Image Component Library (ICL)
Public Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
icl::geom::RGBDMapping Class Reference

Utility class for RGBDMapping. More...

#include <RGBDMapping.h>

Public Member Functions

 RGBDMapping ()
 empty constructor (no initialization) More...
 
 RGBDMapping (const Camera &colorCam, const utils::Array2D< Vec > &depthCamRays, const Vec &depthCamPos)
 create RGBDMapping from given color camera, and depth camera parameters More...
 
 RGBDMapping (const Camera &colorCam, const Camera &depthCamera)
 create RGBDMapping from given color camera, and depth camera More...
 
utils::Point apply (const utils::Point &p, float dMM) const
 applies the mapping More...
 
utils::Point operator() (const utils::Point &p, float dMM) const
 applies the mapping More...
 
void detach ()
 detaches the viewrays from other instances More...
 

Static Protected Member Functions

static utils::Point map_rgbd (const Mat &M, const Vec &v)
 internally used utility function More...
 

Protected Attributes

Mat colorCamMatrix
 color camera matrix More...
 
utils::Array2D< VecdepthCamRays
 depth camera view rays More...
 
Vec depthCamPos
 depth camera offset More...
 

Detailed Description

Utility class for RGBDMapping.

For the mapping, two Camera instances are needed. The mapping computes the source color image positions for a given depth (x,y,d)-depth image pixel

Constructor & Destructor Documentation

◆ RGBDMapping() [1/3]

icl::geom::RGBDMapping::RGBDMapping ( )
inline

empty constructor (no initialization)

◆ RGBDMapping() [2/3]

icl::geom::RGBDMapping::RGBDMapping ( const Camera colorCam,
const utils::Array2D< Vec > &  depthCamRays,
const Vec depthCamPos 
)
inline

create RGBDMapping from given color camera, and depth camera parameters

◆ RGBDMapping() [3/3]

icl::geom::RGBDMapping::RGBDMapping ( const Camera colorCam,
const Camera depthCamera 
)
inline

create RGBDMapping from given color camera, and depth camera

Member Function Documentation

◆ apply()

utils::Point icl::geom::RGBDMapping::apply ( const utils::Point p,
float  dMM 
) const
inline

applies the mapping

◆ detach()

void icl::geom::RGBDMapping::detach ( )
inline

detaches the viewrays from other instances

The internal depthCamRay-Array2D might be shallow copied. This method ensured that *this becomes independent

◆ map_rgbd()

static utils::Point icl::geom::RGBDMapping::map_rgbd ( const Mat M,
const Vec v 
)
inlinestaticprotected

internally used utility function

◆ operator()()

utils::Point icl::geom::RGBDMapping::operator() ( const utils::Point p,
float  dMM 
) const
inline

applies the mapping

Member Data Documentation

◆ colorCamMatrix

Mat icl::geom::RGBDMapping::colorCamMatrix
protected

color camera matrix

◆ depthCamPos

Vec icl::geom::RGBDMapping::depthCamPos
protected

depth camera offset

◆ depthCamRays

utils::Array2D<Vec> icl::geom::RGBDMapping::depthCamRays
protected

depth camera view rays


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