/home/laradmin/lar/utils/mit_darpa_logs_player/src/camtrans.cpp File Reference

corrects distortion in images More...

#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include "small_linalg.h"

Include dependency graph for camtrans.cpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	_CamTrans
struct	SphericalDistortion
#define	CAMERA_EPSILON   1e-10
typedef void(*	warp_func_t )(const double, const double, const void *, double *, double *)
void	camtrans_compute_matrices (CamTrans *t)
void	camtrans_destroy (CamTrans *t)
int	camtrans_distort_pixel (const CamTrans *cam, const double x, const double y, double *ox, double *oy)
void	camtrans_get_cam_to_world_matrix (const CamTrans *t, double matrix[9])
void	camtrans_get_distortion_center (const CamTrans *t, double *x, double *y)
double	camtrans_get_focal_length_x (const CamTrans *t)
double	camtrans_get_focal_length_y (const CamTrans *t)
double	camtrans_get_height (const CamTrans *t)
double	camtrans_get_image_height (const CamTrans *t)
double	camtrans_get_image_width (const CamTrans *t)
void	camtrans_get_orientation (const CamTrans *t, double orientation[4])
void	camtrans_get_position (const CamTrans *t, double pos[3])
double	camtrans_get_principal_x (const CamTrans *t)
double	camtrans_get_principal_y (const CamTrans *t)
double	camtrans_get_width (const CamTrans *t)
void	camtrans_get_world_to_cam_matrix (const CamTrans *t, double matrix[12])
CamTrans *	camtrans_new_spherical (double width, double height, double fx, double fy, double cx, double cy, double skew, const double position[3], const double orientation_quat[4], const double distortion_cx, const double distortion_cy, double distortion_param)
int	camtrans_pixel_to_ray (const CamTrans *cam, const double x, const double y, double ray[3])
int	camtrans_project_line (const CamTrans *cam, const double *l_world, double *ox, double *oy, double *oz)
int	camtrans_project_point (const CamTrans *cam, const double *p_world, const int distort, double *ox, double *oy, double *oz)
void	camtrans_rotate_camera (CamTrans *t, const double q[4])
void	camtrans_scale_image (CamTrans *t, const double scale_factor)
void	camtrans_set_distortion_center (CamTrans *t, const double cx, const double cy)
int	camtrans_undistort_pixel (const CamTrans *cam, const double x, const double y, double *ox, double *oy)
static void	spherical_distort_func (const double x, const double y, const void *data, double *ox, double *oy)
static SphericalDistortion *	spherical_distortion_create (const double w, const double h, const double cx, const double cy, const double a)
static void	spherical_distortion_destroy (SphericalDistortion *dist)
static void	spherical_undistort_func (const double x, const double y, const void *data, double *ox, double *oy)

---

Detailed Description

corrects distortion in images

Definition in file camtrans.cpp.

---

Define Documentation

#define CAMERA_EPSILON   1e-10

Definition at line 43 of file camtrans.cpp.

---

Typedef Documentation

typedef void(* warp_func_t)(const double, const double, const void *, double *, double *)

Definition at line 46 of file camtrans.cpp.

---

Function Documentation

void camtrans_compute_matrices

(

CamTrans *

t

)

Definition at line 221 of file camtrans.cpp.

void camtrans_destroy

(

CamTrans *

t

)

Definition at line 211 of file camtrans.cpp.

int camtrans_distort_pixel	(	const CamTrans *	cam,
		const double	x,
		const double	y,
		double *	ox,
		double *	oy
	)

camtrans_distort_pixel:

Produce distorted pixel from rectified pixel.

Definition at line 416 of file camtrans.cpp.

void camtrans_get_cam_to_world_matrix	(	const CamTrans *	t,
		double	matrix[9]
	)

Definition at line 278 of file camtrans.cpp.

void camtrans_get_distortion_center	(	const CamTrans *	t,
		double *	x,
		double *	y
	)

Definition at line 329 of file camtrans.cpp.

double camtrans_get_focal_length_x

(

const CamTrans *

t

)

Definition at line 286 of file camtrans.cpp.

double camtrans_get_focal_length_y

(

const CamTrans *

t

)

Definition at line 291 of file camtrans.cpp.

double camtrans_get_height

(

const CamTrans *

t

)

Definition at line 323 of file camtrans.cpp.

double camtrans_get_image_height

(

const CamTrans *

t

)

Definition at line 301 of file camtrans.cpp.

double camtrans_get_image_width

(

const CamTrans *

t

)

Definition at line 296 of file camtrans.cpp.

void camtrans_get_orientation	(	const CamTrans *	t,
		double	orientation[4]
	)

Definition at line 262 of file camtrans.cpp.

void camtrans_get_position	(	const CamTrans *	t,
		double	pos[3]
	)

Definition at line 255 of file camtrans.cpp.

double camtrans_get_principal_x

(

const CamTrans *

t

)

Definition at line 306 of file camtrans.cpp.

double camtrans_get_principal_y

(

const CamTrans *

t

)

Definition at line 311 of file camtrans.cpp.

double camtrans_get_width

(

const CamTrans *

t

)

Definition at line 317 of file camtrans.cpp.

void camtrans_get_world_to_cam_matrix	(	const CamTrans *	t,
		double	matrix[12]
	)

Definition at line 271 of file camtrans.cpp.

CamTrans* camtrans_new_spherical	(	double	width,
		double	height,
		double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	skew,
		const double	position[3],
		const double	orientation_quat[4],
		const double	distortion_cx,
		const double	distortion_cy,
		double	distortion_param
	)

Definition at line 172 of file camtrans.cpp.

int camtrans_pixel_to_ray	(	const CamTrans *	cam,
		const double	x,
		const double	y,
		double	ray[3]
	)

Definition at line 424 of file camtrans.cpp.

int camtrans_project_line	(	const CamTrans *	cam,
		const double *	l_world,
		double *	ox,
		double *	oy,
		double *	oz
	)

Project line in the vehicle body frame to undistorted image pixel coords

Returns: 0 on success, -1 if the resulting line is at infinity

Definition at line 478 of file camtrans.cpp.

int camtrans_project_point	(	const CamTrans *	cam,
		const double *	p_world,
		const int	distort,
		double *	ox,
		double *	oy,
		double *	oz
	)

Project point in the vehicle body frame to image pixel, with optional distortion

Returns: 0 on success, -1 if the point lies on the camera's principal plane

Definition at line 444 of file camtrans.cpp.

void camtrans_rotate_camera	(	CamTrans *	t,
		const double	q[4]
	)

rotate camera by q. the rotation is applied to the camera body.

Definition at line 375 of file camtrans.cpp.

void camtrans_scale_image	(	CamTrans *	t,
		const double	scale_factor
	)

isotropically scale image

Definition at line 341 of file camtrans.cpp.

void camtrans_set_distortion_center	(	CamTrans *	t,
		const double	cx,
		const double	cy
	)

change camera distortion center

Definition at line 390 of file camtrans.cpp.

int camtrans_undistort_pixel	(	const CamTrans *	cam,
		const double	x,
		const double	y,
		double *	ox,
		double *	oy
	)

camtrans_undistort_pixel_exact:

Produce rectified pixel from distorted pixel.

Definition at line 405 of file camtrans.cpp.

static void spherical_distort_func	(	const double	x,
		const double	y,
		const void *	data,
		double *	ox,
		double *	oy
	)			[static]

Definition at line 124 of file camtrans.cpp.

static SphericalDistortion* spherical_distortion_create	(	const double	w,
		const double	h,
		const double	cx,
		const double	cy,
		const double	a
	)			[static]

Definition at line 67 of file camtrans.cpp.

static void spherical_distortion_destroy

(

SphericalDistortion *

dist

)

[static]

Definition at line 86 of file camtrans.cpp.

static void spherical_undistort_func	(	const double	x,
		const double	y,
		const void *	data,
		double *	ox,
		double *	oy
	)			[static]

Definition at line 94 of file camtrans.cpp.