CVD::Camera::Harris Class Reference

A Camera with zero skew and Harris distortion. 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_at (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 > &position, 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 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.

Member Function Documentation

get_derivative_at()

TooN::Matrix<2, 2> CVD::Camera::Harris::get_derivative_at ( const TooN::Vector< 2 > &  pt ) const

inline

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

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

See also

get_derivative()

get_parameter_derivs()

TooN::Vector<num_parameters> CVD::Camera::Harris::get_parameter_derivs ( const TooN::Vector< 2 > &  position, 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::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 \( \begin{pmatrix}f_u & f_v & u_0 & v_0 & c\end{pmatrix} \)

load()

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

inline

Load parameters from a stream.

Parameters

is	The stream to use

save()

void CVD::Camera::Harris::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