org.openimaj.image.camera

Class Camera

java.lang.Object

org.openimaj.image.camera.Camera

public class Camera
extends Object

A model of the extrinsic parameters of a pinhole (projective) camera (translation in 3d space, and 3d rotation matrix), coupled with the camera's intrinsic parameters.

Author:

Jonathon Hare (jsh2@ecs.soton.ac.uk)

Field Summary

Fields

Modifier and Type	Field and Description
CameraIntrinsics	intrinsicParameters The intrinsic parameters of this camera
Jama.Matrix	rotation The rotation of this camera in world coordinates
Point3d	translation The position of this camera in world coordinates

Constructor Summary

Constructors

Constructor and Description
Camera()

Method Summary

Modifier and Type	Method and Description
Jama.Matrix	computeHomography() Compute the homography of this camera to the z=0 plane based on it's parameters: H = KA, where A = [r1 r2 t] and r1 and r2 are the first and second columns of the rotation matrix, and K is the calibration matrix.
Point2d	project(Point2d pt) Project a 2d point (technically a 3d point on the z=0 world plane)
Point2d	project(Point3d pt) Project a 3d point onto the image plane

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

intrinsicParameters

public CameraIntrinsics intrinsicParameters

The intrinsic parameters of this camera

rotation

public Jama.Matrix rotation

The rotation of this camera in world coordinates

translation

public Point3d translation

The position of this camera in world coordinates

Constructor Detail

Camera

public Camera()

Method Detail

computeHomography

public Jama.Matrix computeHomography()

Compute the homography of this camera to the z=0 plane based on it's parameters: H = KA, where A = [r1 r2 t] and r1 and r2 are the first and second columns of the rotation matrix, and K is the calibration matrix.

Returns:

the camera's homography

project

public Point2d project(Point2d pt)

Project a 2d point (technically a 3d point on the z=0 world plane)

Parameters:

pt - the point to project in world coordinates

Returns:

the image coordinates

project

public Point2d project(Point3d pt)

Project a 3d point onto the image plane

Parameters:

pt - the point to project in world coordinates

Returns:

the image coordinates