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<div class="title">camera_model.h</div> </div>
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<div class="contents">
<a href="camera__model_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (c) 2011, Hauke Strasdat</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Copyright (c) 2012, Steven Lovegrove</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Copyright (c) 2021, farm-ng, inc.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Use of this source code is governed by an MIT-style</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// license that can be found in the LICENSE file or at</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// https://opensource.org/licenses/MIT.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="common_2common_8h.html">sophus/common/common.h</a>"</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="sophus_2common_2enum_8h.html">sophus/common/enum.h</a>"</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="point__transform_8h.html">sophus/geometry/point_transform.h</a>"</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "<a class="code" href="image_2image_8h.html">sophus/image/image.h</a>"</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="image__size_8h.html">sophus/image/image_size.h</a>"</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "<a class="code" href="se3_8h.html">sophus/lie/se3.h</a>"</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "<a class="code" href="homogeneous_8h.html">sophus/linalg/homogeneous.h</a>"</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "<a class="code" href="affine_8h.html">sophus/sensor/camera_distortion/affine.h</a>"</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "<a class="code" href="brown__conrady_8h.html">sophus/sensor/camera_distortion/brown_conrady.h</a>"</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include "<a class="code" href="kannala__brandt_8h.html">sophus/sensor/camera_distortion/kannala_brandt.h</a>"</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "<a class="code" href="projection__ortho_8h.html">sophus/sensor/camera_projection/projection_ortho.h</a>"</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include "<a class="code" href="projection__z1_8h.html">sophus/sensor/camera_projection/projection_z1.h</a>"</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <Eigen/Dense></span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include <numeric></span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <variant></span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">namespace </span><a class="code" href="namespacesophus.html">sophus</a> {</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"></span> </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">/// Subsamples pixel down, factor of 0.5.</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">///</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">/// See for details:</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment">/// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.97r8rr8owwpc</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="namespacesophus.html#a8fc544aa3afc9b4ba675067fe300c4ea"> 36</a></span> <span class="keyword">auto</span> <a class="code" href="namespacesophus.html#a8fc544aa3afc9b4ba675067fe300c4ea">subsampleDown</a>(Eigen::Matrix<TScalar, 2, 1> <span class="keyword">const</span>& in)</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  -> Eigen::Matrix<TScalar, 2, 1> {</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">return</span> TScalar(0.5) * in;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> }</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"></span> </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment">/// Subsamples pixel up, factor of 2.0.</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment">///</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment">/// See for details:</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment">/// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.97r8rr8owwpc</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="namespacesophus.html#a9ff3bc533c429730a30951f3da964f4f"> 46</a></span> <span class="keyword">auto</span> <a class="code" href="namespacesophus.html#a9ff3bc533c429730a30951f3da964f4f">subsampleUp</a>(Eigen::Matrix<TScalar, 2, 1> <span class="keyword">const</span>& in)</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  -> Eigen::Matrix<TScalar, 2, 1> {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">return</span> TScalar(2.0) * in;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> }</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"></span> </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment">/// Bins pixel down, factor of 0.5.</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment">///</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment">/// See for details:</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment">/// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.elfm6123mecj</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="namespacesophus.html#abf48bc67b09161050914ededa9363d6e"> 56</a></span> <span class="keyword">auto</span> <a class="code" href="namespacesophus.html#abf48bc67b09161050914ededa9363d6e">binDown</a>(Eigen::Matrix<TScalar, 2, 1> <span class="keyword">const</span>& in)</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  -> Eigen::Matrix<TScalar, 2, 1> {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  Eigen::Matrix<TScalar, 2, 1> out;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="comment">// Map left image border from -0.5 to 0.0, then scale down, then</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="comment">// map the left image border from 0.0 back to -0.5</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  out[0] = TScalar(0.5) * (in[0] + 0.5) - 0.5; <span class="comment">// cx</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  out[1] = TScalar(0.5) * (in[1] + 0.5) - 0.5; <span class="comment">// cy</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> out;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"></span> </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment">/// Bins pixel up, factor of 2.0.</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment">///</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment">/// See for details:</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment">/// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.elfm6123mecj</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="namespacesophus.html#a60e25c7d7b21d1bad778374d48cda8ff"> 71</a></span> <span class="keyword">auto</span> <a class="code" href="namespacesophus.html#a60e25c7d7b21d1bad778374d48cda8ff">binUp</a>(Eigen::Matrix<TScalar, 2, 1> <span class="keyword">const</span>& in)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  -> Eigen::Matrix<TScalar, 2, 1> {</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  Eigen::Matrix<TScalar, 2, 1> out;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// Map left image border from -0.5 to 0.0, then scale up, then</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">// map the left image border from 0.0 back to -0.5</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  out[0] = TScalar(2.0) * (in[0] + 0.5) - 0.5; <span class="comment">// cx</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  out[1] = TScalar(2.0) * (in[1] + 0.5) - 0.5; <span class="comment">// cy</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">return</span> out;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"></span> </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment">/// Camera model class template for pinhole-like camera projections.</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">class</span> TScalar, <span class="keyword">class</span> TDistortion, <span class="keyword">class</span> TProj = ProjectionZ1></div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html"> 83</a></span> <span class="keyword">class </span><a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> {</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a3a351c712039d761e235771b75df4389"> 85</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a3a351c712039d761e235771b75df4389">Distortion</a> = TDistortion;</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a8b97bdf4982c61b17a096b8d7e09c5ef"> 86</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a8b97bdf4982c61b17a096b8d7e09c5ef">Proj</a> = TProj;</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#acd16954c3dfa0818e851d7ddf7b5a413"> 87</a></span>  <span class="keyword">static</span> <span class="keywordtype">int</span> constexpr <a class="code" href="classsophus_1_1_camera_model_t.html#acd16954c3dfa0818e851d7ddf7b5a413">kNumDistortionParams</a> = Distortion::kNumDistortionParams;</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#ac91eb5a8b381924b0dc314e3adef1be7"> 88</a></span>  <span class="keyword">static</span> <span class="keywordtype">int</span> constexpr <a class="code" href="classsophus_1_1_camera_model_t.html#ac91eb5a8b381924b0dc314e3adef1be7">kNumParams</a> = Distortion::kNumParams;</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a87033848b8c4a7f9acf62e11a638e8e3"> 89</a></span>  <span class="keyword">static</span> std::string_view constexpr <span class="keyword">const</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a87033848b8c4a7f9acf62e11a638e8e3">kProjectionModel</a> =</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  Distortion::kProjectionModel;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#ab8e068ff84d5248e6b54280e652a3d46"> 92</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html#ab8e068ff84d5248e6b54280e652a3d46">PointCamera</a> = Eigen::Matrix<TScalar, 3, 1>;</div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f"> 93</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> = Eigen::Matrix<TScalar, 2, 1>;</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#ab04c7b0443ec00c5c1ea2d4a0417bd95"> 94</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html#ab04c7b0443ec00c5c1ea2d4a0417bd95">ProjInCameraLifted</a> = Eigen::Matrix<TScalar, 2, 1>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05"> 95</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">Params</a> = Eigen::Matrix<TScalar, kNumParams, 1>;</div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a02f412fb036fd7f726cb648d98aead5c"> 96</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a02f412fb036fd7f726cb648d98aead5c">DistorationParams</a> = Eigen::Matrix<TScalar, kNumDistortionParams, 1>;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"></span> </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> /// Constructs camera model from image size and set up parameters.</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#ab52e661613096f33d192eda20bddd787"> 99</a></span> <span class="comment"></span> <a class="code" href="classsophus_1_1_camera_model_t.html#ab52e661613096f33d192eda20bddd787">CameraModelT</a>(<a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> <span class="keyword">const</span>& image_size, <a class="code" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">Params</a> <span class="keyword">const</span>& <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>)</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  : image_size_(image_size), params_(<a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>) {}</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23"> 102</a></span>  <a class="code" href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23">CameraModelT</a>() : image_size_({0, 0}) {</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  params_.setZero();</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  params_.template head<2>().setOnes();</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  }</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"></span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> /// Returns camera model from raw data pointer. To be used within ceres</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> /// optimization only.</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a0ed4f3357e4b23a67694e430ed71b1d6"> 109</a></span> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a0ed4f3357e4b23a67694e430ed71b1d6">fromData</a>(TScalar <span class="keyword">const</span>* <span class="keyword">const</span> ptr) -> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> {</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> out;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  Eigen::Map<Eigen::Matrix<TScalar, kNumParams, 1> <span class="keyword">const</span>> map(</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  ptr, <a class="code" href="classsophus_1_1_camera_model_t.html#ac91eb5a8b381924b0dc314e3adef1be7">kNumParams</a>, 1);</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  out.params_ = map;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">return</span> out;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"></span> </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> /// Focal length.</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#aec215a54e3d2a975865bc5b37fc24f36"> 118</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aec215a54e3d2a975865bc5b37fc24f36">focalLength</a>() const -> <a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> {</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">return</span> params_.template head<2>();</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  }</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"></span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> /// Focal length.</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#ae6b946557f9f05b94d89ac9d94dfefa5"> 123</a></span> <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classsophus_1_1_camera_model_t.html#ae6b946557f9f05b94d89ac9d94dfefa5">setFocalLength</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> <span class="keyword">const</span>& focal_length) {</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  params_.template head<2>() = focal_length;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  }</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#aa7e8eae3dac0757fd4cb029c7d6b98c6"> 127</a></span>  [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aa7e8eae3dac0757fd4cb029c7d6b98c6">principalPoint</a>() const -> <a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> {</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">return</span> params_.template segment<2>(2);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"></span> </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> /// Focal length.</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#af1eda87b6149024ce8a17d0138475fd3"> 132</a></span> <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classsophus_1_1_camera_model_t.html#af1eda87b6149024ce8a17d0138475fd3">setPrincipalPoint</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> <span class="keyword">const</span>& principal_point) {</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  params_.template segment<2>(2) = principal_point;</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  }</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"></span> </div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"> /// Returns distortion parameters by value.</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a27d915edfaa6feb194d104d17588ac77"> 137</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a27d915edfaa6feb194d104d17588ac77">distortionParams</a>() const -> <a class="code" href="classsophus_1_1_camera_model_t.html#a02f412fb036fd7f726cb648d98aead5c">DistorationParams</a> {</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">return</span> params_.template tail<kNumDistortionParams>();</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"></span> </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> /// Parameters mutator</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d"> 142</a></span> <span class="comment"></span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>() -> Eigen::Matrix<TScalar, kNumParams, 1>& { <span class="keywordflow">return</span> params_; }</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"></span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> /// Parameters accessor</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#abbd1f92cd1bbaed8d69fe002b1b14f58"> 145</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#abbd1f92cd1bbaed8d69fe002b1b14f58">params</a>() const</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  -> Eigen::Matrix<TScalar, <a class="code" href="classsophus_1_1_camera_model_t.html#ac91eb5a8b381924b0dc314e3adef1be7">kNumParams</a>, 1> const& {</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">return</span> params_;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment"></span> </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment"> /// Subsamples pixel down, factor of 0.5.</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="comment"> /// See for details:</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="comment"> /// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.97r8rr8owwpc</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"> /// If the original width [height] is odd, the new width [height] will be:</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"> /// (width+1)/2 [height+1)/2].</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#aeed6ab47ae14d9ba1ed4d3008c9134d2"> 157</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aeed6ab47ae14d9ba1ed4d3008c9134d2">subsampleDown</a>() const -> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> {</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">Params</a> <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a> = this->params_;</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0] = TScalar(0.5) * <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0]; <span class="comment">// fx</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1] = TScalar(0.5) * <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1]; <span class="comment">// fy</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>.template segment<2>(2) = <a class="code" href="namespacesophus.html#a8fc544aa3afc9b4ba675067fe300c4ea">::sophus::subsampleDown</a>(</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>.template segment<2>(2).eval()); <span class="comment">// cx, cy</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23">CameraModelT</a>(<a class="code" href="namespacesophus.html#a5160d337ddc875513cfbe98ab42b731d">half</a>(image_size_), <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  }</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="comment"></span> </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> <span class="comment"> /// Subsamples pixel up, factor of 2.0.</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="comment"> /// See for details:</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"> /// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.97r8rr8owwpc</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#abfebda0062e1f7f0b15346d8e5531012"> 170</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#abfebda0062e1f7f0b15346d8e5531012">subsampleUp</a>() const -> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> {</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">Params</a> <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a> = this->params_;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0] = TScalar(2.0) * <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0]; <span class="comment">// fx</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1] = TScalar(2.0) * <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1]; <span class="comment">// fy</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>.template segment<2>(2) =</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <a class="code" href="namespacesophus.html#a9ff3bc533c429730a30951f3da964f4f">::sophus::subsampleUp</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>.template segment<2>(2).eval()); <span class="comment">// cx, cy</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23">CameraModelT</a>(</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  {image_size_.<a class="code" href="structsophus_1_1_image_size.html#a7ea479dfc195f980d6650ceadfda5c97">width</a> * 2, image_size_.<a class="code" href="structsophus_1_1_image_size.html#a6860fc9e6cb763fd0b8597d12f22f324">height</a> * 2}, <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>);</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment"></span> </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment"> /// Bins pixel down, factor of 0.5.