A Calibration matrix for a finite camera. More...

#include <>>

Inheritance diagram for firevision::Calibration:

Public Member Functions
	Calibration (const Calibration &cal)
	Copy Constructor. More...

	Calibration (const fawkes::Matrix &k)
	Constructor. More...

virtual	~Calibration ()
	Destructor. More...

Matrix	K () const
	Calibration getter. More...

Public Member Functions inherited from fawkes::Matrix
	Matrix (unsigned int num_rows=0, unsigned int num_cols=0, float *data=0, bool manage_own_memory=true)
	Constructor. More...

	Matrix (const Matrix &tbc)
	Copy-constructor. More...

	~Matrix ()
	Destructor. More...

void	size (unsigned int &num_rows, unsigned int &num_cols) const
	Determines the dimensions of the matrix. More...

unsigned int	num_rows () const
	Return the number of rows in the Matrix. More...

unsigned int	num_cols () const
	Return the number of columns in the Matrix. More...

Matrix &	id ()
	Sets the diagonal elements to 1.0 and all other to 0.0. More...

Matrix &	transpose ()
	Transposes the matrix. More...

Matrix	get_transpose () const
	Computes a matrix that is the transposed of this matrix. More...

Matrix &	invert ()
	Inverts the matrix. More...

Matrix	get_inverse () const
	Computes a matrix that is the inverse of this matrix. More...

float	det () const
	Computes the determinant of the matrix. More...

const float *	get_data () const
	Returns the const data pointer. More...

float *	get_data ()
	Returns the data pointer. More...

Matrix	get_submatrix (unsigned int row, unsigned int col, unsigned int num_rows, unsigned int num_cols) const
	Returns a submatrix of the matrix. More...

void	overlay (unsigned int row, unsigned int col, const Matrix &m)
	Overlays another matrix over this matrix. More...

float	operator() (unsigned int row, unsigned int col) const
	(Read-only) Access-operator. More...

float &	operator() (unsigned int row, unsigned int col)
	(RW) Access operator. More...

Matrix &	operator= (const Matrix &rhs)
	Assignment operator. More...

Matrix	operator* (const Matrix &rhs) const
	Matrix multiplication operator. More...

Matrix &	operator*= (const Matrix &rhs)
	Combined matrix-multipliation and assignement operator. More...

Vector	operator* (const Vector &cv) const
	Multiply the matrix with given vector. More...

Matrix	operator* (const float &f) const
	Mulitply every element of the matrix with the given scalar. More...

Matrix &	operator*= (const float &f)
	Combined scalar multiplication and assignment operator. More...

Matrix	operator/ (const float &f) const
	Divide every element of the matrix with the given scalar. More...

Matrix &	operator/= (const float &f)
	Combined scalar division and assignment operator. More...

Matrix	operator+ (const Matrix &rhs) const
	Addition operator. More...

Matrix &	operator+= (const Matrix &rhs)
	Add-assign operator. More...

Matrix	operator- (const Matrix &rhs) const
	Subtraction operator. More...

Matrix &	operator-= (const Matrix &rhs)
	Subtract-assign operator. More...

bool	operator== (const Matrix &rhs) const
	Comparison operator. More...

void	print_info (const char name=0, const char col_sep=0, const char *row_sep=0) const
	Print matrix to standard out. More...

Protected Member Functions
	Calibration ()
	Hidden default constructor. More...

Calibration &	K (const fawkes::Matrix &k)
	Sets the calibration matrix. More...

Additional Inherited Members
Static Public Member Functions inherited from fawkes::Matrix
static Matrix	get_id (unsigned int size, float *data_buffer=0)
	Creates a quadratic matrix with dimension size and sets the diagonal elements to 1.0. More...

static Matrix	get_diag (unsigned int size, float value, float *data_buffer=0)
	Creates a quadratic matrix with dimension size and sets the diagonal elements to value. More...

Detailed Description

A Calibration matrix for a finite camera.

Author: Christof Rath

Definition at line 35 of file calibration.h.

Constructor & Destructor Documentation

firevision::Calibration::Calibration ( const Calibration & cal )

Copy Constructor.

Parameters

cal	the Calibration to copy

Definition at line 59 of file calibration.cpp.

References K().

firevision::Calibration::Calibration ( const fawkes::Matrix & k )

Constructor.

Parameters

k	3x3 Calibration matrix of the camera

Definition at line 51 of file calibration.cpp.

References K().

firevision::Calibration::~Calibration ( )

virtual

Destructor.

Definition at line 66 of file calibration.cpp.

firevision::Calibration::Calibration ( )

protected

Hidden default constructor.

Definition at line 43 of file calibration.cpp.

References fawkes::Matrix::id().

Member Function Documentation

Matrix firevision::Calibration::K ( ) const

Calibration getter.

Returns: The calibration matrix

Definition at line 74 of file calibration.cpp.

References fawkes::Matrix::get_submatrix().

Referenced by Calibration(), and firevision::CCDCalibration::CCDCalibration().

Calibration & firevision::Calibration::K ( const fawkes::Matrix & k )

protected

Sets the calibration matrix.

The matrix k has a size 3x3. The elements (row by row): scale factor in x-direction, skew, x-coordinate of the principal point 0, scale factor in y-direction, y-coordinate of the principal point 0, 0, 1

Parameters

k	the calibration matrix

Returns: reference to this instance

Definition at line 88 of file calibration.cpp.

References fawkes::Matrix::id(), fawkes::Matrix::overlay(), and fawkes::Matrix::size().

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

src/libs/fvmodels/camera/calibration.h
src/libs/fvmodels/camera/calibration.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation