Calibrated camera for augmented reality. More...

#include <CalibratedCamera.hpp>

Inheritance diagram for vl::CalibratedCamera:

Public Member Functions
	CalibratedCamera ()

void	setCalibratedImageSize (int width, int height, float pixelaspect=1.0)
	Set the size of the image in pixels that was used while calibrating the camera model. More...

void	setIntrinsicParameters (float fx, float fy, float cx, float cy)
	Set the intrinsic parameters as determined from camera calibration. More...

void	setScreenSize (int width, int height)
	Usually you don't need to call this as the renderer takes care of keeping it up to date with whatever the current framebuffer size is. More...

int	imageWidth () const
	Image width in pixels. More...

int	imageHeight () const
	Image height in pixels. More...

int	screenWidth () const
	Image width in pixels. More...

int	screenHeight () const
	Screen height in pixels. More...

float	pixelAspectRatio () const
	The width of a single pixel divided by its height. More...

void	updateCalibration ()
	Recomputes the projection matrix and viewport based on the calibration data specified by setCalibratedImageSize(), setScreenSize(), setIntrinsicParameters(), setNearPlane(), setFarPlane() More...

Public Member Functions inherited from vl::Camera
	Camera ()
	Constructs a perspective projecting camera with FOV = 60.0, Near Plane = 0.05, Far Plane = 10000.0. More...

void	computeNearFarOptimizedProjMatrix (const Sphere &scene_bounding_sphere)
	The near and far clipping planes are adjusted to fit the provided `scene_bounding_sphere`. More...

void	computeFrustumPlanes ()
	Computes the Camera's frustum planes in world space. More...

void	applyModelViewMatrix (const mat4 &model_matrix) const
	Loads the GL_MODELVIEW matrix with the Camera's view matrix multiplied by the specified model matrix. More...

void	applyViewMatrix () const
	Loads the GL_MODELVIEW matrix with the Camera's view matrix. More...

void	applyProjMatrix () const
	Loads the GL_PROJECTION matrix with the Camera's projection matrix. More...

real	aspectRatio () const
	Returns the aspect ratio computed as viewport()->width()/viewport()->height(). More...

void	setFOV (real fov)
	The field of view of the camera. More...

real	fov () const
	The field of view of the camera. More...

void	setNearPlane (real nearplane)
	The near clipping plane. More...

real	nearPlane () const
	The near clipping plane. More...

void	setFarPlane (real farplane)
	The far clipping plane. More...

real	farPlane () const
	The far clipping plane. More...

real	left () const
	'left' parameter as passed to the last setProjectionFrustum() or setProjectionOrtho*() More...

void	setLeft (real v)

real	right () const
	'right' parameter as passed to the last setProjectionFrustum() or setProjectionOrtho*() More...

void	setRight (real v)

real	bottom () const
	'bottom' parameter as passed to the last setProjectionFrustum() or setProjectionOrtho*() More...

void	setBottom (real v)

real	top () const
	'top' parameter as passed to the last setProjectionFrustum() or setProjectionOrtho*() More...

void	setTop (real v)

void	setFrustum (const Frustum &frustum)
	The view frustum of the camera used to perform frustum culling. More...

const Frustum &	frustum () const
	The view frustum of the camera used to perform frustum culling. More...

Frustum &	frustum ()
	The view frustum of the camera used to perform frustum culling. More...

void	setViewport (Viewport *viewport)
	The viewport bound to a camera. More...

Viewport *	viewport ()
	The viewport bound to a camera. More...

const Viewport *	viewport () const
	The viewport bound to a camera. More...

void	bindTransform (Transform *transform)
	Bind the camera to a Transform. More...

const Transform *	boundTransform () const
	Returns the Transform bound to a camera. More...

Transform *	boundTransform ()
	Returns the Transform bound to a camera. More...

void	setViewMatrix (const mat4 &mat)
	Sets the Camera's view matrix (inverse of the modeling matrix). More...

const mat4 &	viewMatrix () const
	Returns the Camera's view matrix (inverse of the modeling matrix). More...

void	setModelingMatrix (const mat4 &mat)
	Sets the Camera's modelingMatrix() (inverse of the view matrix). More...

const mat4 &	modelingMatrix () const
	Returns the Camera's modelingMatrix() (inverse of the view matrix). More...

void	setProjectionMatrix (const mat4 &mat, EProjectionMatrixType proj_type)
	The Camera's projection matrix. More...

const mat4 &	projectionMatrix () const
	The Camera's projection matrix. More...

EProjectionMatrixType	projectionMatrixType () const
	The Camera's projection matrix type. More...

void	setProjectionPerspective ()
	Builds a perspective projection matrix for the Camera based on the Camera's and Viewport's settings. More...

void	setProjectionPerspective (real fov, real near, real far)
	Builds a perspective projection matrix for the Camera based on the Camera's and Viewport's settings. More...

void	setProjectionFrustum (real left, real right, real bottom, real top, real znear, real zfar)
	Produces a perspective projection matrix. More...

void	setProjectionOrtho (real left, real right, real bottom, real top, real znear, real zfar)
	Builds an orthographic projection matrix for the Camera based on the Camera's near/far planes and its Viewport's settings. More...

void	setProjectionOrtho ()
	Builds an orthographic projection matrix for the Camera based on the Camera's near/far planes and its Viewport's settings. More...

void	setProjectionOrtho (real offset)
	Builds an orthographic projection matrix for the Camera based on the Camera's near/far planes and its Viewport's settings. More...

void	setViewMatrixLookAt (const vec3 &eye, const vec3 &at, const vec3 &up)
	Setup the modelview transform of the camera based on look-at parameters. More...

void	getViewMatrixAsLookAt (vec3 &eye, vec3 &at, vec3 &up, vec3 &right) const
	Returns the look-at parameters of the modelview transform. More...

bool	project (const vec4 &in_world, vec4 &out_viewp) const
	Projects a vector from world coordinates to viewport coordinates. More...

bool	unproject (const vec3 &in_viewp, vec4 &out_world) const
	Unprojects a vector from viewport coordinates to world coordinates. More...

bool	unproject (std::vector< vec3 > &points) const
	Unprojects a set of points. More...

Ray	computeRay (int viewp_x, int viewp_y)
	Computes the ray passing through the point <viewp_x,viewp_y>. More...

Frustum	computeRayFrustum (int viewp_x, int viewp_y)
	Computes a 1 pixel wide frustum suitable to cull objects during ray intersection detection. More...

void	adjustView (const AABB &aabb, const vec3 &dir, const vec3 &up, real bias=1.0f)
	Adjusts the camera position so that the given aabb can be properly viewed. More...

Public Member Functions inherited from vl::Object
	Object ()
	Constructor. More...

	Object (const Object &other)
	Copy constructor: copies the name, ref count mutex and user data. More...

Object &	operator= (const Object &other)
	Copy operator: copies the object's name, ref count mutex and user data. More...

const std::string &	objectName () const
	The name of the object, by default set to the object's class name. More...

void	setObjectName (const char *name)
	The name of the object, by default set to the object's class name in debug builds. More...

void	setObjectName (const std::string &name)
	The name of the object, by default set to the object's class name in debug builds. More...

void	setRefCountMutex (IMutex *mutex)
	The mutex used to protect the reference counting of an Object across multiple threads. More...

IMutex *	refCountMutex ()
	The mutex used to protect the reference counting of an Object across multiple threads. More...

const IMutex *	refCountMutex () const
	The mutex used to protect the reference counting of an Object across multiple threads. More...

int	referenceCount () const
	Returns the number of references of an object. More...

void	incReference () const
	Increments the reference count of an object. More...

void	decReference ()
	Decrements the reference count of an object and deletes it if both automaticDelete() is `true` the count reaches 0. More...

void	setAutomaticDelete (bool autodel_on)
	If set to true the Object is deleted when its reference count reaches 0. More...

bool	automaticDelete () const
	If set to true the Object is deleted when its reference count reaches 0. More...

template<class T >
T *	as ()
	Casts an Object to the specified class. More...

template<class T >
const T *	as () const
	Casts an Object to the specified class. More...

