A Camera for lenses which attempt to maintain a constant view angle per pixel. More...

#include <camera.h>

Public Member Functions
void	load (std::istream &is)
void	save (std::ostream &os) const
TooN::Vector< 2 >	linearproject (const TooN::Vector< 2 > &camframe, TooN::DefaultPrecision scale=1) const
TooN::Vector< 2 >	project (const TooN::Vector< 2 > &camframe) const
TooN::Vector< 2 >	unproject (const TooN::Vector< 2 > &imframe) const
TooN::Matrix< 2, 2 >	get_derivative () const
TooN::Matrix< 2, 2 >	get_derivative (const TooN::Vector< 2 > &pt) const
TooN::Matrix< num_parameters, 2 >	get_parameter_derivs () const
TooN::Matrix< num_parameters, 2 >	get_parameter_derivs_at (const TooN::Vector< 2 > &pt) const
TooN::Vector< num_parameters >	get_parameter_derivs (const TooN::Vector< 2 > &direction) const
TooN::Vector< num_parameters > &	get_parameters ()
const TooN::Vector < num_parameters > &	get_parameters () const
Static Public Attributes
static const int	num_parameters = 5

Detailed Description

A Camera for lenses which attempt to maintain a constant view angle per pixel.

The camera distortion model is as follows: $\hat{\rho} = \frac{1}{\omega}\arctan{\omega \rho}$

This camera is derived from the FOV version described in Devernay and Faugeras, "Straight lines have to be straight" for fish-eye lenses.

Definition at line 538 of file camera.h.

Member Function Documentation

void Camera::ArcTan::load ( std::istream & is ) [inline]

Load parameters from a stream.

Parameters:

is	The stream to use

Definition at line 564 of file camera.h.

void Camera::ArcTan::save ( std::ostream & os ) const [inline]

Save parameters to a stream.

Parameters:

os	The stream to use

Definition at line 571 of file camera.h.

TooN::Matrix<2,2> Camera::ArcTan::get_derivative ( const TooN::Vector< 2 > & pt ) const [inline]

Evaluate the derivative of image frame wrt camera frame at an arbitrary point pt.

See also:: get_derivative()

Definition at line 627 of file camera.h.

TooN::Vector<num_parameters> Camera::ArcTan::get_parameter_derivs ( const TooN::Vector< 2 > & direction ) const [inline]

Get the component of the motion of a point in the direction provided with respect to each of the internal camera parameters.

Parameters:

direction The (x,y) direction to use

Definition at line 693 of file camera.h.

References get_parameter_derivs().

TooN::Vector<num_parameters>& Camera::ArcTan::get_parameters ( ) [inline]

Update the internal camera parameters by adding the vector given.

Parameters:

updates Update vector in the format $\begin{pmatrix}\Delta f_u & \Delta f_v & \Delta u_0 & \Delta v_0 & \Delta c\end{pmatrix}$ Returns the vector of camera parameters in the format $\begin{pmatrix}f_u & f_v & u_0 & v_0 & c\end{pmatrix}$

Definition at line 705 of file camera.h.

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

cvd/camera.h

Public Member Functions

Static Public Attributes

Detailed Description

Member Function Documentation