DepthTools::Camera Struct Reference

Represents basic intrinsic parameters used to project pixels into a point cloud. More...

#include <depth_tools.h>

Public Member Functions
float	projectZ (unsigned short depth, float factor=1000.f) const
	Get the z coordinate of the projected point given the depth as depth/factor. More...
template<typename T >
float	projectX (T x, unsigned short depth, float factor=1000.f) const
	Given the depth by depth/factor, project the x coordinate into 3D room. More...
template<typename T >
float	projectY (T y, unsigned short depth, float factor=1000.f) const
	Given the depth by depth/factor, project the y coordinate into 3D room. More...
int	backprojectX (float x, float depth, float factor=1000.f) const
	Given the depth by depth/factor, back project the x coordinate to image plain. More...
int	backprojectY (float y, float depth, float factor=1000.f) const
	Given the depth by depth/factor, back project the y coordinate to image plain. More...

Public Attributes
float	cropping_x
	If the image was cropped in x dimension by a specific number of pixels. More...
float	cropping_y
	If the images was cropped in y dimension by a specific number of pixels. More...
float	principal_x
	Principal point x coordinate. More...
float	principal_y
	Principal point y coordinate. More...
float	focal_x
	Focal length in x. More...
float	focal_y
	Focal length in y. More...

Detailed Description

Represents basic intrinsic parameters used to project pixels into a point cloud.

Member Function Documentation

int DepthTools::Camera::backprojectX	(	float	x,
		float	depth,
		float	factor = 1000.f
	)		const

Given the depth by depth/factor, back project the x coordinate to image plain.

Parameters

[in]	x	x coordinate
[in]	depth	depth coordinate
[in]	factor	factor to multiply depth by

Returns

x coordinate

int DepthTools::Camera::backprojectY	(	float	y,
		float	depth,
		float	factor = 1000.f
	)		const

Given the depth by depth/factor, back project the y coordinate to image plain.

Parameters

[in]	y	y coordinate
[in]	depth	depth coordinate
[in]	factor	factor to multiply depth with

Returns

y coordinate

template<typename T >

template float DepthTools::Camera::projectX< float >	(	T	x,
		unsigned short	depth,
		float	factor = 1000.f
	)		const

Given the depth by depth/factor, project the x coordinate into 3D room.

Parameters

[in]	x	x coordinate
[in]	depth	depth as unsigned short
[in]	factor	factor to divide depth by

Returns

x coordinate

template<typename T >

template float DepthTools::Camera::projectY< float >	(	T	y,
		unsigned short	depth,
		float	factor = 1000.f
	)		const

Given the depth by depth/factor, project the y coordinate into 3D room.

Parameters

[in]	y	y coordinate
[in]	depth	depth as unsigned short
[in]	factor	factor to divide depth by

Returns

y coordinate

float DepthTools::Camera::projectZ	(	unsigned short	depth,
		float	factor = 1000.f
	)		const

Get the z coordinate of the projected point given the depth as depth/factor.

Parameters

[in]	depth	depth as unsigned short
[in]	factor	factor to divide depth by

Returns

z coordinate

Copyright (c) 2016, David Stutz Contact: david.nosp@m..stu.nosp@m.tz@rw.nosp@m.th-a.nosp@m.achen.nosp@m..de, davidstutz.de All rights reserved.

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Member Data Documentation

float DepthTools::Camera::cropping_x

If the image was cropped in x dimension by a specific number of pixels.

float DepthTools::Camera::cropping_y

If the images was cropped in y dimension by a specific number of pixels.

float DepthTools::Camera::focal_x

Focal length in x.

float DepthTools::Camera::focal_y

Focal length in y.

float DepthTools::Camera::principal_x

Principal point x coordinate.

float DepthTools::Camera::principal_y

Principal point y coordinate.

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

• lib_eval/depth_tools.h
• lib_eval/depth_tools.cpp