fb360_dep::Camera Struct Reference

#include <Camera.h>

Public Types
enum	Type { Type::FTHETA, Type::RECTILINEAR, Type::EQUISOLID, Type::ORTHOGRAPHIC }
using	Real = double
using	Vector2 = Eigen::Matrix< Real, 2, 1 >
using	Vector3 = Eigen::Matrix< Real, 3, 1 >
using	Matrix3 = Eigen::Matrix< Real, 3, 3 >
using	Ray = Eigen::ParametrizedLine< Real, 3 >
using	Distortion = Eigen::Matrix< Real, 3, 1 >
using	Rig = std::vector< Camera >

Public Member Functions
	Camera (const Type type, const Vector2 &resolution, const Vector2 &focal)
	Camera (const folly::dynamic &json)
folly::dynamic	serialize () const
Vector3	forward () const
Vector3	up () const
Vector3	right () const
void	setRotation (const Vector3 &forward, const Vector3 &up, const Vector3 &right)
void	setRotation (const Vector3 &forward, const Vector3 &up)
Vector3	getRotation () const
void	setRotation (const Vector3 &angleAxis)
void	setDefaultDistortion ()
void	setDistortion (const Distortion &distortion)
const Distortion &	getDistortion () const
Real	getDistortionMax () const
void	setScalarFocal (const Real &scalar)
Real	getScalarFocal () const
void	setFov (const Real &radians)
Real	getFov () const
void	setDefaultFov ()
bool	isDefaultFov () const
Camera	rescale (const Vector2 &newResolution={1, 1}) const
void	normalize ()
bool	isNormalized () const
Vector2	pixel (const Vector3 &rig) const
Ray	rig (const Vector2 &pixel) const
Vector3	rig (const Vector2 &pixel, const Real depth) const
Vector3	rigNearInfinity (const Vector2 &pixel) const
bool	isBehind (const Vector3 &rig) const
bool	isOutsideFov (const Vector3 &rig) const
bool	isOutsideImageCircle (const Vector2 &pix) const
bool	isOutsideSensor (const Vector2 &pix) const
bool	sees (const Vector3 &rig, Vector2 &pix) const
bool	sees (const Vector3 &rig) const
Real	overlap (const Camera &other) const
Real	distort (Real r) const
Real	undistort (const Real y) const
Vector3	pixelToCamera (const Vector2 &pixel) const
Vector2	cameraToPixel (const Vector3 &camera) const

Static Public Member Functions
static Rig	loadRig (const filesystem::path &filename)
static Rig	loadRigFromJsonString (const std::string &json)
static void	saveRig (const std::string &filename, const Rig &rig, const std::vector< std::string > &comments={}, const int doubleNumDigits=-1)
static Real	getDefaultCosFov (Type type)
static void	normalizeRig (Camera::Rig &rig)
static void	perturbCameras (std::vector< Camera > &cameras, const double posAmount, const double rotAmount, const double principalAmount, const double focalAmount)
static const Camera &	findCameraById (const std::string id, const Camera::Rig &rig)

Public Attributes
enum fb360_dep::Camera::Type	type
Vector3	position
Matrix3	rotation
Vector2	resolution
Vector2	principal
Vector2	focal
Real	cosFov
std::string	id
std::string	group

Static Public Attributes
static const Camera::Real	kNearInfinity = 1e4

Member Typedef Documentation

Distortion

using fb360_dep::Camera::Distortion = Eigen::Matrix<Real, 3, 1>

Matrix3

using fb360_dep::Camera::Matrix3 = Eigen::Matrix<Real, 3, 3>

Ray

using fb360_dep::Camera::Ray = Eigen::ParametrizedLine<Real, 3>

Real

using fb360_dep::Camera::Real = double

Rig

using fb360_dep::Camera::Rig = std::vector<Camera>

Vector2

using fb360_dep::Camera::Vector2 = Eigen::Matrix<Real, 2, 1>

Vector3

using fb360_dep::Camera::Vector3 = Eigen::Matrix<Real, 3, 1>

Member Enumeration Documentation

Type

enum fb360_dep::Camera::Type

strong

Enumerator
FTHETA
RECTILINEAR
EQUISOLID
ORTHOGRAPHIC

Constructor & Destructor Documentation

Camera() [1/2]

fb360_dep::Camera::Camera	(	const Type	type,
		const Vector2 &	resolution,
		const Vector2 &	focal
	)

Camera() [2/2]

fb360_dep::Camera::Camera ( const folly::dynamic &  json )

explicit

Member Function Documentation

cameraToPixel()

Vector2 fb360_dep::Camera::cameraToPixel ( const Vector3 &  camera ) const

inline

distort()

Real fb360_dep::Camera::distort ( Real  r ) const

inline

findCameraById()

const Camera & fb360_dep::Camera::findCameraById ( const std::string  id, const Camera::Rig &  rig  )

static

forward()

Vector3 fb360_dep::Camera::forward ( ) const

inline

getDefaultCosFov()

