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 ()

Protected Attributes
TooN::Matrix< 3 >	K

TooN::Matrix< 3 >	Kinv
	linear camera matrix and its inverse

TooN::Vector< 4 >	k

TooN::Vector< 4 >	kinv
	same parameters in vector form for convenience

TooN::SO3	R
	the transformation, a rotation of the camera around its centre

TooN::Vector< dimensions >	J
	internal temporary to avoid multiple re-initialisations

Detailed Description

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.

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

Public Member Functions