Fawkes API
Fawkes Development Version
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A Calibration matrix for a finite camera. More...
#include <>>
Public Member Functions | |
Calibration (const Calibration &cal) | |
Copy Constructor. | |
Calibration (const fawkes::Matrix &k) | |
Constructor. | |
virtual | ~Calibration () |
Destructor. | |
Matrix | K () const |
Calibration getter. | |
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Matrix (unsigned int num_rows=0, unsigned int num_cols=0, float *data=0, bool manage_own_memory=true) | |
Constructor. | |
Matrix (const Matrix &tbc) | |
Copy-constructor. | |
~Matrix () | |
Destructor. | |
void | size (unsigned int &num_rows, unsigned int &num_cols) const |
Determines the dimensions of the matrix. | |
unsigned int | num_rows () const |
Return the number of rows in the Matrix. | |
unsigned int | num_cols () const |
Return the number of columns in the Matrix. | |
Matrix & | id () |
Sets the diagonal elements to 1.0 and all other to 0.0. | |
Matrix & | transpose () |
Transposes the matrix. | |
Matrix | get_transpose () const |
Computes a matrix that is the transposed of this matrix. | |
Matrix & | invert () |
Inverts the matrix. | |
Matrix | get_inverse () const |
Computes a matrix that is the inverse of this matrix. | |
float | det () const |
Computes the determinant of the matrix. | |
const float * | get_data () const |
Returns the const data pointer. | |
float * | get_data () |
Returns the data pointer. | |
Matrix | get_submatrix (unsigned int row, unsigned int col, unsigned int num_rows, unsigned int num_cols) const |
Returns a submatrix of the matrix. | |
void | overlay (unsigned int row, unsigned int col, const Matrix &m) |
Overlays another matrix over this matrix. | |
float | operator() (unsigned int row, unsigned int col) const |
(Read-only) Access-operator. | |
float & | operator() (unsigned int row, unsigned int col) |
(RW) Access operator. | |
Matrix & | operator= (const Matrix &rhs) |
Assignment operator. | |
Matrix | operator* (const Matrix &rhs) const |
Matrix multiplication operator. | |
Matrix & | operator*= (const Matrix &rhs) |
Combined matrix-multipliation and assignement operator. | |
Vector | operator* (const Vector &cv) const |
Multiply the matrix with given vector. | |
Matrix | operator* (const float &f) const |
Mulitply every element of the matrix with the given scalar. | |
Matrix & | operator*= (const float &f) |
Combined scalar multiplication and assignment operator. | |
Matrix | operator/ (const float &f) const |
Divide every element of the matrix with the given scalar. | |
Matrix & | operator/= (const float &f) |
Combined scalar division and assignment operator. | |
Matrix | operator+ (const Matrix &rhs) const |
Addition operator. | |
Matrix & | operator+= (const Matrix &rhs) |
Add-assign operator. | |
Matrix | operator- (const Matrix &rhs) const |
Subtraction operator. | |
Matrix & | operator-= (const Matrix &rhs) |
Subtract-assign operator. | |
bool | operator== (const Matrix &rhs) const |
Comparison operator. | |
void | print_info (const char *name=0, const char *col_sep=0, const char *row_sep=0) const |
Print matrix to standard out. |
Protected Member Functions | |
Calibration () | |
Hidden default constructor. | |
Calibration & | K (const fawkes::Matrix &k) |
Sets the calibration matrix. |
Additional Inherited Members | |
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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. | |
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. |
A Calibration matrix for a finite camera.
Definition at line 35 of file calibration.h.
firevision::Calibration::Calibration | ( | const Calibration & | cal | ) |
Copy Constructor.
cal | the Calibration to copy |
Definition at line 59 of file calibration.cpp.
References K().
firevision::Calibration::Calibration | ( | const fawkes::Matrix & | k | ) |
Constructor.
k | 3x3 Calibration matrix of the camera |
Definition at line 51 of file calibration.cpp.
References K().
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virtual |
Destructor.
Definition at line 66 of file calibration.cpp.
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protected |
Hidden default constructor.
Definition at line 43 of file calibration.cpp.
References fawkes::Matrix::id().
Matrix firevision::Calibration::K | ( | ) | const |
Calibration getter.
Definition at line 74 of file calibration.cpp.
References fawkes::Matrix::get_submatrix().
Referenced by Calibration(), and firevision::CCDCalibration::CCDCalibration().
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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
k | the calibration matrix |
Definition at line 88 of file calibration.cpp.
References fawkes::Matrix::id(), fawkes::Matrix::overlay(), and fawkes::Matrix::size().