</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"> /// See for details:</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment"> /// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.elfm6123mecj</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment"> /// If the original width [height] is odd, the new width [height] will be:</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="comment"> /// (width+1)/2 [height+1)/2].</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a631254f5927de14d9e7bde7b90453c39"> 187</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a631254f5927de14d9e7bde7b90453c39">binDown</a>() const -> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> {</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">Params</a> <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a> = this->params_;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0] = TScalar(0.5) * <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0]; <span class="comment">// fx</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1] = TScalar(0.5) * <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1]; <span class="comment">// fy</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>.template segment<2>(2) =</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <a class="code" href="namespacesophus.html#abf48bc67b09161050914ededa9363d6e">::sophus::binDown</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>.template segment<2>(2).eval()); <span class="comment">// cx, cy</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23">CameraModelT</a>(<a class="code" href="namespacesophus.html#a5160d337ddc875513cfbe98ab42b731d">half</a>(image_size_), <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>);</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  }</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="comment"></span> </div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment"> /// Bins pixel up, factor of 2.0.</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"> /// See for details:</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment"> /// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.elfm6123mecj</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#ad04393410d8e32cd6964fd2a3b8c22cb"> 200</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#ad04393410d8e32cd6964fd2a3b8c22cb">binUp</a>() const -> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> {</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">Params</a> <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a> = this->params_;</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0] = TScalar(2.0) * <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0]; <span class="comment">// fx</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1] = TScalar(2.0) * <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1]; <span class="comment">// fy</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>.template segment<2>(2) =</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <a class="code" href="namespacesophus.html#a60e25c7d7b21d1bad778374d48cda8ff">::sophus::binUp</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>.template segment<2>(2).eval()); <span class="comment">// cx, cy</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23">CameraModelT</a>(</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  {image_size_.<a class="code" href="structsophus_1_1_image_size.html#a7ea479dfc195f980d6650ceadfda5c97">width</a> * 2, image_size_.<a class="code" href="structsophus_1_1_image_size.html#a6860fc9e6cb763fd0b8597d12f22f324">height</a> * 2}, <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>);</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  }</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#aedbcae539a613de486326e0aee2d986b"> 210</a></span>  [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aedbcae539a613de486326e0aee2d986b">scale</a>(<a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> <span class="keyword">const</span>& image_size) <span class="keyword">const</span> -> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> {</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">Params</a> <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a> = this->params_;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0] = TScalar(image_size.width) / TScalar(image_size_.<a class="code" href="structsophus_1_1_image_size.html#a7ea479dfc195f980d6650ceadfda5c97">width</a>) *</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[0]; <span class="comment">// fx</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1] = TScalar(image_size.height) / TScalar(image_size_.<a class="code" href="structsophus_1_1_image_size.html#a6860fc9e6cb763fd0b8597d12f22f324">height</a>) *</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[1]; <span class="comment">// fy</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[2] = TScalar(image_size.width) / TScalar(image_size_.<a class="code" href="structsophus_1_1_image_size.html#a7ea479dfc195f980d6650ceadfda5c97">width</a>) *</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[2]; <span class="comment">// cx</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[3] = TScalar(image_size.height) / TScalar(image_size_.<a class="code" href="structsophus_1_1_image_size.html#a6860fc9e6cb763fd0b8597d12f22f324">height</a>) *</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[3]; <span class="comment">// cy</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23">CameraModelT</a>({image_size.width, image_size.height}, <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>);</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  }</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="comment"></span> </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> <span class="comment"> /// Region of interest given `top_left` and ``roi_size`.</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a5ca3da92ad883d7582f867c991a3b352"> 224</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a5ca3da92ad883d7582f867c991a3b352">roi</a>(Eigen::Vector2i <span class="keyword">const</span>& top_left, <a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> roi_size)</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keyword">const</span> -> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a> {</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">Params</a> <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a> = this->params_;</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[2] = <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[2] - top_left.x(); <span class="comment">// cx</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[3] = <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>[3] - top_left.y(); <span class="comment">// cy</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23">CameraModelT</a>(roi_size, <a class="code" href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">params</a>);</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  }</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> <span class="comment"></span> </div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> <span class="comment"> /// Maps a 2-point in the z=1 plane of the camera to a pixel in the image.</span></div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a2f554b3c7cb0ca0b61c28bb1dd94d7a5"> 233</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a2f554b3c7cb0ca0b61c28bb1dd94d7a5">distort</a>(</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ab04c7b0443ec00c5c1ea2d4a0417bd95">ProjInCameraLifted</a> <span class="keyword">const</span>& point2_in_camera_lifted) <span class="keyword">const</span> -> <a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> {</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">return</span> Distortion::template <a class="code" href="classsophus_1_1_camera_model_t.html#a2f554b3c7cb0ca0b61c28bb1dd94d7a5">distort</a>(params_, point2_in_camera_lifted);</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  }</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#abe61627ee70ef5da8258e84a71dfd502"> 238</a></span>  [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#abe61627ee70ef5da8258e84a71dfd502">dxDistort</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> <span class="keyword">const</span>& pixel_in_image) <span class="keyword">const</span></div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  -> Eigen::Matrix<TScalar, 2, 2> {</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordflow">return</span> Distortion::template <a class="code" href="classsophus_1_1_camera_model_t.html#abe61627ee70ef5da8258e84a71dfd502">dxDistort</a>(params_, pixel_in_image);</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  }</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment"></span> </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"> /// Maps a pixel in the image to a 2-point in the z=1 plane of the camera.</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a172d82254225e4394356b0e681824656"> 244</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a172d82254225e4394356b0e681824656">undistort</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> <span class="keyword">const</span>& pixel_in_image) <span class="keyword">const</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  -> <a class="code" href="classsophus_1_1_camera_model_t.html#ab04c7b0443ec00c5c1ea2d4a0417bd95">ProjInCameraLifted</a> {</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">return</span> Distortion::template <a class="code" href="classsophus_1_1_camera_model_t.html#a172d82254225e4394356b0e681824656">undistort</a>(params_, pixel_in_image);</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  }</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  </div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#af4a21e9e6ccaf7d1d2e33d4f221e6c45"> 249</a></span>  [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#af4a21e9e6ccaf7d1d2e33d4f221e6c45">undistortTable</a>() const -> <a class="code" href="classsophus_1_1_mut_image.html">MutImage</a><Eigen::Vector2f> {</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <a class="code" href="classsophus_1_1_mut_image.html">MutImage<Eigen::Vector2f></a> table(image_size_);</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> v = 0; v < table.<a class="code" href="structsophus_1_1_image_view.html#aa2a0da523ed97de1a8847b1ed707cdb1">height</a>(); ++v) {</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  Eigen::Vector2f* row_ptr = table.<a class="code" href="classsophus_1_1_mut_image_view.html#a225804259b97cfe27737921ff9c84c31">rowPtrMut</a>(v);</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> u = 0; u < table.<a class="code" href="structsophus_1_1_image_view.html#a414713ad1b79d73984f26f13d375b81f">width</a>(); ++u) {</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  row_ptr[u] = this-><a class="code" href="classsophus_1_1_camera_model_t.html#a172d82254225e4394356b0e681824656">undistort</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a>(u, v)).template cast<float>();</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  }</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  }</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordflow">return</span> table;</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> <span class="comment"></span> </div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"> /// Projects 3-point in camera frame to a pixel in the image.</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a75019e833299c1b15c7cf03639f63783"> 261</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a75019e833299c1b15c7cf03639f63783">camProj</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#ab8e068ff84d5248e6b54280e652a3d46">PointCamera</a> <span class="keyword">const</span>& point_in_camera) <span class="keyword">const</span></div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  -> <a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> {</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">return</span> Distortion::template <a class="code" href="classsophus_1_1_camera_model_t.html#a2f554b3c7cb0ca0b61c28bb1dd94d7a5">distort</a>(params_, <a class="code" href="namespacesophus.html#afccaa41eacfdd40fc316aa1ab95f7d65">Proj::proj</a>(point_in_camera));</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  }</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  </div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#abb1be9eefb1cb791070aff669d917349"> 266</a></span>  [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#abb1be9eefb1cb791070aff669d917349">dxCamProjX</a>(<a class="code" href="classsophus_1_1_camera_model_t.html#ab8e068ff84d5248e6b54280e652a3d46">PointCamera</a> <span class="keyword">const</span>& point_in_camera) <span class="keyword">const</span></div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  -> Eigen::Matrix<TScalar, 2, 3> {</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#ab04c7b0443ec00c5c1ea2d4a0417bd95">ProjInCameraLifted</a> point_in_lifted = <a class="code" href="namespacesophus.html#afccaa41eacfdd40fc316aa1ab95f7d65">Proj::proj</a>(point_in_camera);</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model_t.html#abe61627ee70ef5da8258e84a71dfd502">dxDistort</a>(point_in_lifted) * <a class="code" href="namespacesophus.html#a7949bed4e3feceed3957f1b83a40585d">Proj::dxProjX</a>(point_in_camera);</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment"></span> </div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"> /// Unprojects pixel in the image to point in camera frame.</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="comment"> /// The point is projected onto the xy-plane at z = `depth_z`.</span></div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#ab32c557470d3493aa79f88b78340491d"> 275</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#ab32c557470d3493aa79f88b78340491d">camUnproj</a>(</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> <span class="keyword">const</span>& pixel_in_image, <span class="keywordtype">double</span> depth_z) <span class="keyword">const</span> -> <a class="code" href="classsophus_1_1_camera_model_t.html#ab8e068ff84d5248e6b54280e652a3d46">PointCamera</a> {</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesophus.html#ac623a4067fc7a36d01dc3de68b2d7dea">Proj::unproj</a>(</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  Distortion::template <a class="code" href="classsophus_1_1_camera_model_t.html#a172d82254225e4394356b0e681824656">undistort</a>(params_, pixel_in_image), depth_z);</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> <span class="comment"></span> </div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> <span class="comment"> /// Raw data access. To be used in ceres optimization only.</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a57dfdb0e907283039b9f7f0be2db6c89"> 282</a></span> <span class="comment"></span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a57dfdb0e907283039b9f7f0be2db6c89">data</a>() -> TScalar* { <span class="keywordflow">return</span> params_.data(); }</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="comment"></span> </div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> <span class="comment"> /// Accessor of image size.</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a01919c4bce0a4aa808a994ed87cc888d"> 285</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a01919c4bce0a4aa808a994ed87cc888d">imageSize</a>() const -> <a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> const& {</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keywordflow">return</span> image_size_;</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="comment"></span> </div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="comment"> /// Returns true if obs is within image.</span></div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="comment"> /// Note: Positive border makes the image frame smaller.</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#acd1152ef2b9b5627fdcb70b1462bbe7e"> 292</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#acd1152ef2b9b5627fdcb70b1462bbe7e">contains</a>(Eigen::Vector2i <span class="keyword">const</span>& obs, <span class="keywordtype">int</span> border = 0) const</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  -> <span class="keywordtype">bool</span> {</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">return</span> this->image_size_.<a class="code" href="structsophus_1_1_image_size.html#a7da2f5a1bc9e89ec428960e9b996cf54">contains</a>(obs, border);</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  }</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="comment"></span> </div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="comment"> /// Returns true if obs is within image.</span></div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> <span class="comment"> /// Note: Positive border makes the image frame smaller.</span></div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a8341da15d205a50fc8350529ac7a79e8"> 300</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a8341da15d205a50fc8350529ac7a79e8">contains</a>(</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <a class="code" href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">PixelImage</a> <span class="keyword">const</span>& obs, TScalar border = TScalar(0)) const -> <span class="keywordtype">bool</span> {</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">return</span> this->image_size_.<a class="code" href="structsophus_1_1_image_size.html#a7da2f5a1bc9e89ec428960e9b996cf54">contains</a>(obs, border);</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  }</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"></span> </div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> /// cast to different scalar type.</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="comment"></span> <span class="keyword">template</span> <<span class="keyword">typename</span> TScalar2></div>
<div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model_t.html#a51ae36588f006e0d3600988ead44ee6f"> 307</a></span>  [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model_t.html#a51ae36588f006e0d3600988ead44ee6f">cast</a>() const</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  -> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT</a><TScalar2, TDistortion, TProj> {</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT<TScalar2, TDistortion, TProj></a>(</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  image_size_, params_.template cast<TScalar2>());</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  }</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  </div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> image_size_;</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  Eigen::Matrix<TScalar, kNumParams, 1> params_;</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> };</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="comment"></span> </div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="comment">/// Camera model projection type.</span></div>
<div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="namespacesophus.html#a25779a2a68a87f8e7120d790821606c4"> 319</a></span> <span class="comment"></span><a class="code" href="namespacesophus.html#a4c0ed147f514066f886c19e54df6d34e">SOPHUS_ENUM</a>(</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  CameraDistortionType,</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  (pinhole, brown_conrady, kannala_brandt_k3, orthographic));</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="comment"></span> </div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> <span class="comment">/// Pinhole camera model.</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="namespacesophus.html#a5b459c6209a0785c774aefa8f5b530ef"> 324</a></span> <span class="comment"></span><span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html">PinholeModel</a> = <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT<double, AffineTransform, ProjectionZ1></a>;</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> <span class="comment"></span> </div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> <span class="comment">/// Brown Conrady camera model.</span></div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="namespacesophus.html#a5f1e243e0245c99be109ad17e0195026"> 327</a></span> <span class="comment"></span><span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html">BrownConradyModel</a> =</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT<double, BrownConradyTransform, ProjectionZ1></a>;</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="comment"></span> </div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="comment">/// KannalaBrandt camera model with k0, k1, k2, k3.</span></div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="namespacesophus.html#ac4bbb26f955c18677bb12d3a1e4d1245"> 331</a></span> <span class="comment"></span><span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html">KannalaBrandtK3Model</a> =</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT<double, KannalaBrandtK3Transform, ProjectionZ1></a>;</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  </div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="namespacesophus.html#ab6e2863c18d51640eee77b5ad2f9a48f"> 334</a></span> <span class="keyword">using</span> <a class="code" href="classsophus_1_1_camera_model_t.html">OrthographicModel</a> =</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT<double, AffineTransform, ProjectionOrtho></a>;</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"></span> </div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="comment">/// Variant of camera models.</span></div>
