FisheyeSensorAttributes class
Class holding attributes for CubeMap-based Fisheye sensor.
Base classes
Constructors, destructors, conversion operators
-
FisheyeSensorAttributes(const std::
string& handle = "") explicit
Public functions
- void populateWithSensorSpec(const sensor::SensorSpec::ptr& spec) override
- Populate this FisheyeSensorAttributes from an appropriate sensor::
SensorSpec. -
void setFocalLength(const Magnum::
Vector2& focal_length) - Set the fisheye sensor focal length, fx, fy, the distance between the pinhole and the image plane. In practice, fx and fy can differ for a number of reasons. See details here: http:/
/ ksimek.github.io/ 2013/ 08/ 13/ intrinsic/ Both values must be positive to be legal. -
auto getFocalLength() const -> Magnum::
Vector2 - Get the fisheye sensor focal length, fx, fy, the distance between the pinhole and the image plane. In practice, fx and fy can differ for a number of reasons. See details here: http:/
/ ksimek.github.io/ 2013/ 08/ 13/ intrinsic/ Both values must be positive to be legal. - void setUsePrincipalPointOffset(bool use_specified_ppo)
- Set whether to use specified Principal Point Offset. If false, the Principle Point Offset will be placed in the middle of the image.
- auto getUsePrincipalPointOffset() const -> bool
- Get whether to use specified Principal Point Offset. If false, the Principle Point Offset will be placed in the middle of the image.
-
void setPrincipalPointOffset(const Magnum::
Vector2& principle_point_offset) - Set the Principal Point Offset in pixel, cx, cy, location of the principal point relative to the image plane's origin.
- void clearPrincipalPointOffset()
- Clear out any specified Principal Point Offsets that might have been set.
-
auto getPrincipalPointOffset() const -> Magnum::
Vector2 - Get the Principal Point Offset - the pixel, cx, cy, location of the principal point relative to the image plane's origin. If not specified use center of the sensor image.
-
auto getPrincipalPointOffsetToUse() const -> Magnum::
Vector2 - Get the Actual Principal Point Offset to use; pixel, cx, cy, location of the principal point relative to the image plane's origin. This value is what should be used to create the sensor - if not specified, use the halfway point of the resolution specified (i.e. the center of the sensor image).
- void setDoubleSphereAlpha(float ds_alpha)
- Set the alpha value specifiec to the "double sphere" fisheye camera model. see details (value ranges) in: Vladyslav Usenko, Nikolaus Demmel and Daniel Cremers: The Double Sphere Camera Model, The International Conference on 3D Vision (3DV), 2018.
- auto getDoubleSphereAlpha() const -> float
- Get the alpha value specifiec to the "double sphere" fisheye camera model. see details (value ranges) in: Vladyslav Usenko, Nikolaus Demmel and Daniel Cremers: The Double Sphere Camera Model, The International Conference on 3D Vision (3DV), 2018.
- void setDoubleSphereXi(float ds_xi)
- Set the xi value specifiec to the "double sphere" fisheye camera model. see details (value ranges) in: Vladyslav Usenko, Nikolaus Demmel and Daniel Cremers: The Double Sphere Camera Model, The International Conference on 3D Vision (3DV), 2018.
- auto getDoubleSphereXi() const -> float
- Get the xi value specifiec to the "double sphere" fisheye camera model. see details (value ranges) in: Vladyslav Usenko, Nikolaus Demmel and Daniel Cremers: The Double Sphere Camera Model, The International Conference on 3D Vision (3DV), 2018.
Protected functions
- void writeCubeMapSensorValuesToJsonInternal(io::JsonGenericValue& jsonObj, io::JsonAllocator& allocator) const override
- Write FisheyeSensorAttributes Sensor-specific values to json object.
-
auto getCubeMapSensorInfoHeaderInternal() const -> std::
string override - get FisheyeSensorAttributes-specific info header
-
auto getCubeMapSensorInfoInternal() const -> std::
string override - get FisheyeSensorAttributes specific info for csv string