rvs::Parameters Class Reference

#include <Parameters.h>

Public Member Functions
json::Node const &	getRoot () const
std::string const &	getProjectionType () const
cv::Vec3f	getRotation () const
void	setRotation (cv::Vec3f)
cv::Matx33f	getRotationMatrix () const
cv::Vec3f	getPosition () const
void	setPosition (cv::Vec3f)
cv::Vec2f	getDepthRange () const
bool	hasInvalidDepth () const
cv::Size	getPaddedSize () const
cv::Size	getSize () const
cv::Rect	getCropRegion () const
int	getColorBitDepth () const
int	getDepthBitDepth () const
ColorFormat	getColorFormat () const
ColorFormat	getDepthColorFormat () const
cv::Vec2f	getHorRange () const
cv::Vec2f	getVerRange () const
bool	isFullHorRange () const
cv::Vec2f	getFocal () const
cv::Vec2f	getPrinciplePoint () const
void	printTo (std::ostream &stream) const
void	setNewResolution (int w, int h)
void	setFov (float fovV, float fovH)
void	setFov (cv::Vec4f &fov)

Static Public Member Functions
static Parameters	readFrom (json::Node parameters)

Detailed Description

Camera and video parameters

Definition at line 74 of file Parameters.h.

Member Function Documentation

getColorBitDepth()

int rvs::Parameters::getColorBitDepth

(

)

const

Texture bit depth

Definition at line 148 of file Parameters.cpp.

    {
        return m_bitDepthColor;
    }

getColorFormat()

ColorFormat rvs::Parameters::getColorFormat

(

)

const

Color space

Definition at line 158 of file Parameters.cpp.

    {
        return m_colorFormat;
    }

getCropRegion()

cv::Rect rvs::Parameters::getCropRegion

(

)

const

Image parameter of crop region:

perspective: principle point relates to uncropped region equirectangular: angular ranges relate to cropped region

Definition at line 143 of file Parameters.cpp.

    {
        return m_cropRegion;
    }

getDepthBitDepth()

int rvs::Parameters::getDepthBitDepth

(

)

const

Depth map bit depth

Definition at line 153 of file Parameters.cpp.

    {
        return m_bitDepthDepth;
    }

getDepthColorFormat()

ColorFormat rvs::Parameters::getDepthColorFormat

(

)

const

Depth color space

Definition at line 163 of file Parameters.cpp.

    {
        return m_depthColorFormat;
    }

getDepthRange()

cv::Vec2f rvs::Parameters::getDepthRange

(

)

const

Depth range

perspective: [znear, zfar] equirectangular: [Rmin, Rmax]

Definition at line 123 of file Parameters.cpp.

    {
        return m_depthRange;
    }

getFocal()

cv::Vec2f rvs::Parameters::getFocal

(

)

const

Intrinsic parameter of focal length (perspective)

Definition at line 185 of file Parameters.cpp.

    {
        assert(m_projectionType == ProjectionType::perspective);
        return m_focal;
    }

getHorRange()

cv::Vec2f rvs::Parameters::getHorRange

(

)

const

Horizontal angular range (degrees)

Definition at line 168 of file Parameters.cpp.

    {
        assert(m_projectionType == ProjectionType::equirectangular);
        return m_horRange;
    }

getPaddedSize()

cv::Size rvs::Parameters::getPaddedSize

(

)

const

Padded image size (before cropping)

Definition at line 133 of file Parameters.cpp.

    {
        return m_resolution;
    }

getPosition()

cv::Vec3f rvs::Parameters::getPosition

(

)

const

Extrinsic parameter of translation

Definition at line 113 of file Parameters.cpp.

    {
        return m_position;
    }

getPrinciplePoint()

cv::Vec2f rvs::Parameters::getPrinciplePoint

(

)

const

Intrinsic parameter of principle point (perspective)

The value returned is already adjusted to refer to the cropped region.

Definition at line 191 of file Parameters.cpp.

    {
        assert(m_projectionType == ProjectionType::perspective);
        return m_principlePoint - cv::Vec2f(cv::Point2f(m_cropRegion.tl()));
    }

getProjectionType()

std::string const & rvs::Parameters::getProjectionType

(

)

const

The projection type

Definition at line 91 of file Parameters.cpp.

    {
        return m_projectionType;
    }

getRoot()

json::Node const & rvs::Parameters::getRoot

(

)

const

Direct access to the parameter set for the software platform and proposals

Definition at line 86 of file Parameters.cpp.

    {
        return m_root;
    }

getRotation()

cv::Vec3f rvs::Parameters::getRotation

(

)

const

Extrinsic parameter of rotation (Euler angles, degrees)

Definition at line 96 of file Parameters.cpp.

    {
        return m_rotation;
    }

getRotationMatrix()

cv::Matx33f rvs::Parameters::getRotationMatrix

(

)

const

Get rotation as a matrix

Definition at line 106 of file Parameters.cpp.

