CVD::Camera::ArcTan Class Reference

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)
	Load parameters from a stream. More...
void	save (std::ostream &os) const
	Save parameters to a stream. More...
TooN::Vector< 2 >	linearproject (const TooN::Vector< 2 > &camframe, TooN::DefaultPrecision scale=1) const
	Fast linear projection for working out what's there.
TooN::Vector< 2 >	project (const TooN::Vector< 2 > &camframe) const
	Project from Euclidean camera frame to image plane.
TooN::Vector< 2 >	unproject (const TooN::Vector< 2 > &imframe) const
	Project from image plane to a Euclidean camera.
TooN::Matrix< 2, 2 >	get_derivative (const TooN::Vector< 2 > &pt) const
	Evaluate the derivative of image frame wrt camera frame at an arbitrary point pt. More...
TooN::Matrix< num_parameters, 2 >	get_parameter_derivs_at (const TooN::Vector< 2 > &pt) const
	Evaluate the derivative of the image coordinates of a given point pt in camera coordinates with respect to each of the internal camera parameters.
TooN::Vector< num_parameters >	get_parameter_derivs (const TooN::Vector< 2 > &pos, const TooN::Vector< 2 > &direction) const
	Get the component of the motion of a point in the direction provided with respect to each of the internal camera parameters. More...
TooN::Vector< num_parameters > &	get_parameters ()
	Update the internal camera parameters by adding the vector given. More...
const TooN::Vector< num_parameters > &	get_parameters () const

Static Public Attributes
static const int	num_parameters = 5
	The number of parameters in the camera.

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.

Member Function Documentation

get_derivative()

TooN::Matrix<2, 2> CVD::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.

in the form \( \begin{bmatrix} \frac{\partial \text{im1}}{\partial \text{cam1}} & \frac{\partial \text{im1}}{\partial \text{cam2}} \\ \frac{\partial \text{im2}}{\partial \text{cam1}} & \frac{\partial \text{im2}}{\partial \text{cam2}} \end{bmatrix} \)

See also

get_derivative()

get_parameter_derivs()

TooN::Vector<num_parameters> CVD::Camera::ArcTan::get_parameter_derivs ( const TooN::Vector< 2 > &  pos, 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

get_parameters()

TooN::Vector<num_parameters>& CVD::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 \( \begin{pmatrix}f_u & f_v & u_0 & v_0 & c\end{pmatrix} \)

load()

void CVD::Camera::ArcTan::load ( std::istream &  is )

inline

Load parameters from a stream.

Parameters

is	The stream to use

save()

void CVD::Camera::ArcTan::save ( std::ostream &  os ) const

inline

Save parameters to a stream.

Parameters

os	The stream to use

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

• cvd/camera.h