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projective_cam.h
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/***************************************************************************
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* projective_cam.h - Abstract class defining a projective camera model
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*
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* Created: Thu May 08 15:08:00 2008
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* Copyright 2008 Christof Rath <c.rath@student.tugraz.at>
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#ifndef __FIREVISION_PROJECTIVE_CAM_H__
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#define __FIREVISION_PROJECTIVE_CAM_H__
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#include <fvmodels/camera/calibration.h>
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#include <geometry/hom_transform.h>
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#include <fvutils/base/types.h>
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#include <core/exception.h>
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namespace
firevision {
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#if 0
/* just to make Emacs auto-indent happy */
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}
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#endif
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class
AboveHorizonException
:
public
fawkes::Exception
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{
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public
:
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AboveHorizonException
(
const
char
*msg,
const
center_in_roi_t
img_pt)
throw
();
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const
center_in_roi_t
& get_img_pt()
const
;
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private
:
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center_in_roi_t
__img_pt;
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};
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class
ProjectiveCam
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{
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public
:
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ProjectiveCam
(
const
ProjectiveCam
& pc);
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virtual
~
ProjectiveCam
();
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//virtual HomTransform get_inverse() const;
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virtual
ProjectiveCam
& set_location(
const
fawkes::HomTransform
& loc);
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virtual
ProjectiveCam
& set_location(
float
roll,
float
pitch,
float
yaw,
float
height,
float
x = 0,
float
y = 0);
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virtual
fawkes::cart_coord_2d_t
get_GPA_world_coord(
const
center_in_roi_t
&img_p)
const
;
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virtual
center_in_roi_t
get_GPA_image_coord(
const
fawkes::cart_coord_2d_t
&wld_p)
const
;
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virtual
void
print_info (
const
char
* name = 0,
const
char
*col_sep = 0,
const
char
*row_sep = 0)
const
;
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protected
:
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ProjectiveCam
(
const
Calibration
&cal,
const
fawkes::HomTransform
*loc = 0);
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ProjectiveCam
(
const
Calibration
&cal,
float
roll,
float
pitch,
float
yaw,
float
height,
float
x = 0,
float
y = 0);
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Calibration
get_cal()
const
;
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fawkes::Matrix
get_p()
const
;
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fawkes::Matrix
get_GPA_p()
const
;
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private
:
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Calibration
__cal;
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fawkes::Matrix
*__p;
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fawkes::Matrix
*__gpa_inv;
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float
*__gpa_inv_data;
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};
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}
// end namespace firevision
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#endif // __FIREVISION_PROJECTIVE_CAM_H__
src
libs
fvmodels
camera
projective_cam.h
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