camera_model.h File Reference

#include "sophus/common/common.h"
#include "sophus/common/enum.h"
#include "sophus/geometry/point_transform.h"
#include "sophus/image/image.h"
#include "sophus/image/image_size.h"
#include "sophus/lie/se3.h"
#include "sophus/linalg/homogeneous.h"
#include "sophus/sensor/camera_distortion/affine.h"
#include "sophus/sensor/camera_distortion/brown_conrady.h"
#include "sophus/sensor/camera_distortion/kannala_brandt.h"
#include "sophus/sensor/camera_projection/projection_ortho.h"
#include "sophus/sensor/camera_projection/projection_z1.h"
#include <Eigen/Dense>
#include <numeric>
#include <variant>

Include dependency graph for camera_model.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	sophus::CameraModelT< TScalar, TDistortion, TProj >
	Camera model class template for pinhole-like camera projections. More...
class	sophus::CameraModel
	Concrete camera model class. More...

Namespaces
	sophus
	Image MutImage, owning images types.

Typedefs
using	sophus::PinholeModel = CameraModelT< double, AffineTransform, ProjectionZ1 >
	Pinhole camera model. More...
using	sophus::BrownConradyModel = CameraModelT< double, BrownConradyTransform, ProjectionZ1 >
	Brown Conrady camera model. More...
using	sophus::KannalaBrandtK3Model = CameraModelT< double, KannalaBrandtK3Transform, ProjectionZ1 >
	KannalaBrandt camera model with k0, k1, k2, k3. More...
using	sophus::OrthographicModel = CameraModelT< double, AffineTransform, ProjectionOrtho >
using	sophus::CameraDistortionVariant = std::variant< PinholeModel, BrownConradyModel, KannalaBrandtK3Model, OrthographicModel >
	Variant of camera models. More...

Functions
template<class TScalar >
auto	sophus::subsampleDown (Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 >
	Subsamples pixel down, factor of 0.5. More...
template<class TScalar >
auto	sophus::subsampleUp (Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 >
	Subsamples pixel up, factor of 2.0. More...
template<class TScalar >
auto	sophus::binDown (Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 >
	Bins pixel down, factor of 0.5. More...
template<class TScalar >
auto	sophus::binUp (Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 >
	Bins pixel up, factor of 2.0. More...
	sophus::SOPHUS_ENUM (CameraDistortionType,(pinhole, brown_conrady, kannala_brandt_k3, orthographic))
	Camera model projection type. More...
auto	sophus::createDefaultPinholeModel (ImageSize image_size) -> PinholeModel
	Creates default pinhole model from image_size. More...
auto	sophus::createDefaultOrthoModel (ImageSize image_size) -> OrthographicModel
	Creates default orthographic model from image_size. More...