calico::sensors::CameraModel Class Reference

Base class for camera models. More...

#include <camera_models.h>

Inheritance diagram for calico::sensors::CameraModel:

Public Member Functions
template<typename T >
absl::StatusOr< Eigen::Vector2< T > >	ProjectPoint (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &point) const
template<typename T >
absl::StatusOr< Eigen::Vector3< T > >	UnprojectPixel (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector2< T > &pixel) const
virtual CameraIntrinsicsModel	GetType () const =0
	Getter for camera model type.
virtual int	NumberOfParameters () const =0
	Getter for the number of parameters for this camera model.

Static Public Member Functions
static std::unique_ptr< CameraModel >	Create (CameraIntrinsicsModel camera_model)

Detailed Description

Base class for camera models.

Member Function Documentation

Create()

std::unique_ptr< CameraModel > calico::sensors::CameraModel::Create ( CameraIntrinsicsModel  camera_model )

static

Factory method for creating a camera model with camera_model type. This method will return a nullptr if an unsupported CameraIntrinsicsModel is passed in.

ProjectPoint()

template<typename T >

absl::StatusOr< Eigen::Vector2< T > > calico::sensors::CameraModel::ProjectPoint	(	const Eigen::VectorX< T > &	intrinsics,
		const Eigen::Vector3< T > &	point
	)		const

Project a point resolved in the camera frame into the pixel space. Top level call invokes the derived class's implementation.

UnprojectPixel()

template<typename T >

absl::StatusOr< Eigen::Vector3< T > > calico::sensors::CameraModel::UnprojectPixel	(	const Eigen::VectorX< T > &	intrinsics,
		const Eigen::Vector2< T > &	pixel
	)		const

Inverts the projection model \(\mathbf{P}\) to obtain the bearing vector \(\mathbf{p}_m\) of the pixel location \(\mathbf{p}\). Multiplying the return quantity by the distance of the point gives the location of the resolved in the camera frame. Top level call invokes the derived class's implementation.

---

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

• calico/sensors/camera_models.h
• calico/sensors/camera_models.cpp