This class represent the 3D position of the device which take the pictures. The role of the class is to store everything related to the filed of view: picture, 3D position, points, matches and 3D points. More...

#include <PointOfView.h>

Public Member Functions
	PointOfView (cv::Ptr< Camera > device, cv::Mat rotation=cv::Mat::eye(3, 3, CV_64F), cv::Vec3d translation=cv::Vec3d(0.0, 0.0, 0.0))
	PointOfView (cv::Mat projection_matrix)
	PointOfView (const PointOfView &ref)
virtual	~PointOfView (void)
cv::Ptr< Camera >	getIntraParameters () const
uchar	getNbMissingParams () const
virtual std::vector< cv::Vec2d >	project3DPointsIntoImage (std::vector< TrackOfPoints > points) const
virtual std::vector< cv::Vec2d >	project3DPointsIntoImage (std::vector< cv::Vec3d > points) const
virtual cv::Vec2d	project3DPointIntoImage (cv::Vec3d point) const
virtual bool	pointInFrontOfCamera (cv::Vec4d point) const
virtual cv::Mat	getProjectionMatrix () const
cv::Mat	getRotationMatrix () const
virtual void	setRotationMatrix (cv::Mat newRot)
cv::Mat	getTranslationVector () const
void	setTranslationVector (cv::Mat newVect)
void	rotationAroundX (double angle)
void	rotationAroundY (double angle)
void	rotationAroundZ (double angle)
void	print (std::ostream &flux) const
Static Public Member Functions
static cv::Ptr< PointOfView >	read (const cv::FileNode &node)
static void	write (cv::FileStorage &fs, const PointOfView &points)
Protected Attributes
cv::Mat	rotation_
	Rotation matrix R ( data is stored into projection_matrix_ )
cv::Mat	translation_
	Translation vector t ( Matrix instead of vector because data is stored into projection_matrix_ )
cv::Mat	projection_matrix_
	redundancy but speed improvement
cv::Ptr< Camera >	device_
	intra parameters and distortion coefs
unsigned char	config_
	This attribut is used to know what we should estimate... If equal to 0, nothing should be estimated...

Detailed Description

This class represent the 3D position of the device which take the pictures. The role of the class is to store everything related to the filed of view: picture, 3D position, points, matches and 3D points.

We use the so-called pinhole camera model. That is, a scene view is formed by projecting 3D points into the image plane using a perspective transformation. Usual notation says that a point [ u,v ] from an image is related to the point [ X,Y,Z ] using the following notation :

$s \begin{bmatrix} u \\ v \\ 1 \end{bmatrix} = \begin{bmatrix}f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \end{bmatrix} \begin{bmatrix} r_{11} & r_{12} & r_{13} & t_1 \\ r_{21} & r_{22} & r_{23} & t_2 \\ r_{31} & r_{32} & r_{33} & t_3 \end{bmatrix} \begin{bmatrix} X \\ Y \\ Z \\ 1 \end{bmatrix}$

This leads to the following relation between local coordinates and global ones:

$\begin{array}{l} \vspace{10pt} \begin{bmatrix} x \\ y \\ z \end{bmatrix} = R \begin{bmatrix} X \\ Y \\ Z \end{bmatrix} + t \\ x' = x/z \\ y' = y/z \vspace{10pt} \end{array}$

Definition at line 44 of file PointOfView.h.

Constructor & Destructor Documentation

OpencvSfM::PointOfView::PointOfView	(	cv::Ptr< Camera >	device,
		cv::Mat	rotation = `cv::Mat::eye( 3, 3, CV_64F )`,
		cv::Vec3d	translation = `cv::Vec3d( 0.0,0.0,0.0 )`
	)

To create a point of view, we need two things : a camera, and a point ( with orientation ). Here we give an address of a Camera, and the file name of the picture. If we have more informations, we can use the last parameters...

Parameters:

device	address of existing Camera. This camera can be calibrated or not...
rotation	Matrix of the known rotation ( optional )...
translation	Vector of the known translation ( optional )...

Definition at line 33 of file PointOfView.cpp.

Referenced by read().

OpencvSfM::PointOfView::PointOfView ( cv::Mat projection_matrix )

To create a point of view using a projection matrix. (will create a Pinhole Camera without distortion parameters) We will extract intra, rotation and translation from this projection matrix.

Parameters:

projection_matrix Projection matrix of the camera

Definition at line 72 of file PointOfView.cpp.

OpencvSfM::PointOfView::PointOfView ( const PointOfView & ref )

Copy constructor

Definition at line 55 of file PointOfView.cpp.

OpencvSfM::PointOfView::~PointOfView ( void ) [virtual]

Destructor of PointOfView, release all vectors... TODO: define how we should release the vectors...

Definition at line 113 of file PointOfView.cpp.

