GeometricCamera

Abstract interface for geometric camera models (pinhole, fisheye, etc.). More...

Collaboration diagram for GeometricCamera:

Public Member Functions
	GeometricCamera ()
	Default constructor.
	GeometricCamera (const Buffer< float > &_vParameters)
	Constructs with the given intrinsic parameters.
virtual bool	epipolarConstrain (GeometricCamera *otherCamera, const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const Eigen::Matrix3f &R12, const Eigen::Vector3f &t12, const float sigmaLevel, const float unc)=0
	Checks whether two keypoints satisfy the epipolar constraint.
uint04	GetId ()
	Returns the unique camera id.
float	getParameter (const int i)
	Returns the i-th intrinsic parameter.
virtual bool	isEqual (const GeometricCamera *pCam) const =0
	Checks equality with another camera model.
virtual cv::Point2f	project (const cv::Point3f &p3D)=0
	Projects a 3D point to 2D image coordinates (cv::Point3f overload).
virtual Eigen::Vector2d	project (const Eigen::Vector3d &v3D)=0
	Projects a 3D point to 2D image coordinates (double precision).
virtual Eigen::Vector2f	project (const Eigen::Vector3f &v3D)=0
	Projects a 3D point to 2D image coordinates (single precision).
virtual Eigen::Matrix< g_type, 2, 3 >	projectJac (const Eigen::Vector3< g_type > &v3D)=0
	Computes the 2x3 Jacobian of the projection function.
virtual Eigen::Vector2f	projectMat (const cv::Point3f &p3D)=0
	Projects a cv::Point3f to 2D and returns as Eigen vector.
void	setParameter (const float p, const uint04 i)
	Sets the i-th intrinsic parameter.
uint04	size () const
	Returns the number of intrinsic parameters.
virtual cv::Mat	toK ()=0
	Returns the camera calibration matrix as a cv::Mat.
virtual Eigen::Matrix3f	toK_ ()=0
	Returns the camera calibration matrix as an Eigen matrix.
uint04	type () const
	Returns the camera type (CAM_PINHOLE or CAM_FISHEYE).
virtual float	uncertainty2 (const Eigen::Matrix< g_type, 2, 1 > &p2D)=0
	Computes the squared uncertainty at a 2D image point.
virtual cv::Point3f	unproject (const cv::Point2f &p2D)=0
	Unprojects a 2D point to a 3D point.
virtual Eigen::Vector3f	unprojectEig (const cv::Point2f &p2D)=0
	Unprojects a 2D point to a 3D ray as an Eigen vector.

Static Public Attributes
static constexpr uint04	CAM_FISHEYE = 1
	Fisheye camera type identifier.
static constexpr uint04	CAM_PINHOLE = 0
	Pinhole camera type identifier.
static uint04	nNextId
	Global counter for assigning unique camera IDs.

Protected Attributes
uint04	mnId = Constant<uint04>::Invalid
	Unique camera identifier.
uint04	mnType = Constant<uint04>::Invalid
	Camera model type.
Buffer< float >	mvParameters
	Camera intrinsic parameters.

Detailed Description

Abstract interface for geometric camera models (pinhole, fisheye, etc.).

Definition at line 25 of file GeometricCamera.h.

Constructor & Destructor Documentation

GeometricCamera()

GeometricCamera::GeometricCamera ( const Buffer< float > & _vParameters )

inline

Constructs with the given intrinsic parameters.

Parameters

[in]

_vParameters

The camera intrinsic parameters.

Definition at line 32 of file GeometricCamera.h.

References mvParameters.

Member Function Documentation

epipolarConstrain()

virtual bool GeometricCamera::epipolarConstrain ( GeometricCamera * otherCamera, const cv::KeyPoint & kp1, const cv::KeyPoint & kp2, const Eigen::Matrix3f & R12, const Eigen::Vector3f & t12, const float sigmaLevel, const float unc )

pure virtual

Checks whether two keypoints satisfy the epipolar constraint.

Parameters

[in]	otherCamera	The other camera model.
[in]	kp1	Keypoint in the first image.
[in]	kp2	Keypoint in the second image.
[in]	R12	Relative rotation from camera 1 to camera 2.
[in]	t12	Relative translation from camera 1 to camera 2.
[in]	sigmaLevel	The scale sigma level.
[in]	unc	The uncertainty threshold.

Returns

True if the constraint is satisfied.

References GeometricCamera().

projectJac()

virtual Eigen::Matrix< g_type, 2, 3 > GeometricCamera::projectJac ( const Eigen::Vector3< g_type > & v3D )

pure virtual

Computes the 2x3 Jacobian of the projection function.

Parameters

[in]

v3D

The 3D point at which to evaluate the Jacobian.

uncertainty2()

virtual float GeometricCamera::uncertainty2 ( const Eigen::Matrix< g_type, 2, 1 > & p2D )

pure virtual

Computes the squared uncertainty at a 2D image point.

Parameters

[in]

p2D

The 2D image point.

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

• GraphOptimization/Headers/GeometricCamera.h