Camera::Harris

Camera::Harris Class Reference
[Computer Vision]

#include <camera.h>

List of all members.

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 231 of file camera.h.


Public Member Functions

void load (std::istream &is)
void save (std::ostream &os)
TooN::Vector< 2 > linearproject (const TooN::Vector< 2 > &camframe, double scale=1) const
TooN::Vector< 2 > project (const TooN::Vector< 2 > &camframe) const
TooN::Vector< 2 > unproject (const TooN::Vector< 2 > &imframe)
TooN::Matrix< 2, 2 > get_derivative () const
TooN::Matrix
< num_parameters, 2 > 		get_parameter_derivs () const
TooN::Vector
< num_parameters > 		get_parameter_derivs (const TooN::Vector< 2 > &direction) const
TooN::Vector
< num_parameters > & 		get_parameters ()

Static Public Attributes

static const int num_parameters = 5

Member Function Documentation

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

Load parameters from a stream.

Parameters:
is The stream to use

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

Save parameters to a stream.

Parameters:
os The stream to use

Definition at line 251 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 258 of file camera.h.

Referenced by project().

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

Project from Euclidean camera frame to image plane.

Definition at line 264 of file camera.h.

References linearproject().

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

Project from image plane to a Euclidean camera.

Definition at line 271 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 284 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 307 of file camera.h.

Referenced by get_parameter_derivs().

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 346 of file camera.h.

References get_parameter_derivs().

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 358 of file camera.h.

Member Data Documentation

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

The number of parameters in the camera.

Definition at line 243 of file camera.h.

The documentation for this class was generated from the following file:
Generated on Wed Feb 18 10:23:04 2009 for CVD by  doxygen 1.5.3