Camera::Harris Class Reference
[Computer Vision]

#include <camera.h>

List of all members.

Public Member Functions

TooN::Matrix< 2, 2 > get_derivative (const TooN::Vector< 2 > &pt) const
TooN::Matrix< 2, 2 > get_derivative () const
TooN::Vector< num_parameters > get_parameter_derivs (const TooN::Vector< 2 > &direction) const
TooN::Matrix< num_parameters, 2 > get_parameter_derivs () const
 Get the motion of a point with respect to each of the internal camera parameters.
TooN::Matrix< num_parameters, 2 > get_parameter_derivs_at (const TooN::Vector< 2 > &pt) const
const TooN::Vector
< num_parameters > & 		get_parameters () const
TooN::Vector< num_parameters > & get_parameters ()
TooN::Vector< 2 > linearproject (const TooN::Vector< 2 > &camframe, double scale=1) const
 Fast linear projection for working out what's there.
void load (std::istream &is)
TooN::Vector< 2 > project (const TooN::Vector< 2 > &camframe) const
 Project from Euclidean camera frame to image plane.
void save (std::ostream &os)
TooN::Vector< 2 > unproject (const TooN::Vector< 2 > &imframe)
 Project from image plane to a Euclidean camera.

Static Public Attributes

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

Private Member Functions

TooN::Vector< 2 > radial_distort (const TooN::Vector< 2 > &camframe) const

Private Attributes

TooN::Vector< num_parameters > my_camera_parameters
TooN::Vector< 2 > my_last_camframe

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

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 292 of file camera.h.

TooN::Matrix<2,2> Camera::Harris::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 285 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 359 of file camera.h.

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

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

Definition at line 315 of file camera.h.

TooN::Matrix<num_parameters,2> Camera::Harris::get_parameter_derivs_at ( const TooN::Vector< 2 > &  pt  )  const [inline]

Evaluate the derivative of the image coordinates of a given point pt in camera coordinates with respect to each of the internal camera parameters

Definition at line 322 of file camera.h.

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

Definition at line 375 of file camera.h.

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 371 of file camera.h.

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

Fast linear projection for working out what's there.

Definition at line 259 of file camera.h.

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

Load parameters from a stream

Parameters:
is The stream to use
TooN::Vector<2> Camera::Harris::project ( const TooN::Vector< 2 > &  camframe  )  const [inline]

Project from Euclidean camera frame to image plane.

Definition at line 265 of file camera.h.

TooN::Vector<2> Camera::Harris::radial_distort ( const TooN::Vector< 2 > &  camframe  )  const [inline, private]

Definition at line 235 of file camera.h.

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

Save parameters to a stream

Parameters:
os The stream to use

Definition at line 252 of file camera.h.

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

Project from image plane to a Euclidean camera.

Definition at line 272 of file camera.h.

Member Data Documentation

TooN::Vector<num_parameters> Camera::Harris::my_camera_parameters [private]

Definition at line 381 of file camera.h.

TooN::Vector<2> Camera::Harris::my_last_camframe [mutable, private]

Definition at line 382 of file camera.h.

const int Camera::Harris::num_parameters = 5 [static]

The number of parameters in the camera.

Definition at line 244 of file camera.h.

The documentation for this class was generated from the following file:
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libcvd
Author(s): Edward Rosten, Paul Smith, Tom Drummond, Gerhard Reitmayr, Ethan Eade, Timothy Gan, Chris Kemp, Georg Klein
autogenerated on Fri Jan 11 09:13:50 2013