    {
        auto const radperdeg = 0.01745329252f;
        return EulerAnglesToRotationMatrix(radperdeg * m_rotation);
    }

getSize()

cv::Size rvs::Parameters::getSize

(

)

const

Image size after cropping

Definition at line 138 of file Parameters.cpp.

    {
        return m_cropRegion.size();
    }

getVerRange()

cv::Vec2f rvs::Parameters::getVerRange

(

)

const

Vertical angular range (degrees)

Definition at line 174 of file Parameters.cpp.

    {
        assert(m_projectionType == ProjectionType::equirectangular);
        return m_verRange;
    }

hasInvalidDepth()

bool rvs::Parameters::hasInvalidDepth

(

)

const

Has invalid depth flag

Definition at line 128 of file Parameters.cpp.

    {
        return m_hasInvalidDepth;
    }

isFullHorRange()

bool rvs::Parameters::isFullHorRange

(

)

const

Is full horizontal angular range?

Definition at line 180 of file Parameters.cpp.

    {
        return m_isFullHorRange;
    }

printTo()

void rvs::Parameters::printTo

(

std::ostream &

stream

)

const

Print a description

Definition at line 197 of file Parameters.cpp.

    {
        stream << m_resolution << ' ' << m_bitDepthColor << "b " << m_bitDepthDepth << "b " << m_depthRange;
        if (m_cropRegion != cv::Rect(cv::Point(), m_resolution)) {
            stream << m_cropRegion;
        }
        stream << ' ' << m_projectionType << ' ';
        if (m_projectionType == ProjectionType::equirectangular) {
            stream << m_horRange << ' ' << m_verRange;
        }
        if (m_projectionType == ProjectionType::perspective) {
            stream << m_focal << ' ' << m_principlePoint;
        }
        stream << ' ' << m_position << ' ' << m_rotation;
    }

readFrom()

Parameters rvs::Parameters::readFrom ( json::Node  parameters )

static

Camera parameters

Parameters

parameters

The camera and video parameters of this camera

Definition at line 62 of file Parameters.cpp.

    {
        Parameters parameters(root);
 
        parameters.setProjectionFrom(root);
        parameters.setPositionFrom(root);
        parameters.setRotationFrom(root);
        parameters.setDepthRangeFrom(root);
        parameters.setHasInvalidDepth(root);
        parameters.setResolutionFrom(root);
        parameters.setBitDepthColorFrom(root);
        parameters.setBitDepthDepthFrom(root);
        parameters.setColorFormatFrom(root);
        parameters.setDepthColorFormatFrom(root);
        parameters.setHorRangeFrom(root);
        parameters.setVerRangeFrom(root);
        parameters.setCropRegionFrom(root);
        parameters.setFocalFrom(root);
        parameters.setPrinciplePointFrom(root);
        Parameters::validateUnused(root);
 
        return parameters;
    }

setFov()

void rvs::Parameters::setFov

(

cv::Vec4f &

fov

)

Definition at line 388 of file Parameters.cpp.

                                         {
 
        auto range = m_depthRange[0] * m_depthRange[1];
        auto rangeOffset = m_depthRange[0] - m_depthRange[1];
 
        auto tl = std::tan(fov[0]); //left
        auto tr = std::tan(fov[1]); //right
        auto tt = std::tan(fov[2]); //top
        auto tb = std::tan(fov[3]); //down
 
        auto tw = tr - tl;
        auto th = tt - tb;
 
        auto x0 = (-tl) / tw;
        auto y0 = (-tb) / th;
 
        m_focal[0] = m_resolution.width / tw;
        m_focal[1] = m_resolution.height / th;
 
 
        m_principlePoint[0] = x0 * m_resolution.width;
        m_principlePoint[1] = (1-y0) * m_resolution.height;
    }

setNewResolution()

void rvs::Parameters::setNewResolution	(	int	w,
		int	h
	)

change resolution (virtual camera)

Definition at line 374 of file Parameters.cpp.

                                                 {
        auto oldRes = cv::Size(m_resolution);
        m_resolution = cv::Size(w,h);
        m_cropRegion = cv::Rect(cv::Point(), m_resolution);
        float factorW = float(w)/float(oldRes.width);
        float factorH = float(h)/float(oldRes.height);
        m_principlePoint[0] *= factorW;
        m_principlePoint[1] *= factorH;
        auto factor = std::min(factorW,factorH);
        m_focal[0] *= factor;
        m_focal[1] *= factor;
 
    }

setPosition()

void rvs::Parameters::setPosition

(

cv::Vec3f

position

)

Set a new translation

Definition at line 118 of file Parameters.cpp.

    {
        m_position = position;
    }

setRotation()

void rvs::Parameters::setRotation

(

cv::Vec3f

rotation

)

Set rotation (Euler angles, degrees)

Definition at line 101 of file Parameters.cpp.

    {
        m_rotation = rotation;
    }

---

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

• Parameters.h
• Parameters.cpp