Camera::Quintic Class Reference
[Computer Vision]

#include <camera.h>

List of all members.

Public Member Functions

TooN::Matrix< 2, 2 > get_derivative (const TooN::Vector< 2 > &x) const
TooN::Matrix< 2, 2 > get_derivative () const
TooN::Matrix< 2, 2 > get_inv_derivative (const TooN::Vector< 2 > &x) const
TooN::Matrix< 2, 2 > get_inv_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::Vector< num_parameters > & get_parameters ()
const TooN::Vector
< num_parameters > & 		get_parameters () const
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)
std::pair< TooN::Vector
< 2 >, TooN::Matrix< 2 > > 		project (const TooN::Vector< 2 > &camframe, const TooN::Matrix< 2 > &R) const
TooN::Vector< 2 > project (const TooN::Vector< 2 > &camframe) const
TooN::Vector< 2 > project_vector (const TooN::Vector< 2 > &d) const
TooN::Vector< 2 > project_vector (const TooN::Vector< 2 > &x, const TooN::Vector< 2 > &d) const
 Project from Euclidean camera frame to image plane.
void save (std::ostream &os)
std::pair< TooN::Vector
< 2 >, TooN::Matrix< 2 > > 		unproject (const TooN::Vector< 2 > &imframe, const TooN::Matrix< 2 > &R) const
TooN::Vector< 2 > unproject (const TooN::Vector< 2 > &imframe) const
 Project from image plane to a Euclidean camera.
TooN::Vector< 2 > unproject_vector (const TooN::Vector< 2 > &d) const
void update (const TooN::Vector< num_parameters > &updates)

Static Public Attributes

static const int num_parameters = 6
 The number of parameters in the camera.

Private Member Functions

double sat (double x)

Private Attributes

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

Detailed Description

A camera with zero skew and quintic distortion

Definition at line 137 of file camera.h.

Member Function Documentation

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

Definition at line 811 of file camera.h.

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 750 of file camera.h.

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

Definition at line 785 of file camera.h.

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

Definition at line 763 of file camera.h.

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 847 of file camera.h.

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 823 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 204 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 201 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 692 of file camera.h.

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

Load parameters from a stream

Parameters:
is The stream to use

Definition at line 684 of file camera.h.

std::pair< TooN::Vector< 2 >, TooN::Matrix< 2 > > Camera::Quintic::project ( const TooN::Vector< 2 > &  camframe,
const TooN::Matrix< 2 > &  R 
) const [inline]

Definition at line 703 of file camera.h.

TooN::Vector< 2 > Camera::Quintic::project ( const TooN::Vector< 2 > &  camframe  )  const [inline]

Definition at line 696 of file camera.h.

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

Definition at line 161 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 153 of file camera.h.

double Camera::Quintic::sat ( double  x  )  [inline, private]

Definition at line 210 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 688 of file camera.h.

std::pair< TooN::Vector< 2 >, TooN::Matrix< 2 > > Camera::Quintic::unproject ( const TooN::Vector< 2 > &  imframe,
const TooN::Matrix< 2 > &  R 
) const [inline]

Definition at line 734 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 712 of file camera.h.

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

Definition at line 164 of file camera.h.

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 854 of file camera.h.

Member Data Documentation

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

Definition at line 207 of file camera.h.

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

Definition at line 208 of file camera.h.

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

The number of parameters in the camera.

Definition at line 140 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