#include <camera.hpp>

Public Member Functions
	Camera (const float &width, const float &height, const float &u0, const float &v0, const float &focal_length_in_pixels, const Sophus::SE3f &pose=Sophus::SE3f())
	Construct a virtual camera from typical parameters.
void	draw ()
	Draw the camera keyframe as well as the frustrum.
void	setPose (const Sophus::SE3f &T_cam_rel_map)
Public Attributes
float	focal_length
Eigen::Vector3f	frustum [4]
unsigned int	height
Sophus::SE3f	pose
Eigen::Vector2f	principal_point
Eigen::Vector3f	updated_frustum [4]
unsigned int	width

Detailed Description

Definition at line 30 of file camera.hpp.

Constructor & Destructor Documentation

qglv::Camera::Camera	(	const float &	width,
		const float &	height,
		const float &	u0,
		const float &	v0,
		const float &	focal_length_in_pixels,
		const Sophus::SE3f &	pose = `Sophus::SE3f()`
	)

Construct a virtual camera from typical parameters.

If from a dslam parameters file, this is usually the rectified versions of width, height, u0 and v0.

 Camera(parameters.rect_width, parameters.rect_height,
        parameters.rect_u0, parameters.rect_v0,
        parameters.focal_length_in_pixels,
        parameters.Te.inverse()
        )

Parameters: