libCalib
C++ library documentation
Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | List of all members
libCalib::CameraModelCentralBSpline Class Reference

#include <CameraModelCentralBSpline.h>

+ Inheritance diagram for libCalib::CameraModelCentralBSpline:

Public Member Functions

 CameraModelCentralBSpline (const ImageSize imageSize)
 
 CameraModelCentralBSpline (const CameraModelCentralBSpline &other)
 
void initialize (const double f, const double ar, const double cx, const double cy, const double k1) override
 
std::unique_ptr< ceres::CostFunction > regularizationFunction (const int nResiduals) const override
 
template<typename T >
bool project (const T &X, const T &Y, const T &Z, T &c, T &r, const T *params) const
 
template<typename T >
bool unproject (const T &u, const T &v, T &X, T &Y, T &Z, const T *params) const
 
void getUndistortionMaps (Image< float > &mapU, Image< float > &mapV, Matrix< double, 3, 3 > &K) const override
 
template<class Archive >
void serialize (Archive &ar)
 
- Public Member Functions inherited from libCalib::CameraModelCRT< CameraModelCentralBSpline >
std::unique_ptr< ceres::CostFunction > newCostFunction (const Point2 &imagePoint) const override
 
double getVal (const std::string &name) const override
 
double getVal (const int idx) const override
 
double * getValsPtr () override
 
std::vector< double > getVals () const override
 
void setVals (const std::vector< double > &vals) override
 
bool setVal (const std::string name, const double val) override
 
bool setVal (const int idx, const double val) override
 
bool setState (const std::string name, const ParameterState state) override
 
ParameterState getState (const std::string name) override
 
std::vector< int > getConstantIds () const override
 
int getNParams () const override
 
const std::string getName () const override
 
std::vector< ParameterName > getParameterNames () const override
 
bool projectPoint (const double X, const double Y, const double Z, double &u, double &v) const override
 
bool unprojectPoint (const double &u, const double &v, double &X, double &Y, double &Z) const override
 
virtual void getUnprojectionMaps (Image< float > &mapX, Image< float > &mapY) const override
 
std::string toString () const override
 
std::unique_ptr< CameraModelBase > clone () const override
 
void serialize (Archive &ar)
 
 CameraModelBase (const ImageSize imageSize)
 
 CameraModelBase ()
 
- Public Member Functions inherited from libCalib::CameraModelBase
 CameraModelBase (const ImageSize imageSize)
 
template<class Archive >
void serialize (Archive &ar)
 

Static Public Member Functions

static const std::string name ()
 
static const std::array< ParameterName, nParameters > parameterNames ()
 

Public Attributes

Parameters< nParameters > parameters
 
- Public Attributes inherited from libCalib::CameraModelBase
ImageSize imageSize
 

Static Public Attributes

static const int gridResX {16}
 
static const int gridResY {12}
 
static const int nParameters {2 * gridResX * gridResY}
 

Detailed Description

NOTE: This Camera Model is currently experimental. It as not been extensively tested.

General Central B-Spline Camera Model

The model is Calib.io's B-Spline based camera model. Note that optimization generally takes much longer and may fail if there is not sufficient data support over the entire image plane.

Member Function Documentation

◆ getUndistortionMaps()

void libCalib::CameraModelCentralBSpline::getUndistortionMaps ( Image< float > &  mapU,
Image< float > &  mapV,
Matrix< double, 3, 3 > &  K 
) const
overridevirtual

Reimplemented from libCalib::CameraModelCRT< CameraModelCentralBSpline >.

◆ initialize()

void libCalib::CameraModelCentralBSpline::initialize ( const double  f,
const double  ar,
const double  cx,
const double  cy,
const double  k1 
)
overridevirtual

Reimplemented from libCalib::CameraModelCRT< CameraModelCentralBSpline >.

◆ regularizationFunction()

std::unique_ptr< ceres::CostFunction > libCalib::CameraModelCentralBSpline::regularizationFunction ( const int  nResiduals) const
overridevirtual

Reimplemented from libCalib::CameraModelCRT< CameraModelCentralBSpline >.

Member Data Documentation

◆ parameters

Parameters<nParameters> libCalib::CameraModelCentralBSpline::parameters
Initial value:
= Parameters<nParameters>(
parameterNames(), std::array<double, nParameters>{})