<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e"> 338</a></span> <span class="comment"></span><span class="keyword">using</span> <a class="code" href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e">CameraDistortionVariant</a> = std::variant<</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <a class="code" href="namespacesophus.html#a5b459c6209a0785c774aefa8f5b530ef">PinholeModel</a>,</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <a class="code" href="namespacesophus.html#a5f1e243e0245c99be109ad17e0195026">BrownConradyModel</a>,</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <a class="code" href="namespacesophus.html#ac4bbb26f955c18677bb12d3a1e4d1245">KannalaBrandtK3Model</a>,</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <a class="code" href="classsophus_1_1_camera_model_t.html">OrthographicModel</a>>;</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  </div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> static_assert(</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  std::variant_size_v<CameraDistortionVariant> ==</div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  getCount(CameraDistortionType()),</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="stringliteral">"When the variant CameraDistortionVariant is updated, one needs to "</span></div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="stringliteral">"update the enum CameraDistortionType as well, and vice versa."</span>);</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> <span class="comment"></span> </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> <span class="comment">/// Concrete camera model class.</span></div>
<div class="line"><a name="l00351"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html"> 351</a></span> <span class="comment"></span><span class="keyword">class </span><a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a> {</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#acea619975bc60ae93b298f406dd676c9"> 353</a></span>  <a class="code" href="classsophus_1_1_camera_model.html#acea619975bc60ae93b298f406dd676c9">CameraModel</a>()</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  : model_(<a class="code" href="classsophus_1_1_camera_model_t.html">PinholeModel</a>({0, 0}, Eigen::Vector4d(1.0, 1.0, 0.0, 0.0))) {}</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  </div>
<div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a854c5cc5f9b739a1ebd9a94ee07249df"> 356</a></span>  <a class="code" href="classsophus_1_1_camera_model.html#a854c5cc5f9b739a1ebd9a94ee07249df">CameraModel</a>(<a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a> <span class="keyword">const</span>& model) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  </div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#ad29f3413c79dd0e7eef30b6556d4e347"> 358</a></span>  <a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a>& <a class="code" href="classsophus_1_1_camera_model.html#ad29f3413c79dd0e7eef30b6556d4e347">operator=</a>(<a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a> <span class="keyword">const</span>& model) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  </div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar, <span class="keyword">class</span> TDistortion, <span class="keyword">class</span> TProj></div>
<div class="line"><a name="l00361"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#ac0418fea0b0b135420f1e0c4605a3b2d"> 361</a></span>  <a class="code" href="classsophus_1_1_camera_model.html#ac0418fea0b0b135420f1e0c4605a3b2d">CameraModel</a>(<a class="code" href="classsophus_1_1_camera_model_t.html">CameraModelT<TScalar, TDistortion, TProj></a> <span class="keyword">const</span>& cam)</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  : model_(cam) {}<span class="comment"></span></div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> <span class="comment"> /// Constructs camera model from `CameraDistortionVariant`.</span></div>
<div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a8c0162e1305239c3485532b787c1a4a9"> 364</a></span> <span class="comment"></span> <a class="code" href="classsophus_1_1_camera_model.html#a8c0162e1305239c3485532b787c1a4a9">CameraModel</a>(<a class="code" href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e">CameraDistortionVariant</a> <span class="keyword">const</span>& variant) : model_(variant) {}</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> <span class="comment"></span> </div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> <span class="comment"> /// Constructs camera model from `frame_name`, `image_size`, `projection_type`</span></div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> <span class="comment"> /// flag and `params` vector.</span></div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> <span class="comment"> /// Precondition: ``params.size()`` must match the number of parameters of the</span></div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> <span class="comment"> /// specified `projection_type` (TransformModel::kNumParams).</span></div>
<div class="line"><a name="l00371"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#aff340d880f9ad7e5ea7bd39daa3fc8df"> 371</a></span> <span class="comment"></span> <a class="code" href="classsophus_1_1_camera_model.html#aff340d880f9ad7e5ea7bd39daa3fc8df">CameraModel</a>(</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> image_size,</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  CameraDistortionType projection_type,</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  Eigen::VectorXd <span class="keyword">const</span>& <a class="code" href="classsophus_1_1_camera_model.html#a6d5724b20db2f9e74569e8ed70d3e727">params</a>);</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> <span class="comment"></span> </div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> <span class="comment"> /// Creates default pinhole model from `image_size`.</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#ad9f4ea4a0430565f84d6d98e4e2c5934"> 377</a></span> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model.html#ad9f4ea4a0430565f84d6d98e4e2c5934">createDefaultPinholeModel</a>(<a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> image_size) -> <a class="code" href="classsophus_1_1_camera_model.html#acea619975bc60ae93b298f406dd676c9">CameraModel</a>;</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span> <span class="comment"></span> </div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span> <span class="comment"> /// Returns true if this camera remains default-initialized with zero image</span></div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span> <span class="comment"> /// dimensions.</span></div>
<div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a2c1c74692826df1cd531a55420611cb0"> 381</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model.html#a2c1c74692826df1cd531a55420611cb0">isEmpty</a>() const -> <span class="keywordtype">bool</span> {</div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_camera_model.html#abafe80f865f1b594c96f4a2d51c07e51">imageSize</a>() == <a class="code" href="structsophus_1_1_image_size.html">ImageSize</a>(0, 0);</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  }</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span> <span class="comment"></span> </div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span> <span class="comment"> /// Returns name of the camera distortion model.</span></div>
<div class="line"><a name="l00386"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#ad36e83c4332a28eedc708ca9697ff33f"> 386</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model.html#ad36e83c4332a28eedc708ca9697ff33f">distortionModelName</a>() const -> std::string_view;</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span> <span class="comment"></span> </div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> <span class="comment"> /// Distortion variant mutator.</span></div>
<div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a53720a73f43bc32094b9819c7bbd7685"> 389</a></span> <span class="comment"></span> auto <a class="code" href="classsophus_1_1_camera_model.html#a53720a73f43bc32094b9819c7bbd7685">modelVariant</a>() -> <a class="code" href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e">CameraDistortionVariant</a>& { <span class="keywordflow">return</span> model_; }</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span> <span class="comment"></span> </div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> <span class="comment"> /// Distortion variant accessor.</span></div>
<div class="line"><a name="l00392"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#ac545e0a0023ce7d6bde05128c2a3fafb"> 392</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model.html#ac545e0a0023ce7d6bde05128c2a3fafb">modelVariant</a>() const -> <a class="code" href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e">CameraDistortionVariant</a> const& {</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="keywordflow">return</span> model_;</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  }</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> <span class="comment"></span> </div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span> <span class="comment"> /// Camera transform flag</span></div>