Protected Attributes
int	mImageWidth

int	mImageHeight

int	mScreenWidth

int	mScreenHeight

float	mPixelAspectRatio

float	mFx

float	mFy

float	mCx

float	mCy

Protected Attributes inherited from vl::Camera
mat4	mViewMatrix

mat4	mModelingMatrix

mat4	mProjectionMatrix

ref< Viewport >	mViewport

Frustum	mFrustum

ref< Transform >	mBoundTransform

real	mFOV

real	mLeft

real	mRight

real	mBottom

real	mTop

real	mNearPlane

real	mFarPlane

EProjectionMatrixType	mProjectionType

Protected Attributes inherited from vl::Object
std::string	mObjectName

IMutex *	mRefCountMutex

int	mReferenceCount

bool	mAutomaticDelete

Additional Inherited Members
Protected Member Functions inherited from vl::Object
virtual	~Object ()

Detailed Description

Calibrated camera for augmented reality.

To use the CalibratedCamera keep the following in mind:

on resize: call setScreenSize()
on intrinsic change: call setIntrinsicParameters()
on background image change: call setCalibratedImageSize()
disable automatic near/far plane automatic calculation: vl::Rendering::setNearFarClippingPlanesOptimized( false );
set near/far clipping planes (ex. setNearPlane( 1 ), setFarPlane( 10000 ))
finally call updateCalibration() to recompute the projectionMatrix() based on the above
note: fov() is ignored

See also: http://strawlab.org/2011/11/05/augmented-reality-with-OpenGL/; http://sightations.wordpress.com/2010/08/03/simulating-calibrated-cameras-in-opengl/; http://jamesgregson.blogspot.co.uk/2011/11/matching-calibrated-cameras-with-opengl.html; http://www.robots.ox.ac.uk/~vgg/hzbook/

Definition at line 28 of file CalibratedCamera.hpp.

Constructor & Destructor Documentation

◆ CalibratedCamera()

CalibratedCamera::CalibratedCamera ( )

Definition at line 11 of file CalibratedCamera.cpp.

Member Function Documentation

◆ imageHeight()

int vl::CalibratedCamera::imageHeight ( ) const

inline

Image height in pixels.

Definition at line 75 of file CalibratedCamera.hpp.

◆ imageWidth()

int vl::CalibratedCamera::imageWidth ( ) const

inline

Image width in pixels.

Definition at line 72 of file CalibratedCamera.hpp.

◆ pixelAspectRatio()

float vl::CalibratedCamera::pixelAspectRatio ( ) const

inline

The width of a single pixel divided by its height.

Definition at line 84 of file CalibratedCamera.hpp.

◆ screenHeight()

int vl::CalibratedCamera::screenHeight ( ) const

inline

Screen height in pixels.

Definition at line 81 of file CalibratedCamera.hpp.

◆ screenWidth()

int vl::CalibratedCamera::screenWidth ( ) const

inline

Image width in pixels.

Definition at line 78 of file CalibratedCamera.hpp.

◆ setCalibratedImageSize()

void CalibratedCamera::setCalibratedImageSize	(	int	width,
		int	height,
		float	pixelaspect = `1.0`
	)

Set the size of the image in pixels that was used while calibrating the camera model.

Call updateCalibration() to apply the changes to the projection matrix.

Parameters

width	in pixels.
height	in pixels.
pixelaspect	is the width of a single pixel divided by its height.

Definition at line 25 of file CalibratedCamera.cpp.

References mImageHeight, mImageWidth, and mPixelAspectRatio.

◆ setIntrinsicParameters()

void CalibratedCamera::setIntrinsicParameters	(	float	fx,
		float	fy,
		float	cx,
		float	cy
	)

Set the intrinsic parameters as determined from camera calibration.

Call updateCalibration() to apply the changes to the projection matrix.

Parameters

fx	scale factor of combined focal length * effective pixel size in horizontal direction.
fy	scale factor of combined focal length * effective pixel size in vertical direction.
cx	centre of projection in x axis.
cy	centre of projection in y axis.

