#include <DepthCamera.h>

Public Member Functions
double	cx () const

double	cy () const

	DepthCamera ()

	DepthCamera (const image_geometry::PinholeCameraModel &cam_model)

	DepthCamera (const sensor_msgs::CameraInfo &cam_info)

	DepthCamera (uint width, uint height, double fx, double fy, double cx, double cy, double tx, double ty)

double	fx () const

double	fy () const

double	getFocalLengthX () const

double	getFocalLengthY () const

double	getOpticalCenterX () const

double	getOpticalCenterY () const

double	getOpticalTranslationX () const

double	getOpticalTranslationY () const

int	height () const

void	initFromCamModel (const image_geometry::PinholeCameraModel &cam_model)
	Set camera parameters from pinhole camera model. More...

bool	initialized () const
	Indicates whether the camera parameters are set. Using the camera when not initialized is useless. More...

template<typename T = double>
geo::Vec3T< T >	project2Dto3D (int x, int y) const

double	project2Dto3DX (int x) const

double	project2Dto3DY (int y) const

template<typename Tin = double, typename Tout = double>
cv::Point_< Tout >	project3Dto2D (const geo::Vec3T< Tin > &p) const

RasterizeResult	rasterize (const Shape &shape, const Pose3D &cam_pose, const Pose3D &obj_pose, cv::Mat &image, PointerMap &pointer_map=EMPTY_POINTER_MAP, void *pointer=0, TriangleMap &triangle_map=EMPTY_TRIANGLE_MAP) const

RasterizeResult	rasterize (const Shape &shape, const Pose3D &pose, cv::Mat &image, PointerMap &pointer_map=EMPTY_POINTER_MAP, void *pointer=0, TriangleMap &triangle_map=EMPTY_TRIANGLE_MAP) const
	rasterize: render a 3D shape onto a 2D image More...

void	render (const RenderOptions &opt, RenderResult &res) const

double	Tx () const

double	Ty () const

int	width () const

virtual	~DepthCamera ()

Protected Member Functions
template<typename Tin = double, typename Tout = double>
void	drawTriangle (const geo::Vec3T< Tin > &p1, const geo::Vec3T< Tin > &p2, const geo::Vec3T< Tin > &p3, const RenderOptions &opt, RenderResult &res, uint i_triangle) const

template<typename T = double>
void	drawTriangle2D (const geo::Vec3T< T > &p1, const geo::Vec3T< T > &p2, const geo::Vec3T< T > &p3, const RenderOptions &opt, RenderResult &res, uint i_triangle) const

void	drawTrianglePart (int y_start, int y_end, float x_start, float x_start_delta, float x_end, float x_end_delta, float d_start, float d_start_delta, float d_end, float d_end_delta, const RenderOptions &opt, RenderResult &res, uint i_triangle) const

template<typename T = double>
void	sort (const geo::Vec3T< T > &p_min, const geo::Vec3T< T > &p_mid, const geo::Vec3T< T > *&p_max, uchar dim) const

Protected Attributes
image_geometry::PinholeCameraModel	cam_model_

Static Protected Attributes
static constexpr const double	near_clip_z_ = -0.1

Detailed Description

Model of a depth camera which may be used to either convert points in an image to points in 3D space simulate a depth camera and render shapes in the image

Frame conventions: the frame of the camera is defined with the z-axis pointing into the camera, the x-axis matches the x -axis of the image, and the y-axis matches the negative y-axis of the image.

Definition at line 159 of file DepthCamera.h.

Constructor & Destructor Documentation

◆ DepthCamera() [1/4]

geo::DepthCamera::DepthCamera ( )

Definition at line 26 of file DepthCamera.cpp.

◆ DepthCamera() [2/4]

geo::DepthCamera::DepthCamera	(	uint	width,
		uint	height,
		double	fx,
		double	fy,
		double	cx,
		double	cy,
		double	tx,
		double	ty
	)

Definition at line 30 of file DepthCamera.cpp.

◆ DepthCamera() [3/4]

geo::DepthCamera::DepthCamera ( const image_geometry::PinholeCameraModel & cam_model )

Definition at line 81 of file DepthCamera.cpp.