<div class="line"><a name="l00397"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#aff7416d6692e4e42f6cd06b86da51b4b"> 397</a></span> <span class="comment"></span> [[nodiscard]] <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_camera_model.html#aff7416d6692e4e42f6cd06b86da51b4b">distortionType</a>() const -> CameraDistortionType;</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  </div>
<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a9647dcbb4f9fe45aa44de9afaa8549c3"> 399</a></span>  [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a9647dcbb4f9fe45aa44de9afaa8549c3">focalLength</a>() const -> Eigen::Vector2d;</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> <span class="comment"></span> </div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span> <span class="comment"> /// Focal length.</span></div>
<div class="line"><a name="l00402"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a8f2f942bcda0dca44312d2658538c0a3"> 402</a></span> <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classsophus_1_1_camera_model.html#a8f2f942bcda0dca44312d2658538c0a3">setFocalLength</a>(Eigen::Vector2d const& focal_length);</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  </div>
<div class="line"><a name="l00404"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a00208cf6cc0f057fa2d794d33e876254"> 404</a></span>  [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a00208cf6cc0f057fa2d794d33e876254">principalPoint</a>() const -> Eigen::Vector2d;</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> <span class="comment"></span> </div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span> <span class="comment"> /// Focal length.</span></div>
<div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a2f30d35a8fce73b5083b51fe3458a1cf"> 407</a></span> <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classsophus_1_1_camera_model.html#a2f30d35a8fce73b5083b51fe3458a1cf">setPrincipalPoint</a>(Eigen::Vector2d const& principal_point);</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> <span class="comment"></span> </div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> <span class="comment"> /// Returns `params` vector by value.</span></div>
<div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a6d5724b20db2f9e74569e8ed70d3e727"> 410</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a6d5724b20db2f9e74569e8ed70d3e727">params</a>() const -> Eigen::VectorXd;</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span> <span class="comment"></span> </div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span> <span class="comment"> /// Sets `params` vector.</span></div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span> <span class="comment"> /// Precontion: ``params.size()`` must match the number of parameters of the</span></div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span> <span class="comment"> /// specified `projection_type` (TransformModel::kNumParams).</span></div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a86408e646407cca32df79505f42c32be"> 416</a></span> <span class="comment"></span> <span class="keywordtype">void</span> <a class="code" href="classsophus_1_1_camera_model.html#a86408e646407cca32df79505f42c32be">setParams</a>(Eigen::VectorXd const& <a class="code" href="classsophus_1_1_camera_model.html#a6d5724b20db2f9e74569e8ed70d3e727">params</a>);</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span> <span class="comment"></span> </div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span> <span class="comment"> /// Returns distortion parameters vector by value.</span></div>
<div class="line"><a name="l00419"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#ad2ee466e547a1e6175451d3a33dbd0cb"> 419</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#ad2ee466e547a1e6175451d3a33dbd0cb">distortionParams</a>() const -> Eigen::VectorXd;</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span> <span class="comment"></span> </div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span> <span class="comment"> /// Given a point in 3D space in the camera frame, compute the corresponding</span></div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span> <span class="comment"> /// pixel coordinates in the image.</span></div>
<div class="line"><a name="l00423"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a4ed906848beccc401aad56d4a52d33e4"> 423</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a4ed906848beccc401aad56d4a52d33e4">camProj</a>(Eigen::Vector3d const& point_camera) const</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  -> Eigen::Vector2d;</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span> <span class="comment"></span> </div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span> <span class="comment"> /// Maps a 2-point in the z=1 plane of the camera to a (distorted) pixel in</span></div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span> <span class="comment"> /// the image.</span></div>
<div class="line"><a name="l00428"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#af283391edc4fe376f4f2a3e666da1292"> 428</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#af283391edc4fe376f4f2a3e666da1292">distort</a>(</div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  Eigen::Vector2d const& point2_in_camera_lifted) const -> Eigen::Vector2d;</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  </div>
<div class="line"><a name="l00431"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a79210a6255d833838b99fc3b70d3bba0"> 431</a></span>  [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a79210a6255d833838b99fc3b70d3bba0">dxDistort</a>(</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  Eigen::Vector2d const& point2_in_camera_lifted) const -> Eigen::Matrix2d;</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span> <span class="comment"></span> </div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span> <span class="comment"> /// Maps a pixel in the image to a 2-point in the z=1 plane of the camera.</span></div>
<div class="line"><a name="l00435"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a4b55ddf98f4ec42246d74e19ca7f785d"> 435</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a4b55ddf98f4ec42246d74e19ca7f785d">undistort</a>(Eigen::Vector2d const& pixel_image) const</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  -> Eigen::Vector2d;</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  </div>
<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a3cdc5a5841279c7d99f3fbef36734c4a"> 438</a></span>  [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a3cdc5a5841279c7d99f3fbef36734c4a">undistortTable</a>() const -> <a class="code" href="classsophus_1_1_mut_image.html">MutImage</a><Eigen::Vector2f>;</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span> <span class="comment"></span> </div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span> <span class="comment"> /// Derivative of camProj(x) with respect to x=0.</span></div>
<div class="line"><a name="l00441"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a75d19e412991e0bcc2764e07160745eb"> 441</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a75d19e412991e0bcc2764e07160745eb">dxCamProjX</a>(Eigen::Vector3d const& point_in_camera) const</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  -> Eigen::Matrix<<span class="keywordtype">double</span>, 2, 3>;</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> <span class="comment"></span> </div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span> <span class="comment"> /// Derivative of camProj(exp(x) * point) with respect to x=0.</span></div>
<div class="line"><a name="l00445"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a87c1858e4da91f7b7d1e4d9e0b00b2ba"> 445</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a87c1858e4da91f7b7d1e4d9e0b00b2ba">dxCamProjExpXPointAt0</a>(</div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  Eigen::Vector3d const& point_in_camera) const</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  -> Eigen::Matrix<<span class="keywordtype">double</span>, 2, 6>;</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span> <span class="comment"></span> </div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span> <span class="comment"> /// Given pixel coordinates in the distorted image, and a corresponding</span></div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span> <span class="comment"> /// depth, reproject to a 3d point in the camera's reference frame.</span></div>
<div class="line"><a name="l00451"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a8f54846db2f9a339185c6f238addd294"> 451</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a8f54846db2f9a339185c6f238addd294">camUnproj</a>(</div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  Eigen::Vector2d const& pixel_image, <span class="keywordtype">double</span> depth_z) const</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  -> Eigen::Vector3d;</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span> <span class="comment"></span> </div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span> <span class="comment"> /// Subsamples pixel down, factor of 0.5.</span></div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span> <span class="comment"> /// See for details:</span></div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span> <span class="comment"> /// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.97r8rr8owwpc</span></div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span> <span class="comment"> /// If the original width [height] is odd, the new width [height] will be:</span></div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span> <span class="comment"> /// (width+1)/2 [height+1)/2].</span></div>
<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a106a2278117f18d2f044a1ca9036bfb8"> 462</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a106a2278117f18d2f044a1ca9036bfb8">subsampleDown</a>() const -> <a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a>;</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span> <span class="comment"></span> </div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span> <span class="comment"> /// Subsamples pixel up, factor of 2.0.</span></div>