Definition at line 38 of file CalibratedCamera.cpp.

References mCx, mCy, mFx, and mFy.

◆ setScreenSize()

void CalibratedCamera::setScreenSize	(	int	width,
		int	height
	)

Usually you don't need to call this as the renderer takes care of keeping it up to date with whatever the current framebuffer size is.

Set the screen/widget size currently used.

Call updateCalibration() to apply the changes to the projection matrix.

Parameters

width	in pixels.
height	in pixels.

Definition at line 32 of file CalibratedCamera.cpp.

References mScreenHeight, and mScreenWidth.

◆ updateCalibration()

void CalibratedCamera::updateCalibration ( )

Recomputes the projection matrix and viewport based on the calibration data specified by setCalibratedImageSize(), setScreenSize(), setIntrinsicParameters(), setNearPlane(), setFarPlane()

Note: Scissor test is not enabled by default but it's a good idea to enabled it probably.

Definition at line 46 of file CalibratedCamera.cpp.

References vl::Matrix4< T_Scalar >::e(), mCx, mCy, vl::Camera::mFarPlane, mFx, mFy, mImageHeight, mImageWidth, vl::Camera::mNearPlane, mPixelAspectRatio, mScreenHeight, mScreenWidth, vl::PMT_UserProjection, vl::Matrix4< T_Scalar >::ptr(), vl::Viewport::set(), vl::Matrix4< T_Scalar >::setNull(), vl::Camera::setProjectionMatrix(), and vl::Camera::viewport().

Member Data Documentation

◆ mCx

float vl::CalibratedCamera::mCx

protected

Definition at line 100 of file CalibratedCamera.hpp.

Referenced by setIntrinsicParameters(), and updateCalibration().

◆ mCy

float vl::CalibratedCamera::mCy

protected

Definition at line 101 of file CalibratedCamera.hpp.

Referenced by setIntrinsicParameters(), and updateCalibration().

◆ mFx

float vl::CalibratedCamera::mFx

protected

Definition at line 98 of file CalibratedCamera.hpp.

Referenced by setIntrinsicParameters(), and updateCalibration().

◆ mFy

float vl::CalibratedCamera::mFy

protected

Definition at line 99 of file CalibratedCamera.hpp.

Referenced by setIntrinsicParameters(), and updateCalibration().

◆ mImageHeight

int vl::CalibratedCamera::mImageHeight

protected

Definition at line 94 of file CalibratedCamera.hpp.

Referenced by setCalibratedImageSize(), and updateCalibration().

◆ mImageWidth

int vl::CalibratedCamera::mImageWidth

protected

Definition at line 93 of file CalibratedCamera.hpp.

Referenced by setCalibratedImageSize(), and updateCalibration().

◆ mPixelAspectRatio

float vl::CalibratedCamera::mPixelAspectRatio

protected

Definition at line 97 of file CalibratedCamera.hpp.

Referenced by setCalibratedImageSize(), and updateCalibration().

◆ mScreenHeight

int vl::CalibratedCamera::mScreenHeight

protected

Definition at line 96 of file CalibratedCamera.hpp.

Referenced by setScreenSize(), and updateCalibration().

◆ mScreenWidth

int vl::CalibratedCamera::mScreenWidth

protected

Definition at line 95 of file CalibratedCamera.hpp.

Referenced by setScreenSize(), and updateCalibration().

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

C:/git/VL/src/vlGraphics/CalibratedCamera.hpp
C:/git/VL/src/vlGraphics/CalibratedCamera.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CalibratedCamera()

Member Function Documentation

◆ imageHeight()

◆ imageWidth()

◆ pixelAspectRatio()

◆ screenHeight()

◆ screenWidth()

◆ setCalibratedImageSize()

◆ setIntrinsicParameters()

◆ setScreenSize()

◆ updateCalibration()

Member Data Documentation

◆ mCx

◆ mCy

◆ mFx

◆ mFy

◆ mImageHeight

◆ mImageWidth

◆ mPixelAspectRatio

◆ mScreenHeight

◆ mScreenWidth