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< Vec >	depthCamRays
	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

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

• /Users/alneuman/vm/icl/ICLGeom/src/ICLGeom/RGBDMapping.h