data type of a scalar, 'float' or 'double'
TCameraWrapperBase	The base class implementing all functions necessary for the wrapped camera object.

Public Member Functions

Detailed Description

template<typename T, typename TCameraWrapperBase> class Ocean::CameraWrapperT< T, TCameraWrapperBase >

Constructor & Destructor Documentation

◆ CameraWrapperT() [1/2]

◆ CameraWrapperT() [2/2]

Member Function Documentation

◆ fovX()

◆ fovY()

◆ isInside()

◆ pointJacobian2nx3IF()

◆ principalPoint()

◆ projectToImage() [1/4]

◆ projectToImage() [2/4]

◆ projectToImage() [3/4]

◆ projectToImage() [4/4]

◆ ray() [1/2]

◆ ray() [2/2]

◆ vector() [1/2]

◆ vector() [2/2]

template<typename T, typename TCameraWrapperBase>
class Ocean::CameraWrapperT< T, TCameraWrapperBase >