<div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a13fb00997db6a561ffb01d6bf0706c4c"> 465</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a13fb00997db6a561ffb01d6bf0706c4c">subsampleUp</a>() const -> <a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a>;</div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span> <span class="comment"></span> </div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span> <span class="comment"> /// Bins pixel down, factor of 0.5.</span></div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span> <span class="comment"> /// See for details:</span></div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span> <span class="comment"> /// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.elfm6123mecj</span></div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span> <span class="comment"> /// If the original width [height] is odd, the new width [height] will be:</span></div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> <span class="comment"> /// (width+1)/2 [height+1)/2].</span></div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a0e6ee290bdf2376a21b72ff4d8d73f3d"> 474</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a0e6ee290bdf2376a21b72ff4d8d73f3d">binDown</a>() const -> <a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a>;</div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span> <span class="comment"></span> </div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span> <span class="comment"> /// Bins pixel up, factor of 2.0.</span></div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span> <span class="comment"> /// See for details:</span></div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span> <span class="comment"> /// https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.elfm6123mecj</span></div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a90cf7e8c9500623b0c3465ebeac1b4a5"> 480</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a90cf7e8c9500623b0c3465ebeac1b4a5">binUp</a>() const -> <a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a>;</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span> <span class="comment"></span> </div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span> <span class="comment"> /// Image size accessor</span></div>
<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#abafe80f865f1b594c96f4a2d51c07e51"> 483</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#abafe80f865f1b594c96f4a2d51c07e51">imageSize</a>() const -> <a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> const&;</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span> <span class="comment"></span> </div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span> <span class="comment"> /// Region of interest given `top_left` and ``roi_size`.</span></div>
<div class="line"><a name="l00486"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a0e9f930b5add54c46fabe37f2f287bcb"> 486</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a0e9f930b5add54c46fabe37f2f287bcb">roi</a>(</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  Eigen::Vector2i const& top_left, <a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> roi_size) const -> <a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a>;</div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span> <span class="comment"></span> </div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span> <span class="comment"> /// Returns true if obs is within image.</span></div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span> <span class="comment"> /// Note: Positive border makes the image frame smaller.</span></div>
<div class="line"><a name="l00492"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a5f04f9ec51856757f36d7e54b93f33e3"> 492</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a5f04f9ec51856757f36d7e54b93f33e3">contains</a>(Eigen::Vector2i const& obs, <span class="keywordtype">int</span> border = 0) const</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  -> <span class="keywordtype">bool</span>;</div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span> <span class="comment"></span> </div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span> <span class="comment"> /// Returns true if obs is within image.</span></div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> <span class="comment"> /// Positive border makes the image frame smaller.</span></div>
<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#ab62c5b6d30ab69f779ccb5ee76d28daa"> 498</a></span> <span class="comment"></span> [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a5f04f9ec51856757f36d7e54b93f33e3">contains</a>(</div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  Eigen::Vector2d const& obs, <span class="keywordtype">double</span> border = 0) const -> <span class="keywordtype">bool</span>;</div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  </div>
<div class="line"><a name="l00501"></a><span class="lineno"><a class="line" href="classsophus_1_1_camera_model.html#a6df2283209cf9b3ef8264fc856a11f89"> 501</a></span>  [[nodiscard]] auto <a class="code" href="classsophus_1_1_camera_model.html#a6df2283209cf9b3ef8264fc856a11f89">scale</a>(<a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> image_size) const -> <a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a>;</div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  </div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  private:</div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <a class="code" href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e">CameraDistortionVariant</a> model_;</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span> };</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span> <span class="comment"></span> </div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span> <span class="comment">/// Creates default pinhole model from `image_size`.</span></div>
<div class="line"><a name="l00508"></a><span class="lineno"><a class="line" href="namespacesophus.html#adc693beea3fdf375c6c772c944e75c55"> 508</a></span> <span class="comment"></span>auto <a class="code" href="classsophus_1_1_camera_model.html#ad9f4ea4a0430565f84d6d98e4e2c5934">createDefaultPinholeModel</a>(<a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> image_size) -> <a class="code" href="classsophus_1_1_camera_model_t.html">PinholeModel</a>;</div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span> <span class="comment"></span> </div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span> <span class="comment">/// Creates default orthographic model from `image_size`.</span></div>
<div class="line"><a name="l00511"></a><span class="lineno"><a class="line" href="namespacesophus.html#ae97464f22d86735c5eb2cc9963672bbd"> 511</a></span> <span class="comment"></span>auto <a class="code" href="namespacesophus.html#ae97464f22d86735c5eb2cc9963672bbd">createDefaultOrthoModel</a>(<a class="code" href="structsophus_1_1_image_size.html">ImageSize</a> image_size) -> <a class="code" href="classsophus_1_1_camera_model_t.html">OrthographicModel</a>;</div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  </div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span> } <span class="comment">// namespace sophus</span></div>
<div class="ttc" id="aaffine_8h_html"><div class="ttname"><a href="affine_8h.html">affine.h</a></div></div>
<div class="ttc" id="abrown__conrady_8h_html"><div class="ttname"><a href="brown__conrady_8h.html">brown_conrady.h</a></div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html"><div class="ttname"><a href="classsophus_1_1_camera_model.html">sophus::CameraModel</a></div><div class="ttdoc">Concrete camera model class.</div><div class="ttdef"><b>Definition:</b> camera_model.h:351</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a00208cf6cc0f057fa2d794d33e876254"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a00208cf6cc0f057fa2d794d33e876254">sophus::CameraModel::principalPoint</a></div><div class="ttdeci">auto principalPoint() const -> Eigen::Vector2d</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a0e6ee290bdf2376a21b72ff4d8d73f3d"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a0e6ee290bdf2376a21b72ff4d8d73f3d">sophus::CameraModel::binDown</a></div><div class="ttdeci">auto binDown() const -> CameraModel</div><div class="ttdoc">Bins pixel down, factor of 0.5.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a0e9f930b5add54c46fabe37f2f287bcb"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a0e9f930b5add54c46fabe37f2f287bcb">sophus::CameraModel::roi</a></div><div class="ttdeci">auto roi(Eigen::Vector2i const &top_left, ImageSize roi_size) const -> CameraModel</div><div class="ttdoc">Region of interest given top_left and `roi_size.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a106a2278117f18d2f044a1ca9036bfb8"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a106a2278117f18d2f044a1ca9036bfb8">sophus::CameraModel::subsampleDown</a></div><div class="ttdeci">auto subsampleDown() const -> CameraModel</div><div class="ttdoc">Subsamples pixel down, factor of 0.5.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a13fb00997db6a561ffb01d6bf0706c4c"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a13fb00997db6a561ffb01d6bf0706c4c">sophus::CameraModel::subsampleUp</a></div><div class="ttdeci">auto subsampleUp() const -> CameraModel</div><div class="ttdoc">Subsamples pixel up, factor of 2.0.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a2c1c74692826df1cd531a55420611cb0"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a2c1c74692826df1cd531a55420611cb0">sophus::CameraModel::isEmpty</a></div><div class="ttdeci">auto isEmpty() const -> bool</div><div class="ttdoc">Returns true if this camera remains default-initialized with zero image dimensions.</div><div class="ttdef"><b>Definition:</b> camera_model.h:381</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a2f30d35a8fce73b5083b51fe3458a1cf"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a2f30d35a8fce73b5083b51fe3458a1cf">sophus::CameraModel::setPrincipalPoint</a></div><div class="ttdeci">void setPrincipalPoint(Eigen::Vector2d const &principal_point)</div><div class="ttdoc">Focal length.