Member Function Documentation

cv::Ptr<Camera> OpencvSfM::PointOfView::getIntraParameters ( ) const [inline]

use this function to get acces to the camera parameters

Returns:: camera matrix

Definition at line 84 of file PointOfView.h.

Referenced by OpencvSfM::Visualizer::addCamera(), and OpencvSfM::EuclideanEstimator::addNewPointOfView().

uchar OpencvSfM::PointOfView::getNbMissingParams ( ) const

use this function to know which parameters are missing

Returns:: numbers of parameters needed for this camera

Definition at line 132 of file PointOfView.cpp.

cv::Mat OpencvSfM::PointOfView::getProjectionMatrix ( ) const [virtual]

This method return the intra parameters of the camera

Returns:: Matrix K of intra parameters

Definition at line 252 of file PointOfView.cpp.

cv::Mat OpencvSfM::PointOfView::getRotationMatrix ( ) const [inline]

Use this method to get the rotation matrix of this camera

Returns:: rotation matrix of this camera

Definition at line 126 of file PointOfView.h.

Referenced by OpencvSfM::Visualizer::addCamera(), and OpencvSfM::EuclideanEstimator::addNewPointOfView().

cv::Mat OpencvSfM::PointOfView::getTranslationVector ( ) const [inline]

Use this method to get the translation vector of this camera

Returns:: translation vector of this camera

Definition at line 145 of file PointOfView.h.

Referenced by OpencvSfM::Visualizer::addCamera(), and OpencvSfM::EuclideanEstimator::addNewPointOfView().

bool OpencvSfM::PointOfView::pointInFrontOfCamera ( cv::Vec4d point ) const [virtual]

This method test is 3D point is in front of Camera ( can be view with the camera )

Parameters:

point 3D point in world coordinates ( homogeneous, that is 4 values ).

Returns:: true if point can be seen with this point of view

Definition at line 241 of file PointOfView.cpp.

void OpencvSfM::PointOfView::print ( std::ostream & flux ) const

This operator overload allow us to print easily a point of view:

Definition at line 294 of file PointOfView.cpp.

cv::Vec2d OpencvSfM::PointOfView::project3DPointIntoImage ( cv::Vec3d point ) const [virtual]

This method can convert 3D point from world coordinates to 2D point in pixel image coordinates

Parameters:

point 3D point in world coordinates.

Returns:: 2D point in pixel image coordinates.

Definition at line 142 of file PointOfView.cpp.

std::vector< cv::Vec2d > OpencvSfM::PointOfView::project3DPointsIntoImage ( std::vector< TrackOfPoints > points ) const [virtual]

This method can convert 3D points from world coordinates to 2D points in pixel image coordinates

Parameters:

points 3D points in world coordinates.

Returns:: 2D points in pixel image coordinates.

Definition at line 203 of file PointOfView.cpp.

std::vector< cv::Vec2d > OpencvSfM::PointOfView::project3DPointsIntoImage ( std::vector< cv::Vec3d > points ) const [virtual]

This method can convert 3D points from world coordinates to 2D points in pixel image coordinates

Parameters:

points 3D points in world coordinates.

Returns:: 2D points in pixel image coordinates.

Definition at line 170 of file PointOfView.cpp.

cv::Ptr< PointOfView > OpencvSfM::PointOfView::read ( const cv::FileNode & node ) [static]

Create a new camera's point of view from a YAML file.

Parameters:

node	Previously opened YAML file node

Definition at line 258 of file PointOfView.cpp.

void OpencvSfM::PointOfView::rotationAroundX ( double angle ) [inline]

Rotate this camera around X axis

Parameters:

angle of rotation

Definition at line 163 of file PointOfView.h.

void OpencvSfM::PointOfView::rotationAroundY ( double angle ) [inline]

Rotate this camera around Y axis

Parameters:

angle of rotation

Definition at line 173 of file PointOfView.h.

void OpencvSfM::PointOfView::rotationAroundZ ( double angle ) [inline]

Rotate this camera around Z axis

Parameters:

angle of rotation

Definition at line 183 of file PointOfView.h.

virtual void OpencvSfM::PointOfView::setRotationMatrix ( cv::Mat newRot ) [inline, virtual]

Use this method to change the rotation matrix of this camera

Parameters:

newRot new rotation matrix

Definition at line 134 of file PointOfView.h.

void OpencvSfM::PointOfView::setTranslationVector ( cv::Mat newVect ) [inline]

Use this method to change the translation vector of this camera

Parameters:

newVect new translation vector

Definition at line 153 of file PointOfView.h.

void OpencvSfM::PointOfView::write	(	cv::FileStorage &	fs,
		const PointOfView &	points
	)		`[static]`

Save the camera's point of view into a YAML file.

Parameters:

fs	Previously opened YAML file node
points	sequence to save...

Definition at line 286 of file PointOfView.cpp.

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

D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/PointOfView.h
D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/PointOfView.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation