Class libCalibGeom::CameraModelEnhancedUnified

NOTE: This Camera Model is currently experimental. It as not been extensively tested.

Enhanced Unified camera model.

Reduces to Mei and Rives's Unified Camera model with beta = 1.0

Khomutenko, Bogdan, Gaëtan Garcia, and Philippe Martinet. "An enhanced unified camera model." IEEE Robotics and Automation Letters 1.1 (2015): 137-144.

Inherits from: public libCalibGeom::CameraModelCRT< CameraModelEnhancedUnified >

Constructors and destructors

CameraModelEnhancedUnified()

CameraModelEnhancedUnified()

Returns:

void

CameraModelEnhancedUnified()

CameraModelEnhancedUnified(ImageSize imageSize,ImageRegion validRegion = ImageRegion())

Returns:

void

Public member functions

project()

boolproject(const double X, const double Y, const double Z, double &u, double &v) const

Returns:

bool

unproject()

boolunproject(const double u, const double v, double &X, double &Y, double &Z) const

Returns:

bool

initialize()

boolinitialize(const std::vector< std::vector< Point3 >> &worldPoints, const std::vector< std::vector< Point2 >> &imagePoints, std::vector< Rotation > &Rc, std::vector< Translation > &Tc, const InitializationMethod method) override

Initializes the model from calibration observations.

Returns:

bool

Public data members

parameters

CameraParametersparameters

No documentation provided.

Public Types

ParameterId

ParameterId

Values:

f = = 0
ar
cx
cy
alpha
beta

Public Static Attributes

nParameters

constexpr intnParameters

No documentation provided.

Public Static Functions

name()

const std::stringname()

Returns:

const std::string

parameterNames()

const std::array< ParameterSpec, nParameters > &parameterNames()

Returns:

const std::array< ParameterSpec, nParameters > &

project()

boolproject(const T & X,const T & Y,const T & Z,T & u,T & v,const T * params)

Returns:

bool

unproject()

boolunproject(const T & u,const T & v,T & X,T & Y,T & Z,const T * params)

Returns:

bool