#include <ardev_types.h>
Public Member Functions | |
| ARCamera () | |
| Default Constructor, Creates Camera facing along the X axis with fov=45 degrees and an aspect ratio of 1. | |
| ARCamera (ARPoint _Origin, ARPoint LookAt, ARPoint _Up, double y_fov, double aspect) | |
| Creates camera with the specified origin facing at the LookAt point with the given Up, y fov and aspect. | |
| ARCamera (const char *CalibFile) | |
| void | SetDirectionFromPoint (ARPoint _In) |
| Sets the direction point based on the camera origin and facing the given point. | |
| void | Print () const |
| print the camera info to stdout | |
| ARPoint | GetCRFPointFromPixel (double x, double y) |
| Get Point in CRF from pixel. | |
| ARPoint | GetWRFDirFromCRF (ARPoint CRFPoint) |
| return a point in a ray from camera origin to CRFPOint in WRF, camera origin can be used with this return value to form a ray | |
| double | GetRx () |
| double | GetRy () |
| double | GetRz () |
Public Attributes | |
| ARPoint | Origin |
| Camera Origin. | |
| ARPoint | Direction |
| Camera Direction. | |
| ARPoint | Up |
| Camera Up vector. | |
| double | y_fov |
| Camera Y Field of View in radians. | |
| double | x_fov |
| Camera X Field of View in radians. | |
| double | aspect |
| Camera aspect ratio. | |
| double | sensor_width |
| physical sensor array width (meters) | |
| double | sensor_height |
| physical sensor array height (meters) | |
| int | frame_width |
| Image width camera was calibrated with (pixels). | |
| int | frame_height |
| Image height camera was calibrated with (pixels). | |
| double | FocalDistance |
| Camera Focal Distance. | |
| double | sx |
| Camera X scale factor. | |
| double | sy |
| Camera Y scale factor. | |
| double * | convergance |
| distance to convergance point | |
| double * | separation |
| for a stereo pair this gives the horizontal separation | |
| Matrix | R |
| Camera rotation Matrix;. | |
| Matrix | RInv |
| Inverse Camera rotation Matrix. | |
| Matrix | T |
| Camera Translation Matrix. | |
| enum AR_CamType | CamType |
| Camera type, used for special handling of stereo cameras. | |
| double | Rx |
| double | Ry |
| double | Rz |
The ARCamera Object represents a physical or virtual camera. Its properties include the origin of the camera, the direction it is facing, the up direction, y feild of veiw and aspect ratio.
These parameters can then be used later for correct rendering of 3d elements.
| ARCamera::ARCamera | ( | const char * | CalibFile | ) |
Creates a camera using parameters pre-calibrated and provided in the named file
The file format is as follow: Translation matrix (meters) Rotation Matrix Focal distance (meters) pixel sensor width in meters (x and y) Image size in pixels (x and y) Image Scale factor (x and y)
1.5.1