jafar::camera::CameraBarreto Class Reference

Barreto central catadiopttric camera model. More...

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Detailed Description

Barreto central catadiopttric camera model.

Definition at line 17 of file cameraBarreto.hpp.

#include <cameraBarreto.hpp>

Inheritance diagram for jafar::camera::CameraBarreto:

List of all members.

Public Member Functions
jblas::vec2	getMirrorCenter () const
void	applyScale (double scale)
template<class Vec , class Pix >
bool	project (Vec const &v, Pix &pix) const
template<class Vec , class Mat >
void	projectJac (Vec const &v, Mat &J)
template<class Pix , class Vec >
void	imageToCameraFrame (Pix const &pix, Vec &v) const
	Coordinate of a pixel in the camera frame.
template<class Pix , class Vec >
void	imageToCameraFrameDirection (Pix const &pix, Vec &v) const
	Direction of a pixel in the camera frame.
template<class Pix , class Mat >
void	imageToCameraFrameDirectionJac (Pix const &pix, Mat &J) const
Public Attributes
jafar::camera::CameraPinhole	camera
	projective camera model.
double	xi
	mirror parameter.
double	phi
	mirror parameter.
double	mirrorDiameter
	radius of the mirror (meter).
double	mirrorCenterU
	center of the mirror in the image (u coordinate)
double	mirrorCenterV
	center of the mirror in the image (v coordinate)
double	imageRadius
	radius of the mirror in the image (pixel).
double	maskRadius
	radius of the central mask zone in the image, default to 0.
Protected Member Functions
void	setParameters (int width_, int height_, double u0_, double v0_, double alphaU_, double alphaV_, double xi_, double phi_, double mirrorRadius_, double imageRadius_, double maskRadius_)
template<class Vec1 , class Vec2 >
void	hbar (Vec1 const &x, Vec2 &xbar) const
template<class Vec1 , class Vec2 >
void	hbarInv (Vec1 const &xbar, Vec2 &x) const
virtual void	loadKeyValueFile (jafar::kernel::KeyValueFile const &keyValueFile)=0
	Implement this method calling repeatedly KeyValueFile::getItem() method.

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Member Function Documentation

template<class Pix , class Vec >

void jafar::camera::CameraBarreto::imageToCameraFrameDirection	(	Pix const &	pix,
		Vec &	v
	)		const [inline]

Direction of a pixel in the camera frame.

The results v is a unit vector.

Definition at line 167 of file cameraBarreto.hpp.

References camera, imageToCameraFrame(), JFR_NUMERIC, and JFR_TRACE_END.

Referenced by jafar::camera::pixelCyl2pixelPano(), and jafar::camera::univReprojectionCylindric().

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

• modules/camera/include/camera/cameraBarreto.hpp