#include "vpgl_proj_camera.h"
#include <vcl_iostream.h>
#include <vcl_fstream.h>
#include <vgl/vgl_point_2d.h>
#include <vgl/vgl_point_3d.h>
#include <vgl/vgl_ray_3d.h>
#include <vnl/vnl_vector_fixed.h>
#include <vnl/io/vnl_io_matrix_fixed.h>

Defines
#define	vpgl_proj_camera_txx_
#define	vpgl_PROJ_CAMERA_INSTANTIATE(T)
Functions
template<class Type >
vcl_ostream &	operator<< (vcl_ostream &s, vpgl_proj_camera< Type > const &p)
	Write vpgl_perspective_camera to stream.
template<class Type >
vcl_istream &	operator>> (vcl_istream &s, vpgl_proj_camera< Type > &p)
	Read vpgl_perspective_camera from stream.
template<class T >
vgl_h_matrix_3d< T >	get_canonical_h (vpgl_proj_camera< T > &camera)
	Return the 3D H-matrix s.t. P * H = [I 0].
template<class T >
void	fix_cheirality (vpgl_proj_camera< T > &)
	Scale the camera matrix so determinant of first 3x3 is 1.
template<class T >
void	make_canonical (vpgl_proj_camera< T > &camera)
	Set the camera matrix to [ I \| 0 ].
template<class T >
vpgl_proj_camera< T >	premultiply (const vpgl_proj_camera< T > &in_camera, const vnl_matrix_fixed< T, 3, 3 > &transform)
	Pre-multiply this projection matrix with a 2-d projective transform.
template<class T >
vpgl_proj_camera< T >	postmultiply (const vpgl_proj_camera< T > &in_camera, const vnl_matrix_fixed< T, 4, 4 > &transform)
	Post-multiply this projection matrix with a 3-d projective transform.
template<class T >
vgl_point_3d< T >	triangulate_3d_point (const vpgl_proj_camera< T > &c1, const vgl_point_2d< T > &x1, const vpgl_proj_camera< T > &c2, const vgl_point_2d< T > &x2)
	Linearly intersect two camera rays to form a 3-d point.
template<class T >
vcl_vector< vnl_matrix_fixed < T, 2, 3 > >	image_jacobians (const vpgl_proj_camera< T > &camera, const vcl_vector< vgl_point_3d< T > > &pts)
	Compute the image projection Jacobians at each point.

Detailed Description

Definition in file vpgl_proj_camera.txx.

Define Documentation

#define vpgl_PROJ_CAMERA_INSTANTIATE ( T )

Value:

template class vpgl_proj_camera<T >; \
template vgl_h_matrix_3d<T > get_canonical_h( vpgl_proj_camera<T >& camera ); \
template void fix_cheirality( vpgl_proj_camera<T >& camera ); \
template void make_canonical( vpgl_proj_camera<T >& camera ); \
template vpgl_proj_camera<T > premultiply( const vpgl_proj_camera<T >& in_camera, \
                                           const vnl_matrix_fixed<T,3,3>& transform ); \
template vpgl_proj_camera<T > postmultiply(const vpgl_proj_camera<T >& in_camera, \
                                           const vnl_matrix_fixed<T,4,4>& transform ); \
template vgl_point_3d<T > triangulate_3d_point(const vpgl_proj_camera<T >& c1, \
                                               const vgl_point_2d<T >& x1, \
                                               const vpgl_proj_camera<T >& c2, \
                                               const vgl_point_2d<T >& x2); \
template vcl_vector<vnl_matrix_fixed<T,2,3> > \
         image_jacobians(const vpgl_proj_camera<T >& camera, \
                         const vcl_vector<vgl_point_3d<T > >& pts); \
template vcl_ostream& operator<<(vcl_ostream&, const vpgl_proj_camera<T >&); \
template vcl_istream& operator>>(vcl_istream&, vpgl_proj_camera<T >&)

Definition at line 406 of file vpgl_proj_camera.txx.

#define vpgl_proj_camera_txx_

Definition at line 3 of file vpgl_proj_camera.txx.

Function Documentation

template<class T >

void fix_cheirality ( vpgl_proj_camera< T > & )

Scale the camera matrix so determinant of first 3x3 is 1.

Definition at line 295 of file vpgl_proj_camera.txx.

template<class T >

vgl_h_matrix_3d<T> get_canonical_h ( vpgl_proj_camera< T > & camera )

Return the 3D H-matrix s.t. P * H = [I 0].

Definition at line 277 of file vpgl_proj_camera.txx.

template<class T >

vcl_vector<vnl_matrix_fixed<T,2,3> > image_jacobians	(	const vpgl_proj_camera< T > &	camera,
		const vcl_vector< vgl_point_3d< T > > &	pts
	)

Compute the image projection Jacobians at each point.

The returned matrices map a differential change in 3D to a differential change in the 2D image at each specified 3D point

Definition at line 353 of file vpgl_proj_camera.txx.

template<class T >

void make_canonical ( vpgl_proj_camera< T > & camera )

Set the camera matrix to [ I | 0 ].

Definition at line 302 of file vpgl_proj_camera.txx.

template<class Type >

vcl_ostream& operator<<	(	vcl_ostream &	s,
		vpgl_proj_camera< Type > const &	p
	)

Write vpgl_perspective_camera to stream.

Definition at line 242 of file vpgl_proj_camera.txx.

template<class Type >

vcl_istream& operator>>	(	vcl_istream &	s,
		vpgl_proj_camera< Type > &	p
	)

Read vpgl_perspective_camera from stream.

Definition at line 253 of file vpgl_proj_camera.txx.

template<class T >

vpgl_proj_camera<T> postmultiply	(	const vpgl_proj_camera< T > &	in_camera,
		const vnl_matrix_fixed< T, 4, 4 > &	transform
	)

Post-multiply this projection matrix with a 3-d projective transform.

Definition at line 319 of file vpgl_proj_camera.txx.

template<class T >

vpgl_proj_camera<T> premultiply	(	const vpgl_proj_camera< T > &	in_camera,
		const vnl_matrix_fixed< T, 3, 3 > &	transform
	)

Pre-multiply this projection matrix with a 2-d projective transform.

Definition at line 311 of file vpgl_proj_camera.txx.

template<class T >

vgl_point_3d<T> triangulate_3d_point	(	const vpgl_proj_camera< T > &	c1,
		const vgl_point_2d< T > &	x1,
		const vpgl_proj_camera< T > &	c2,
		const vgl_point_2d< T > &	x2
	)

Linearly intersect two camera rays to form a 3-d point.

Definition at line 327 of file vpgl_proj_camera.txx.

Defines

Functions

Detailed Description

Define Documentation

Function Documentation