projection::Homography Class Reference

#include <Homography.hpp>

Public Member Functions
cv::Mat	getVirtualImage ()
void	clearVirtualImage ()
	clear the virtual image More...
void	init (int rows, int cols, float focal, const Eigen::Isometry3f &vcam2plane)
void	addImage (cv::Mat image, const ::Eigen::Isometry3f &cam2plane, const Eigen::Matrix3f &camMat)
Eigen::Matrix3f	calcHomography (const Eigen::Matrix3f &R, const Eigen::Vector3f &t, const Eigen::Vector3f &n, float d) const
Eigen::Matrix3f	calcHomography (const Eigen::Isometry3f &trans, const Eigen::Vector3f &n, float dist) const
Eigen::Matrix3f	calcHomography (const Eigen::Isometry3f &camA2plane, const Eigen::Isometry3f &camB2plane) const

Detailed Description

Holds the view of a virtual camera, to a plane, for which images from other viewpoints can be added. These images will be projected onto the plane. This can be used e.g. for Birds-eye views.

Member Function Documentation

void Homography::addImage	(	cv::Mat	image,
		const ::Eigen::Isometry3f &	cam2plane,
		const Eigen::Matrix3f &	camMat
	)

Eigen::Matrix3f Homography::calcHomography	(	const Eigen::Matrix3f &	R,
		const Eigen::Vector3f &	t,
		const Eigen::Vector3f &	n,
		float	d
	)		const

Eigen::Matrix3f Homography::calcHomography	(	const Eigen::Isometry3f &	trans,
		const Eigen::Vector3f &	n,
		float	dist
	)		const

Eigen::Matrix3f Homography::calcHomography	(	const Eigen::Isometry3f &	camA2plane,
		const Eigen::Isometry3f &	camB2plane
	)		const

Calculate the homography transform between two cameras, for which the transform to a common reference is given. The xy plane of the reference frame is used as the projection surface.

Parameters

camA2plane	- current frame
camB2plane	- desired frame

Returns

homography which transforms current to desired frame

void Homography::clearVirtualImage

(

)

clear the virtual image

cv::Mat Homography::getVirtualImage

(

)

Returns

cv::Mat object of the virtual camera view

void Homography::init	(	int	rows,
		int	cols,
		float	focal,
		const Eigen::Isometry3f &	vcam2plane
	)

Initialize virtual camera

Parameters

rows	in the target image
cols	in the target image
focal	length of the virtual camera
vcam2plane	tranformation from the vcam frame to the projection plane

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

• /build/rock-master-18.09-perception-projection-0.20160705/src/Homography.hpp
• /build/rock-master-18.09-perception-projection-0.20160705/src/Homography.cpp