◆ DepthCamera() [4/4]

geo::DepthCamera::DepthCamera ( const sensor_msgs::CameraInfo & cam_info )

Definition at line 86 of file DepthCamera.cpp.

◆ ~DepthCamera()

geo::DepthCamera::~DepthCamera ( )

virtual

Definition at line 93 of file DepthCamera.cpp.

Member Function Documentation

◆ cx()

double geo::DepthCamera::cx ( ) const

inline

Definition at line 225 of file DepthCamera.h.

◆ cy()

double geo::DepthCamera::cy ( ) const

inline

Definition at line 228 of file DepthCamera.h.

◆ drawTriangle()

template<typename Tin , typename Tout >

void geo::DepthCamera::drawTriangle	(	const geo::Vec3T< Tin > &	p1,
		const geo::Vec3T< Tin > &	p2,
		const geo::Vec3T< Tin > &	p3,
		const RenderOptions &	opt,
		RenderResult &	res,
		uint	i_triangle
	)		const

protected

Definition at line 254 of file DepthCamera.cpp.

◆ drawTriangle2D()

template<typename T >

void geo::DepthCamera::drawTriangle2D	(	const geo::Vec3T< T > &	p1,
		const geo::Vec3T< T > &	p2,
		const geo::Vec3T< T > &	p3,
		const RenderOptions &	opt,
		RenderResult &	res,
		uint	i_triangle
	)		const

protected

Definition at line 269 of file DepthCamera.cpp.

◆ drawTrianglePart()

void geo::DepthCamera::drawTrianglePart	(	int	y_start,
		int	y_end,
		float	x_start,
		float	x_start_delta,
		float	x_end,
		float	x_end_delta,
		float	d_start,
		float	d_start_delta,
		float	d_end,
		float	d_end_delta,
		const RenderOptions &	opt,
		RenderResult &	res,
		uint	i_triangle
	)		const

protected

Definition at line 322 of file DepthCamera.cpp.

◆ fx()

double geo::DepthCamera::fx ( ) const

inline

Definition at line 219 of file DepthCamera.h.

◆ fy()

double geo::DepthCamera::fy ( ) const

inline

Definition at line 222 of file DepthCamera.h.

◆ getFocalLengthX()

double geo::DepthCamera::getFocalLengthX ( ) const

inline

Definition at line 220 of file DepthCamera.h.

◆ getFocalLengthY()

double geo::DepthCamera::getFocalLengthY ( ) const

inline

Definition at line 223 of file DepthCamera.h.

◆ getOpticalCenterX()

double geo::DepthCamera::getOpticalCenterX ( ) const

inline

Definition at line 226 of file DepthCamera.h.

◆ getOpticalCenterY()

double geo::DepthCamera::getOpticalCenterY ( ) const

inline

Definition at line 229 of file DepthCamera.h.

◆ getOpticalTranslationX()

double geo::DepthCamera::getOpticalTranslationX ( ) const

inline

Definition at line 232 of file DepthCamera.h.

◆ getOpticalTranslationY()

double geo::DepthCamera::getOpticalTranslationY ( ) const

inline

Definition at line 235 of file DepthCamera.h.

◆ height()

int geo::DepthCamera::height ( ) const

inline

Definition at line 237 of file DepthCamera.h.

◆ initFromCamModel()

void geo::DepthCamera::initFromCamModel ( const image_geometry::PinholeCameraModel & cam_model )

Set camera parameters from pinhole camera model.

Parameters

cam_model pinhole camera model

Definition at line 96 of file DepthCamera.cpp.

◆ initialized()

bool geo::DepthCamera::initialized ( ) const

inline

Indicates whether the camera parameters are set. Using the camera when not initialized is useless.

Returns: initiliazed or not initialized

Definition at line 245 of file DepthCamera.h.

◆ project2Dto3D()

template<typename T = double>

geo::Vec3T<T> geo::DepthCamera::project2Dto3D	(	int	x,
		int	y
	)		const

inline

convert points in an image to points in 3D space

Parameters

x	x index of the 2d point in the image
y	y index of the 2d point in the image

Returns: : (semi) unit vector indicating the direction of the beam corresponding to the pixel.

