CameraATAN Class Reference

Camera described in PTAM(alse called ANTA camera), measurement: \((x,y)^T\), z=1 plane: (X,Y)^T Project: |x|=|cx| + |fx 0| |X| *r'/r |y| |cy| |0 fy| |Y| r =sqrt(X*X+Y*Y) r'=atan(r * tan2w) / w tan2w=2.0 * tan(w / 2.0) More...

Inheritance diagram for CameraATAN:

Public Member Functions
	CameraATAN (int _w, int _h, double _fx, double _fy, double _cx, double _cy, double _d)
virtual std::string	CameraType () const
virtual bool	isValid () const
virtual Point2d	Project (const Point3d &p3d) const
virtual Point3d	UnProject (const Point2d &p2d) const
virtual std::vector< double >	getParameters () const
virtual bool	applyScale (double scale=0.5)
Public Member Functions inherited from CameraImpl
	CameraImpl (int _w=-1, int _h=-1)
virtual std::string	info () const

Public Attributes
double	fx
double	fy
double	cx
double	cy
double	d
double	fx_inv
double	fy_inv
double	tan2w
double	d_inv
double	tan2w_inv
Public Attributes inherited from CameraImpl
int32_t	w
int32_t	h
int32_t	state
int32_t	tmp

Detailed Description

Camera described in PTAM(alse called ANTA camera), measurement: \((x,y)^T\), z=1 plane: (X,Y)^T Project: |x|=|cx| + |fx 0| |X| *r'/r |y| |cy| |0 fy| |Y| r =sqrt(X*X+Y*Y) r'=atan(r * tan2w) / w tan2w=2.0 * tan(w / 2.0)

UnProject: |X|=(|x|-|cx|) * |1/fx 0|*r/r' |Y| |y| |cy| |0 1/fy| r' =sqrt(X*X+Y*Y) r =(tan(r' * w) / tan2w)