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<div class="title">camera_model.h File Reference</div> </div>
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<div class="textblock"><code>#include "<a class="el" href="common_2common_8h_source.html">sophus/common/common.h</a>"</code><br />
<code>#include "<a class="el" href="sophus_2common_2enum_8h_source.html">sophus/common/enum.h</a>"</code><br />
<code>#include "<a class="el" href="point__transform_8h_source.html">sophus/geometry/point_transform.h</a>"</code><br />
<code>#include "<a class="el" href="image_2image_8h_source.html">sophus/image/image.h</a>"</code><br />
<code>#include "<a class="el" href="image__size_8h_source.html">sophus/image/image_size.h</a>"</code><br />
<code>#include "<a class="el" href="se3_8h_source.html">sophus/lie/se3.h</a>"</code><br />
<code>#include "<a class="el" href="homogeneous_8h_source.html">sophus/linalg/homogeneous.h</a>"</code><br />
<code>#include "<a class="el" href="affine_8h_source.html">sophus/sensor/camera_distortion/affine.h</a>"</code><br />
<code>#include "<a class="el" href="brown__conrady_8h_source.html">sophus/sensor/camera_distortion/brown_conrady.h</a>"</code><br />
<code>#include "<a class="el" href="kannala__brandt_8h_source.html">sophus/sensor/camera_distortion/kannala_brandt.h</a>"</code><br />
<code>#include "<a class="el" href="projection__ortho_8h_source.html">sophus/sensor/camera_projection/projection_ortho.h</a>"</code><br />
<code>#include "<a class="el" href="projection__z1_8h_source.html">sophus/sensor/camera_projection/projection_z1.h</a>"</code><br />
<code>#include <Eigen/Dense></code><br />
<code>#include <numeric></code><br />
<code>#include <variant></code><br />
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<p><a href="camera__model_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classsophus_1_1_camera_model_t.html">sophus::CameraModelT< TScalar, TDistortion, TProj ></a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Camera model class template for pinhole-like camera projections. <a href="classsophus_1_1_camera_model_t.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classsophus_1_1_camera_model.html">sophus::CameraModel</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Concrete camera model class. <a href="classsophus_1_1_camera_model.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr class="memitem:namespacesophus"><td class="memItemLeft" align="right" valign="top">  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html">sophus</a></td></tr>
<tr class="memdesc:namespacesophus"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classsophus_1_1_image.html" title="Image read-only access to pixels and shared ownership, hence cheap to copy. Type is nullable.">Image</a> <a class="el" href="classsophus_1_1_mut_image.html" title="A image with write access to pixels and exclusive ownership. There is no copy constr / copy assignmen...">MutImage</a>, owning images types. <br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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Typedefs</h2></td></tr>
<tr class="memitem:a5b459c6209a0785c774aefa8f5b530ef"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html#a5b459c6209a0785c774aefa8f5b530ef">sophus::PinholeModel</a> = CameraModelT< double, AffineTransform, ProjectionZ1 ></td></tr>
<tr class="memdesc:a5b459c6209a0785c774aefa8f5b530ef"><td class="mdescLeft"> </td><td class="mdescRight">Pinhole camera model. <a href="namespacesophus.html#a5b459c6209a0785c774aefa8f5b530ef">More...</a><br /></td></tr>
<tr class="separator:a5b459c6209a0785c774aefa8f5b530ef"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a5f1e243e0245c99be109ad17e0195026"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html#a5f1e243e0245c99be109ad17e0195026">sophus::BrownConradyModel</a> = CameraModelT< double, BrownConradyTransform, ProjectionZ1 ></td></tr>
<tr class="memdesc:a5f1e243e0245c99be109ad17e0195026"><td class="mdescLeft"> </td><td class="mdescRight">Brown Conrady camera model. <a href="namespacesophus.html#a5f1e243e0245c99be109ad17e0195026">More...</a><br /></td></tr>
<tr class="separator:a5f1e243e0245c99be109ad17e0195026"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ac4bbb26f955c18677bb12d3a1e4d1245"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html#ac4bbb26f955c18677bb12d3a1e4d1245">sophus::KannalaBrandtK3Model</a> = CameraModelT< double, KannalaBrandtK3Transform, ProjectionZ1 ></td></tr>
<tr class="memdesc:ac4bbb26f955c18677bb12d3a1e4d1245"><td class="mdescLeft"> </td><td class="mdescRight">KannalaBrandt camera model with k0, k1, k2, k3. <a href="namespacesophus.html#ac4bbb26f955c18677bb12d3a1e4d1245">More...</a><br /></td></tr>
<tr class="separator:ac4bbb26f955c18677bb12d3a1e4d1245"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab6e2863c18d51640eee77b5ad2f9a48f"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html#ab6e2863c18d51640eee77b5ad2f9a48f">sophus::OrthographicModel</a> = CameraModelT< double, AffineTransform, ProjectionOrtho ></td></tr>