Definition at line 215 of file DepthCamera.h.

◆ project2Dto3DX()

double geo::DepthCamera::project2Dto3DX ( int x ) const

inline

Definition at line 204 of file DepthCamera.h.

◆ project2Dto3DY()

double geo::DepthCamera::project2Dto3DY ( int y ) const

inline

Definition at line 206 of file DepthCamera.h.

◆ project3Dto2D()

template<typename Tin = double, typename Tout = double>

cv::Point_<Tout> geo::DepthCamera::project3Dto2D ( const geo::Vec3T< Tin > & p ) const

inline

Definition at line 200 of file DepthCamera.h.

◆ rasterize() [1/2]

RasterizeResult geo::DepthCamera::rasterize	(	const Shape &	shape,
		const Pose3D &	cam_pose,
		const Pose3D &	obj_pose,
		cv::Mat &	image,
		PointerMap &	pointer_map = `EMPTY_POINTER_MAP`,
		void *	pointer = `0`,
		TriangleMap &	triangle_map = `EMPTY_TRIANGLE_MAP`
	)		const

Definition at line 107 of file DepthCamera.cpp.

◆ rasterize() [2/2]

RasterizeResult geo::DepthCamera::rasterize	(	const Shape &	shape,
		const Pose3D &	pose,
		cv::Mat &	image,
		PointerMap &	pointer_map = `EMPTY_POINTER_MAP`,
		void *	pointer = `0`,
		TriangleMap &	triangle_map = `EMPTY_TRIANGLE_MAP`
	)		const

rasterize: render a 3D shape onto a 2D image

Parameters

shape	3D shape to be rendered
pose	pose of the shape with respect to the camera
image	image to render the result to
pointer_map	pointer map to store an identifier of the shape
pointer	identifier of the shape
triangle_map	triangle map to store the index of a triangle in the mesh

Returns

Definition at line 114 of file DepthCamera.cpp.

◆ render()

void geo::DepthCamera::render	(	const RenderOptions &	opt,
		RenderResult &	res
	)		const

Definition at line 129 of file DepthCamera.cpp.

◆ sort()

template<typename T >

void geo::DepthCamera::sort	(	const geo::Vec3T< T > *&	p_min,
		const geo::Vec3T< T > *&	p_mid,
		const geo::Vec3T< T > *&	p_max,
		uchar	dim
	)		const

protected

Definition at line 368 of file DepthCamera.cpp.

◆ Tx()

double geo::DepthCamera::Tx ( ) const

inline

Definition at line 231 of file DepthCamera.h.

◆ Ty()

double geo::DepthCamera::Ty ( ) const

inline

Definition at line 234 of file DepthCamera.h.

◆ width()

int geo::DepthCamera::width ( ) const

inline

Definition at line 239 of file DepthCamera.h.

Member Data Documentation

◆ cam_model_

image_geometry::PinholeCameraModel geo::DepthCamera::cam_model_

protected

Definition at line 251 of file DepthCamera.h.

◆ near_clip_z_

constexpr const double geo::DepthCamera::near_clip_z_ = -0.1

staticconstexprprotected

Definition at line 249 of file DepthCamera.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DepthCamera() [1/4]

◆ DepthCamera() [2/4]

◆ DepthCamera() [3/4]

◆ DepthCamera() [4/4]

◆ ~DepthCamera()

Member Function Documentation

◆ cx()

◆ cy()

◆ drawTriangle()

◆ drawTriangle2D()

◆ drawTrianglePart()

◆ fx()

◆ fy()

◆ getFocalLengthX()

◆ getFocalLengthY()

◆ getOpticalCenterX()

◆ getOpticalCenterY()

◆ getOpticalTranslationX()

◆ getOpticalTranslationY()

◆ height()

◆ initFromCamModel()

◆ initialized()

◆ project2Dto3D()

◆ project2Dto3DX()

◆ project2Dto3DY()

◆ project3Dto2D()

◆ rasterize() [1/2]

◆ rasterize() [2/2]

◆ render()

◆ sort()

◆ Tx()

◆ Ty()

◆ width()

Member Data Documentation

◆ cam_model_

◆ near_clip_z_