Camera::Quintic

Camera::Quintic Class Reference
[Computer Vision]

#include <camera.h>

List of all members.

Detailed Description

A camera with zero skew and quintic distortion.

Definition at line 136 of file camera.h.


Public Member Functions

void load (std::istream &is)
void save (std::ostream &os)
TooN::Vector< 2 > linearproject (const TooN::Vector< 2 > &camframe, double scale=1) const
TooN::Vector< 2 > project_vector (const TooN::Vector< 2 > &x, const TooN::Vector< 2 > &d) const
TooN::Vector< 2 > project_vector (const TooN::Vector< 2 > &d) const
TooN::Vector< 2 > unproject_vector (const TooN::Vector< 2 > &d) const
TooN::Vector< 2 > project (const TooN::Vector< 2 > &camframe) const
std::pair
< TooN::Vector< 2 >,
TooN::Matrix< 2 > > 		project (const TooN::Vector< 2 > &camframe, const TooN::Matrix< 2 > &R) const
TooN::Vector< 2 > unproject (const TooN::Vector< 2 > &imframe) const
std::pair
< TooN::Vector< 2 >,
TooN::Matrix< 2 > > 		unproject (const TooN::Vector< 2 > &imframe, const TooN::Matrix< 2 > &R) const
TooN::Matrix< 2, 2 > get_derivative () const
TooN::Matrix< 2, 2 > get_derivative (const TooN::Vector< 2 > &x) const
TooN::Matrix< 2, 2 > get_inv_derivative () const
TooN::Matrix< 2, 2 > get_inv_derivative (const TooN::Vector< 2 > &x) const
TooN::Matrix
< num_parameters, 2 > 		get_parameter_derivs () const
TooN::Vector
< num_parameters > 		get_parameter_derivs (const TooN::Vector< 2 > &direction) const
void update (const TooN::Vector< num_parameters > &updates)
const TooN::Vector
< num_parameters > & 		get_parameters () const
TooN::Vector
< num_parameters > & 		get_parameters ()

Static Public Attributes

static const int num_parameters = 6

Member Function Documentation

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

Load parameters from a stream.

Parameters:
is The stream to use

Definition at line 667 of file camera.h.

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

Save parameters to a stream.

Parameters:
os The stream to use

Definition at line 671 of file camera.h.

TooN::Vector< 2 > Camera::Quintic::linearproject ( const TooN::Vector< 2 > &  camframe,
double  scale = 1 
) const [inline]

Fast linear projection for working out what's there.

Definition at line 675 of file camera.h.

TooN::Vector<2> Camera::Quintic::project_vector ( const TooN::Vector< 2 > &  x,
const TooN::Vector< 2 > &  d 
) const [inline]

Project from Euclidean camera frame to image plane.

Definition at line 152 of file camera.h.

TooN::Vector< 2 > Camera::Quintic::unproject ( const TooN::Vector< 2 > &  imframe  )  const [inline]

Project from image plane to a Euclidean camera.

Definition at line 695 of file camera.h.

Referenced by unproject().

TooN::Matrix< 2, 2 > Camera::Quintic::get_derivative (  )  const [inline]

Get the derivative of image frame wrt camera frame at the last computed projection in the form $ \begin{bmatrix} \frac{\partial \text{im1}}{\partial \text{cam1}} & \frac{\partial \text{im1}}{\partial \text{cam2}} \\ \frac{\partial \text{im2}}{\partial \text{cam1}} & \frac{\partial \text{im2}}{\partial \text{cam2}} \end{bmatrix} $.

Definition at line 733 of file camera.h.

Referenced by project(), and unproject().

TooN::Matrix< Camera::Quintic::num_parameters, 2 > Camera::Quintic::get_parameter_derivs (  )  const [inline]

Get the motion of a point with respect to each of the internal camera parameters.

Definition at line 804 of file camera.h.

Referenced by get_parameter_derivs().

TooN::Vector< Camera::Quintic::num_parameters > Camera::Quintic::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 828 of file camera.h.

References get_parameter_derivs().

void Camera::Quintic::update ( const TooN::Vector< num_parameters > &  updates  )  [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 & \Delta q\end{pmatrix} $

Definition at line 835 of file camera.h.

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

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

Definition at line 200 of file camera.h.

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

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

Definition at line 203 of file camera.h.

Member Data Documentation

const int Camera::Quintic::num_parameters = 6 [static]

The number of parameters in the camera.

Definition at line 139 of file camera.h.

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