23 static Camera convertFrom_PMVS_Matrix(
const Eigen::Matrix<float, 3, 4> &pmvsProjectionMatrix,
unsigned width,
unsigned height);
24 Eigen::Matrix<float, 3, 4> convertTo_PMVS_Matrix()
const;
26 static Camera convertFrom_VSFM_NVM(
float focalLength,
const Eigen::Quaternionf &cameraRotation,
const Eigen::Vector3f &cameraPosition,
unsigned width,
unsigned height);
28 static Camera convertFrom_DFM_SubsBA(
const Eigen::Matrix<float, 3, 4> &DFM_SubsBA_ProjectionMatrix,
unsigned width,
unsigned height);
30 static Camera readFromSceneXML(
const tinyxml2::XMLElement *cameraNode);
35 Camera(
const Eigen::Matrix3f &internalCalibration,
const Eigen::Matrix4f &externalCalibration,
unsigned width,
unsigned height);
36 Camera(
const Eigen::Matrix3f &internalCalibration,
const Eigen::Matrix3f &cameraRotation,
const Eigen::Vector3f &cameraPosition,
unsigned width,
unsigned height);
48 inline const Eigen::Vector3f &
getRadialDistortion(
unsigned colorChannel)
const {
return m_radialDistortion[colorChannel]; }
57 inline const Eigen::Vector3f &
getFocalPoint()
const {
return m_focalPoint; }
60 inline const Eigen::Matrix3f &
getRotation()
const {
return m_rotation; }
63 inline unsigned getWidth()
const {
return m_width; }
65 inline unsigned getHeight()
const {
return m_height; }
69 inline float getFocalLength35mm()
const {
return m_internalCalibration(0, 0) / m_width * 36.0f; }
71 Eigen::Matrix3f m_internalCalibration;
72 Eigen::Vector3f m_radialDistortion[3];
73 Eigen::Matrix4f m_externalCalibration;
74 Eigen::Matrix3f m_rotation;
75 Eigen::Vector3f m_focalPoint;
80 void computeRotationPositionFromExtCalib();
Definition: CameraPathEvaluation.cpp:10
const Eigen::Vector3f & getFocalPoint() const
Returns the position of the camera.
Definition: Camera.h:57
const Eigen::Vector3f & getRadialDistortion(unsigned colorChannel) const
Definition: Camera.h:48
float getFocalLength35mm() const
Definition: Camera.h:69
const Eigen::Matrix4f & getExternalCalibration() const
Transforms from world space to view space.
Definition: Camera.h:54
const Eigen::Matrix3f & getRotation() const
Returns the camera rotation from world space to view space.
Definition: Camera.h:60
const Eigen::Matrix3f & getInternalCalibration() const
Transforms from view space to image space.
Definition: Camera.h:44
unsigned getWidth() const
Width (in pixels) of the produced images.
Definition: Camera.h:63
Internal and external camera parameters.
Definition: Camera.h:17
unsigned getHeight() const
Height (in pixels) of the produced images.
Definition: Camera.h:65