SyB3R - Synthetic Benchmark for 3D Reconstruction
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Internal and external camera parameters. More...
#include <libs/Common/source/syb3r/data/Camera.h>
Public Member Functions | |
Camera (const Camera &)=default | |
Camera (const Eigen::Matrix3f &internalCalibration, const Eigen::Matrix4f &externalCalibration, unsigned width, unsigned height) | |
Camera (const Eigen::Matrix3f &internalCalibration, const Eigen::Matrix3f &cameraRotation, const Eigen::Vector3f &cameraPosition, unsigned width, unsigned height) | |
const Eigen::Matrix3f & | getInternalCalibration () const |
Transforms from view space to image space. More... | |
const Eigen::Vector3f & | getRadialDistortion (unsigned colorChannel) const |
const Eigen::Matrix4f & | getExternalCalibration () const |
Transforms from world space to view space. More... | |
const Eigen::Vector3f & | getFocalPoint () const |
Returns the position of the camera. | |
const Eigen::Matrix3f & | getRotation () const |
Returns the camera rotation from world space to view space. | |
unsigned | getWidth () const |
Width (in pixels) of the produced images. | |
unsigned | getHeight () const |
Height (in pixels) of the produced images. | |
float | getFocalLength35mm () const |
Protected Member Functions | |
void | computeRotationPositionFromExtCalib () |
Conversion | |
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static Camera | convertFrom_PMVS_Matrix (const Eigen::Matrix< float, 3, 4 > &pmvsProjectionMatrix, unsigned width, unsigned height) |
static Camera | convertFrom_VSFM_NVM (float focalLength, const Eigen::Quaternionf &cameraRotation, const Eigen::Vector3f &cameraPosition, unsigned width, unsigned height) |
static Camera | convertFrom_DFM_SubsBA (const Eigen::Matrix< float, 3, 4 > &DFM_SubsBA_ProjectionMatrix, unsigned width, unsigned height) |
static Camera | readFromSceneXML (const tinyxml2::XMLElement *cameraNode) |
Eigen::Matrix< float, 3, 4 > | convertTo_PMVS_Matrix () const |
Internal and external camera parameters.
To be used for the ground truth as well as for the estimations.
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Transforms from world space to view space.
In view space, the camera is located at the origin and looks in the z+ direction. The x+ direction is to the right and y+ is downwards.
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Returns the horizontal focal length in 35mm equivalent
This is not necessarily the lens that was actually used. The sensor might not be full frame.
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Transforms from view space to image space.
Image space is [0 .. width] horizontally and [0 .. height] vertically, incrementing towards right and bottom respectively. Pixels span whole number intervals, eg. the top left pixel spans the quad from 0..1 in both x and y directions, it's center thus being located at (0.5, 0.5)
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Polynomial radial distortion with one vec3 for every coefficient to control the colors individually