CVD 0.8
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a special implementation for 2D homography-based transformations described as a camera rotating around its centre. More...
#include <esm.h>
Public Member Functions | |
template<typename P , typename B > | |
CameraRotation (const TooN::Vector< 4, P, B > &camera_params, const TooN::SO3<> &init=TooN::SO3<>()) | |
template<typename P , typename B > | |
void | set_camera (const TooN::Vector< 4, P, B > &camera_params) |
const TooN::Matrix< 3 > | get_matrix () const |
const TooN::Vector< dimensions > & | get_jacobian (const TooN::Vector< 2 > &p, const TooN::Vector< 2 > &grad) const |
void | update (const TooN::Vector< dimensions > &v) |
const TooN::SO3 & | get_rotation () const |
TooN::SO3 & | get_rotation () |
Static Public Attributes | |
static const int | dimensions = 3 |
Protected Attributes | |
TooN::Matrix< 3 > | K |
TooN::Matrix< 3 > | Kinv |
TooN::Vector< 4 > | k |
TooN::Vector< 4 > | kinv |
TooN::SO3 | R |
TooN::Vector< dimensions > | J |
a special implementation for 2D homography-based transformations described as a camera rotating around its centre.
The class implements the interface described by esm. It requires a linear camera model besides the rotation to be estimated.