<tr class="separator:ab6e2863c18d51640eee77b5ad2f9a48f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a5878e77ddc7eb3e75ca7dfcb3f9f902e"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e">sophus::CameraDistortionVariant</a> = std::variant< PinholeModel, BrownConradyModel, KannalaBrandtK3Model, OrthographicModel ></td></tr>
<tr class="memdesc:a5878e77ddc7eb3e75ca7dfcb3f9f902e"><td class="mdescLeft"> </td><td class="mdescRight">Variant of camera models. <a href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e">More...</a><br /></td></tr>
<tr class="separator:a5878e77ddc7eb3e75ca7dfcb3f9f902e"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a8fc544aa3afc9b4ba675067fe300c4ea"><td class="memTemplParams" colspan="2">template<class TScalar > </td></tr>
<tr class="memitem:a8fc544aa3afc9b4ba675067fe300c4ea"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacesophus.html#a8fc544aa3afc9b4ba675067fe300c4ea">sophus::subsampleDown</a> (Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 ></td></tr>
<tr class="memdesc:a8fc544aa3afc9b4ba675067fe300c4ea"><td class="mdescLeft"> </td><td class="mdescRight">Subsamples pixel down, factor of 0.5. <a href="namespacesophus.html#a8fc544aa3afc9b4ba675067fe300c4ea">More...</a><br /></td></tr>
<tr class="separator:a8fc544aa3afc9b4ba675067fe300c4ea"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9ff3bc533c429730a30951f3da964f4f"><td class="memTemplParams" colspan="2">template<class TScalar > </td></tr>
<tr class="memitem:a9ff3bc533c429730a30951f3da964f4f"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacesophus.html#a9ff3bc533c429730a30951f3da964f4f">sophus::subsampleUp</a> (Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 ></td></tr>
<tr class="memdesc:a9ff3bc533c429730a30951f3da964f4f"><td class="mdescLeft"> </td><td class="mdescRight">Subsamples pixel up, factor of 2.0. <a href="namespacesophus.html#a9ff3bc533c429730a30951f3da964f4f">More...</a><br /></td></tr>
<tr class="separator:a9ff3bc533c429730a30951f3da964f4f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:abf48bc67b09161050914ededa9363d6e"><td class="memTemplParams" colspan="2">template<class TScalar > </td></tr>
<tr class="memitem:abf48bc67b09161050914ededa9363d6e"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacesophus.html#abf48bc67b09161050914ededa9363d6e">sophus::binDown</a> (Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 ></td></tr>
<tr class="memdesc:abf48bc67b09161050914ededa9363d6e"><td class="mdescLeft"> </td><td class="mdescRight">Bins pixel down, factor of 0.5. <a href="namespacesophus.html#abf48bc67b09161050914ededa9363d6e">More...</a><br /></td></tr>
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<tr class="memitem:a60e25c7d7b21d1bad778374d48cda8ff"><td class="memTemplParams" colspan="2">template<class TScalar > </td></tr>
<tr class="memitem:a60e25c7d7b21d1bad778374d48cda8ff"><td class="memTemplItemLeft" align="right" valign="top">auto </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacesophus.html#a60e25c7d7b21d1bad778374d48cda8ff">sophus::binUp</a> (Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 ></td></tr>
<tr class="memdesc:a60e25c7d7b21d1bad778374d48cda8ff"><td class="mdescLeft"> </td><td class="mdescRight">Bins pixel up, factor of 2.0. <a href="namespacesophus.html#a60e25c7d7b21d1bad778374d48cda8ff">More...</a><br /></td></tr>
<tr class="separator:a60e25c7d7b21d1bad778374d48cda8ff"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a25779a2a68a87f8e7120d790821606c4"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html#a25779a2a68a87f8e7120d790821606c4">sophus::SOPHUS_ENUM</a> (CameraDistortionType,(pinhole, brown_conrady, kannala_brandt_k3, orthographic))</td></tr>
<tr class="memdesc:a25779a2a68a87f8e7120d790821606c4"><td class="mdescLeft"> </td><td class="mdescRight">Camera model projection type. <a href="namespacesophus.html#a25779a2a68a87f8e7120d790821606c4">More...</a><br /></td></tr>
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<tr class="memitem:adc693beea3fdf375c6c772c944e75c55"><td class="memItemLeft" align="right" valign="top">auto </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html#adc693beea3fdf375c6c772c944e75c55">sophus::createDefaultPinholeModel</a> (ImageSize image_size) -> PinholeModel</td></tr>
<tr class="memdesc:adc693beea3fdf375c6c772c944e75c55"><td class="mdescLeft"> </td><td class="mdescRight">Creates default pinhole model from <code>image_size</code>. <a href="namespacesophus.html#adc693beea3fdf375c6c772c944e75c55">More...</a><br /></td></tr>
<tr class="separator:adc693beea3fdf375c6c772c944e75c55"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae97464f22d86735c5eb2cc9963672bbd"><td class="memItemLeft" align="right" valign="top">auto </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacesophus.html#ae97464f22d86735c5eb2cc9963672bbd">sophus::createDefaultOrthoModel</a> (ImageSize image_size) -> OrthographicModel</td></tr>
<tr class="memdesc:ae97464f22d86735c5eb2cc9963672bbd"><td class="mdescLeft"> </td><td class="mdescRight">Creates default orthographic model from <code>image_size</code>. <a href="namespacesophus.html#ae97464f22d86735c5eb2cc9963672bbd">More...</a><br /></td></tr>
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