g2o::CameraParameters Class Reference

#include <parameter_cameraparameters.h>

Inheritance diagram for g2o::CameraParameters:

Collaboration diagram for g2o::CameraParameters:

Public Member Functions
	CameraParameters ()
	CameraParameters (double focal_length, const Vector2 &principle_point, double baseline)
Vector2	cam_map (const Vector3 &trans_xyz) const
Vector3	stereocam_uvu_map (const Vector3 &trans_xyz) const
bool	read (std::istream &is)
	read the data from a stream
bool	write (std::ostream &os) const
	write the data to a stream
Public Member Functions inherited from g2o::Parameter
	Parameter ()
virtual	~Parameter ()
int	id () const
void	setId (int id_)
virtual HyperGraph::HyperGraphElementType	elementType () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
double	focal_length
Vector2	principle_point
double	baseline

Additional Inherited Members
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

Definition at line 38 of file parameter_cameraparameters.h.

Constructor & Destructor Documentation

CameraParameters() [1/2]

g2o::CameraParameters::CameraParameters

(

)

Definition at line 33 of file parameter_cameraparameters.cpp.

    : focal_length(1.), principle_point(Vector2(0., 0.)), baseline(0.5) {}

References baseline, focal_length, and principle_point.

CameraParameters() [2/2]

g2o::CameraParameters::CameraParameters	(	double	focal_length,
		const Vector2 &	principle_point,
		double	baseline )

Definition at line 36 of file parameter_cameraparameters.cpp.

    : focal_length(focal_length),
      principle_point(principle_point),
      baseline(baseline) {}

References baseline, focal_length, and principle_point.

Member Function Documentation

cam_map()

Vector2 g2o::CameraParameters::cam_map

(

const Vector3 &

trans_xyz

)

const

Definition at line 59 of file parameter_cameraparameters.cpp.

                                                                {
  Vector2 proj = project(trans_xyz);
  Vector2 res;
  res[0] = proj[0] * focal_length + principle_point[0];
  res[1] = proj[1] * focal_length + principle_point[1];
  return res;
}

References focal_length, principle_point, and g2o::project().

Referenced by g2o::EdgeProjectPSI2UV::computeError(), g2o::EdgeProjectXYZ2UV::computeError(), main(), and stereocam_uvu_map().

read()

bool g2o::CameraParameters::read ( std::istream & is )

virtual

read the data from a stream

Implements g2o::Parameter.

Definition at line 43 of file parameter_cameraparameters.cpp.

                                          {
  is >> focal_length;
  is >> principle_point[0];
  is >> principle_point[1];
  is >> baseline;
  return true;
}

References baseline, focal_length, and principle_point.

stereocam_uvu_map()

Vector3 g2o::CameraParameters::stereocam_uvu_map

(

const Vector3 &

trans_xyz

)

const

Definition at line 67 of file parameter_cameraparameters.cpp.

                                                                          {
  Vector2 uv_left = cam_map(trans_xyz);
  double proj_x_right = (trans_xyz[0] - baseline) / trans_xyz[2];
  double u_right = proj_x_right * focal_length + principle_point[0];
  return Vector3(uv_left[0], uv_left[1], u_right);
}

References baseline, cam_map(), focal_length, and principle_point.

Referenced by g2o::EdgeProjectXYZ2UVU::computeError().

write()

bool g2o::CameraParameters::write ( std::ostream & os ) const

virtual

write the data to a stream

Implements g2o::Parameter.

Definition at line 51 of file parameter_cameraparameters.cpp.

                                                 {
  os << focal_length << " ";
  os << principle_point.x() << " ";
  os << principle_point.y() << " ";
  os << baseline << " ";
  return true;
}

References baseline, focal_length, and principle_point.

Member Data Documentation

baseline

double g2o::CameraParameters::baseline

Definition at line 52 of file parameter_cameraparameters.h.

Referenced by CameraParameters(), CameraParameters(), read(), stereocam_uvu_map(), and write().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::CameraParameters::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 40 of file parameter_cameraparameters.h.

focal_length

double g2o::CameraParameters::focal_length

Definition at line 50 of file parameter_cameraparameters.h.

Referenced by cam_map(), CameraParameters(), CameraParameters(), g2o::EdgeProjectPSI2UV::linearizeOplus(), g2o::EdgeProjectXYZ2UV::linearizeOplus(), read(), stereocam_uvu_map(), and write().

principle_point

Vector2 g2o::CameraParameters::principle_point

Definition at line 51 of file parameter_cameraparameters.h.

Referenced by cam_map(), CameraParameters(), CameraParameters(), read(), stereocam_uvu_map(), and write().

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/sba/parameter_cameraparameters.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/sba/parameter_cameraparameters.cpp