Utility class for RGBDMapping. More...

Public Member Functions
	RGBDMapping ()
	empty constructor (no initialization)
	RGBDMapping (const Camera &colorCam, const utils::Array2D< Vec > &depthCamRays, const Vec &depthCamPos)
	create RGBDMapping from given color camera, and depth camera parameters
	RGBDMapping (const Camera &colorCam, const Camera &depthCamera)
	create RGBDMapping from given color camera, and depth camera
utils::Point	apply (const utils::Point &p, float dMM) const
	applies the mapping
utils::Point	operator() (const utils::Point &p, float dMM) const
	applies the mapping
void	detach ()
	detaches the viewrays from other instances
Static Protected Member Functions
static utils::Point	map_rgbd (const Mat &M, const Vec &v)
	internally used utility function
Protected Attributes
Mat	colorCamMatrix
	color camera matrix
utils::Array2D< Vec >	depthCamRays
	depth camera view rays
Vec	depthCamPos
	depth camera offset

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

icl::geom::RGBDMapping::RGBDMapping ( ) [inline]

empty constructor (no initialization)

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

icl::geom::RGBDMapping::RGBDMapping	(	const Camera &	colorCam,
		const Camera &	depthCamera
	)		`[inline]`

create RGBDMapping from given color camera, and depth camera

utils::Point icl::geom::RGBDMapping::apply	(	const utils::Point &	p,
		float	dMM
	)		const `[inline]`

applies the mapping

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

static utils::Point icl::geom::RGBDMapping::map_rgbd	(	const Mat &	M,
		const Vec &	v
	)		`[inline, static, protected]`

internally used utility function

utils::Point icl::geom::RGBDMapping::operator()	(	const utils::Point &	p,
		float	dMM
	)		const `[inline]`

applies the mapping

color camera matrix

depth camera offset

depth camera view rays

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

/home/jenkins/workspace/icl-manual-trunk/icl-manual/ICLGeom/src/ICLGeom/RGBDMapping.h