Camera::Real fb360_dep::Camera::getDefaultCosFov ( Camera::Type  type )

static

getDistortion()

const Distortion& fb360_dep::Camera::getDistortion ( ) const

inline

getDistortionMax()

Real fb360_dep::Camera::getDistortionMax ( ) const

inline

getFov()

Camera::Real fb360_dep::Camera::getFov

(

)

const

getRotation()

Camera::Vector3 fb360_dep::Camera::getRotation

(

)

const

getScalarFocal()

Camera::Real fb360_dep::Camera::getScalarFocal

(

)

const

isBehind()

bool fb360_dep::Camera::isBehind ( const Vector3 &  rig ) const

inline

isDefaultFov()

bool fb360_dep::Camera::isDefaultFov

(

)

const

isNormalized()

bool fb360_dep::Camera::isNormalized

(

)

const

isOutsideFov()

bool fb360_dep::Camera::isOutsideFov ( const Vector3 &  rig ) const

inline

isOutsideImageCircle()

bool fb360_dep::Camera::isOutsideImageCircle ( const Vector2 &  pix ) const

inline

isOutsideSensor()

bool fb360_dep::Camera::isOutsideSensor ( const Vector2 &  pix ) const

inline

loadRig()

Camera::Rig fb360_dep::Camera::loadRig ( const filesystem::path &  filename )

static

loadRigFromJsonString()

Camera::Rig fb360_dep::Camera::loadRigFromJsonString ( const std::string &  json )

static

normalize()

void fb360_dep::Camera::normalize

(

)

normalizeRig()

void fb360_dep::Camera::normalizeRig ( Camera::Rig &  rig )

static

overlap()

Real fb360_dep::Camera::overlap ( const Camera &  other ) const

inline

perturbCameras()

void fb360_dep::Camera::perturbCameras ( std::vector< Camera > &  cameras, const double  posAmount, const double  rotAmount, const double  principalAmount, const double  focalAmount  )

static

pixel()

Vector2 fb360_dep::Camera::pixel ( const Vector3 &  rig ) const

inline

pixelToCamera()

Vector3 fb360_dep::Camera::pixelToCamera ( const Vector2 &  pixel ) const

inline

rescale()

Camera fb360_dep::Camera::rescale

(

const Vector2 &

newResolution = {1, 1}

)

const

rig() [1/2]

Ray fb360_dep::Camera::rig ( const Vector2 &  pixel ) const

inline

rig() [2/2]

Vector3 fb360_dep::Camera::rig ( const Vector2 &  pixel, const Real  depth  ) const

inline

right()

Vector3 fb360_dep::Camera::right ( ) const

inline

rigNearInfinity()

Vector3 fb360_dep::Camera::rigNearInfinity ( const Vector2 &  pixel ) const

inline

saveRig()

void fb360_dep::Camera::saveRig ( const std::string &  filename, const Rig &  rig, const std::vector< std::string > &  comments = {}, const int  doubleNumDigits = -1  )

static

sees() [1/2]

bool fb360_dep::Camera::sees ( const Vector3 &  rig, Vector2 &  pix  ) const

inline

sees() [2/2]

bool fb360_dep::Camera::sees ( const Vector3 &  rig ) const

inline

serialize()

folly::dynamic fb360_dep::Camera::serialize

(

)

const

setDefaultDistortion()

void fb360_dep::Camera::setDefaultDistortion

(

)

setDefaultFov()

void fb360_dep::Camera::setDefaultFov

(

)

setDistortion()

void fb360_dep::Camera::setDistortion

(

const Distortion &

distortion

)

setFov()

void fb360_dep::Camera::setFov

(

const Real &

radians

)

setRotation() [1/3]

void fb360_dep::Camera::setRotation	(	const Vector3 &	forward,
		const Vector3 &	up,
		const Vector3 &	right
	)

setRotation() [2/3]

void fb360_dep::Camera::setRotation	(	const Vector3 &	forward,
		const Vector3 &	up
	)

setRotation() [3/3]

void fb360_dep::Camera::setRotation

(

const Vector3 &

angleAxis

)

setScalarFocal()

void fb360_dep::Camera::setScalarFocal

(

const Real &

scalar

)

undistort()

Real fb360_dep::Camera::undistort ( const Real  y ) const

inline

up()

Vector3 fb360_dep::Camera::up ( ) const

inline

Member Data Documentation

cosFov

Real fb360_dep::Camera::cosFov

focal

Vector2 fb360_dep::Camera::focal

group

std::string fb360_dep::Camera::group

id

std::string fb360_dep::Camera::id

kNearInfinity

const Camera::Real fb360_dep::Camera::kNearInfinity = 1e4

static

position

Vector3 fb360_dep::Camera::position

principal

Vector2 fb360_dep::Camera::principal

resolution

Vector2 fb360_dep::Camera::resolution

rotation

Matrix3 fb360_dep::Camera::rotation

type

enum fb360_dep::Camera::Type fb360_dep::Camera::type

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

• util/Camera.h
• util/Camera.cpp