Fawkes API  Fawkes Development Version
firevision::Calibration Class Reference

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...
 
Matrixid ()
 Sets the diagonal elements to 1.0 and all other to 0.0. More...
 
Matrixtranspose ()
 Transposes the matrix. More...
 
Matrix get_transpose () const
 Computes a matrix that is the transposed of this matrix. More...
 
Matrixinvert ()
 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...
 
Matrixoperator= (const Matrix &rhs)
 Assignment operator. More...
 
Matrix operator* (const Matrix &rhs) const
 Matrix multiplication operator. More...
 
Matrixoperator*= (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...
 
Matrixoperator*= (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...
 
Matrixoperator/= (const float &f)
 Combined scalar division and assignment operator. More...
 
Matrix operator+ (const Matrix &rhs) const
 Addition operator. More...
 
Matrixoperator+= (const Matrix &rhs)
 Add-assign operator. More...
 
Matrix operator- (const Matrix &rhs) const
 Subtraction operator. More...
 
Matrixoperator-= (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...
 
CalibrationK (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
calthe Calibration to copy

Definition at line 59 of file calibration.cpp.

References K().

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

Constructor.

Parameters
k3x3 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
kthe 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: