PUBLIC

PinholeCamera0C::cx(void) PinholeCamera0C::cy(void) PinholeCamera0C::fx(void) PinholeCamera0C::fy(void) PinholeCamera0C::R(void) PinholeCamera0C::t(void) PinholeCamera0C::cx(void) const PinholeCamera0C::cy(void) const PinholeCamera0C::fx(void) const PinholeCamera0C::fy(void) const PinholeCamera0C::R(void) const PinholeCamera0C::t(void) const PinholeCamera0C::Project(Vector2dC &,const Vector3dC &) const PinholeCamera0C::ProjectCheck(Vector2dC &,const Vector3dC &) const PinholeCamera0C::ProjectJacobian(FMatrixC<2,3> &,const Vector3dC &) const PinholeCamera0C::ProjectInverseDirection(Vector3dC &,const Vector2dC &) const PinholeCamera0C::Origin(Vector3dC &) const

RealT _cx;

RealT _cy;

RealT _fx;

RealT _fy;

Matrix3dC _R;

Vector3dC _t;

RealT & cx()

RealT & cy()

RealT & fx()

RealT & fy()

Matrix3dC & R()

Vector3dC & t()

const RealT & cx() const

const RealT & cy() const

const RealT & fx() const

const RealT & fy() const

const Matrix3dC & R() const

const Vector3dC & t() const

void Project(Vector2dC & z,const Vector3dC & x) const

Project 3D point in space to 2D image point
Projects according to:
z[0] = cx + fx*( (R*x + t)[0] / (R*x + t)[2] )
z[1] = cy + fy*( (R*x + t)[1] / (R*x + t)[2] )
Can result in a divide-by-zero for degenerate points. See ProjectCheck if this is to be avoided.

bool ProjectCheck(Vector2dC & z,const Vector3dC & x) const

Project 3D point in space to 2D image point
The same as Project(...) but checks that the point is not degenerate.

void ProjectJacobian(FMatrixC<2,3> & Jz,const Vector3dC & x) const

The Jacobian matrix of the projection funtion

void ProjectInverseDirection(Vector3dC & x,const Vector2dC & z) const

Inverse projection up to a scale factor
Origin + lambda*ProjectInverseDirection is the camera ray corresponding to image point z.

void Origin(Vector3dC & org) const

Origin of the camera in world co-ordinates
Computed as -R.T() * t.