A Camera with zero skew and Harris distortion. 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 with zero skew and Harris distortion.

The camera distortion model is as follows:

$\hat{\rho} = \frac{\rho}{\sqrt{1 + \alpha \rho^2}}$

This camera has the advantage that inversion of the radial distortion is trivial, and unproject has a unique, closed-form solution. However, the square root makes this camera slower than some of the other models for many use cases.

Definition at line 232 of file camera.h.

Member Function Documentation

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

Load parameters from a stream.

Parameters:

is	The stream to use

Definition at line 248 of file camera.h.

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

Save parameters to a stream.

Parameters:

os	The stream to use

Definition at line 255 of file camera.h.

TooN::Matrix<2,2> Camera::Harris::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 295 of file camera.h.

TooN::Vector<num_parameters> Camera::Harris::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 362 of file camera.h.

References get_parameter_derivs().

TooN::Vector<num_parameters>& Camera::Harris::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 374 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