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a3cdc5a5841279c7d99f3fbef36734c4a"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a3cdc5a5841279c7d99f3fbef36734c4a">sophus::CameraModel::undistortTable</a></div><div class="ttdeci">auto undistortTable() const -> MutImage< Eigen::Vector2f ></div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a4b55ddf98f4ec42246d74e19ca7f785d"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a4b55ddf98f4ec42246d74e19ca7f785d">sophus::CameraModel::undistort</a></div><div class="ttdeci">auto undistort(Eigen::Vector2d const &pixel_image) const -> Eigen::Vector2d</div><div class="ttdoc">Maps a pixel in the image to a 2-point in the z=1 plane of the camera.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a4ed906848beccc401aad56d4a52d33e4"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a4ed906848beccc401aad56d4a52d33e4">sophus::CameraModel::camProj</a></div><div class="ttdeci">auto camProj(Eigen::Vector3d const &point_camera) const -> Eigen::Vector2d</div><div class="ttdoc">Given a point in 3D space in the camera frame, compute the corresponding pixel coordinates in the ima...</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a53720a73f43bc32094b9819c7bbd7685"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a53720a73f43bc32094b9819c7bbd7685">sophus::CameraModel::modelVariant</a></div><div class="ttdeci">auto modelVariant() -> CameraDistortionVariant &</div><div class="ttdoc">Distortion variant mutator.</div><div class="ttdef"><b>Definition:</b> camera_model.h:389</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a5f04f9ec51856757f36d7e54b93f33e3"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a5f04f9ec51856757f36d7e54b93f33e3">sophus::CameraModel::contains</a></div><div class="ttdeci">auto contains(Eigen::Vector2i const &obs, int border=0) const -> bool</div><div class="ttdoc">Returns true if obs is within image.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a6d5724b20db2f9e74569e8ed70d3e727"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a6d5724b20db2f9e74569e8ed70d3e727">sophus::CameraModel::params</a></div><div class="ttdeci">auto params() const -> Eigen::VectorXd</div><div class="ttdoc">Returns params vector by value.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a6df2283209cf9b3ef8264fc856a11f89"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a6df2283209cf9b3ef8264fc856a11f89">sophus::CameraModel::scale</a></div><div class="ttdeci">auto scale(ImageSize image_size) const -> CameraModel</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a75d19e412991e0bcc2764e07160745eb"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a75d19e412991e0bcc2764e07160745eb">sophus::CameraModel::dxCamProjX</a></div><div class="ttdeci">auto dxCamProjX(Eigen::Vector3d const &point_in_camera) const -> Eigen::Matrix< double, 2, 3 ></div><div class="ttdoc">Derivative of camProj(x) with respect to x=0.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a79210a6255d833838b99fc3b70d3bba0"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a79210a6255d833838b99fc3b70d3bba0">sophus::CameraModel::dxDistort</a></div><div class="ttdeci">auto dxDistort(Eigen::Vector2d const &point2_in_camera_lifted) const -> Eigen::Matrix2d</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a854c5cc5f9b739a1ebd9a94ee07249df"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a854c5cc5f9b739a1ebd9a94ee07249df">sophus::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel(CameraModel const &model)=default</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a86408e646407cca32df79505f42c32be"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a86408e646407cca32df79505f42c32be">sophus::CameraModel::setParams</a></div><div class="ttdeci">void setParams(Eigen::VectorXd const &params)</div><div class="ttdoc">Sets params vector.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a87c1858e4da91f7b7d1e4d9e0b00b2ba"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a87c1858e4da91f7b7d1e4d9e0b00b2ba">sophus::CameraModel::dxCamProjExpXPointAt0</a></div><div class="ttdeci">auto dxCamProjExpXPointAt0(Eigen::Vector3d const &point_in_camera) const -> Eigen::Matrix< double, 2, 6 ></div><div class="ttdoc">Derivative of camProj(exp(x) * point) with respect to x=0.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a8c0162e1305239c3485532b787c1a4a9"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a8c0162e1305239c3485532b787c1a4a9">sophus::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel(CameraDistortionVariant const &variant)</div><div class="ttdoc">Constructs camera model from CameraDistortionVariant.</div><div class="ttdef"><b>Definition:</b> camera_model.h:364</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a8f2f942bcda0dca44312d2658538c0a3"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a8f2f942bcda0dca44312d2658538c0a3">sophus::CameraModel::setFocalLength</a></div><div class="ttdeci">void setFocalLength(Eigen::Vector2d const &focal_length)</div><div class="ttdoc">Focal length.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a8f54846db2f9a339185c6f238addd294"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a8f54846db2f9a339185c6f238addd294">sophus::CameraModel::camUnproj</a></div><div class="ttdeci">auto camUnproj(Eigen::Vector2d const &pixel_image, double depth_z) const -> Eigen::Vector3d</div><div class="ttdoc">Given pixel coordinates in the distorted image, and a corresponding depth, reproject to a 3d point in...</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a90cf7e8c9500623b0c3465ebeac1b4a5"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a90cf7e8c9500623b0c3465ebeac1b4a5">sophus::CameraModel::binUp</a></div><div class="ttdeci">auto binUp() const -> CameraModel</div><div class="ttdoc">Bins pixel up, factor of 2.0.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_a9647dcbb4f9fe45aa44de9afaa8549c3"><div class="ttname"><a href="classsophus_1_1_camera_model.html#a9647dcbb4f9fe45aa44de9afaa8549c3">sophus::CameraModel::focalLength</a></div><div class="ttdeci">auto focalLength() const -> Eigen::Vector2d</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_abafe80f865f1b594c96f4a2d51c07e51"><div class="ttname"><a href="classsophus_1_1_camera_model.html#abafe80f865f1b594c96f4a2d51c07e51">sophus::CameraModel::imageSize</a></div><div class="ttdeci">auto imageSize() const -> ImageSize const &</div><div class="ttdoc">Image size accessor.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_ac0418fea0b0b135420f1e0c4605a3b2d"><div class="ttname"><a href="classsophus_1_1_camera_model.html#ac0418fea0b0b135420f1e0c4605a3b2d">sophus::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel(CameraModelT< TScalar, TDistortion, TProj > const &cam)</div><div class="ttdef"><b>Definition:</b> camera_model.h:361</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_ac545e0a0023ce7d6bde05128c2a3fafb"><div class="ttname"><a href="classsophus_1_1_camera_model.html#ac545e0a0023ce7d6bde05128c2a3fafb">sophus::CameraModel::modelVariant</a></div><div class="ttdeci">auto modelVariant() const -> CameraDistortionVariant const &</div><div class="ttdoc">Distortion variant accessor.</div><div class="ttdef"><b>Definition:</b> camera_model.h:392</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_acea619975bc60ae93b298f406dd676c9"><div class="ttname"><a href="classsophus_1_1_camera_model.html#acea619975bc60ae93b298f406dd676c9">sophus::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel()</div><div class="ttdef"><b>Definition:</b> camera_model.h:353</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_ad29f3413c79dd0e7eef30b6556d4e347"><div class="ttname"><a href="classsophus_1_1_camera_model.html#ad29f3413c79dd0e7eef30b6556d4e347">sophus::CameraModel::operator=</a></div><div class="ttdeci">CameraModel & operator=(CameraModel const &model)=default</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_ad2ee466e547a1e6175451d3a33dbd0cb"><div class="ttname"><a href="classsophus_1_1_camera_model.html#ad2ee466e547a1e6175451d3a33dbd0cb">sophus::CameraModel::distortionParams</a></div><div class="ttdeci">auto distortionParams() const -> Eigen::VectorXd</div><div class="ttdoc">Returns distortion parameters vector by value.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_ad36e83c4332a28eedc708ca9697ff33f"><div class="ttname"><a href="classsophus_1_1_camera_model.html#ad36e83c4332a28eedc708ca9697ff33f">sophus::CameraModel::distortionModelName</a></div><div class="ttdeci">auto distortionModelName() const -> std::string_view</div><div class="ttdoc">Returns name of the camera distortion model.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_ad9f4ea4a0430565f84d6d98e4e2c5934"><div class="ttname"><a href="classsophus_1_1_camera_model.html#ad9f4ea4a0430565f84d6d98e4e2c5934">sophus::CameraModel::createDefaultPinholeModel</a></div><div class="ttdeci">static auto createDefaultPinholeModel(ImageSize image_size) -> CameraModel</div><div class="ttdoc">Creates default pinhole model from image_size.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_af283391edc4fe376f4f2a3e666da1292"><div class="ttname"><a href="classsophus_1_1_camera_model.html#af283391edc4fe376f4f2a3e666da1292">sophus::CameraModel::distort</a></div><div class="ttdeci">auto distort(Eigen::Vector2d const &point2_in_camera_lifted) const -> Eigen::Vector2d</div><div class="ttdoc">Maps a 2-point in the z=1 plane of the camera to a (distorted) pixel in the image.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_aff340d880f9ad7e5ea7bd39daa3fc8df"><div class="ttname"><a href="classsophus_1_1_camera_model.html#aff340d880f9ad7e5ea7bd39daa3fc8df">sophus::CameraModel::CameraModel</a></div><div class="ttdeci">CameraModel(ImageSize image_size, CameraDistortionType projection_type, Eigen::VectorXd const &params)</div><div class="ttdoc">Constructs camera model from frame_name, image_size, projection_type flag and params vector.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html_aff7416d6692e4e42f6cd06b86da51b4b"><div class="ttname"><a href="classsophus_1_1_camera_model.html#aff7416d6692e4e42f6cd06b86da51b4b">sophus::CameraModel::distortionType</a></div><div class="ttdeci">auto distortionType() const -> CameraDistortionType</div><div class="ttdoc">Camera transform flag.</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html">sophus::CameraModelT</a></div><div class="ttdoc">Camera model class template for pinhole-like camera projections.</div><div class="ttdef"><b>Definition:</b> camera_model.h:83</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a01919c4bce0a4aa808a994ed87cc888d"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a01919c4bce0a4aa808a994ed87cc888d">sophus::CameraModelT::imageSize</a></div><div class="ttdeci">auto imageSize() const -> ImageSize const &</div><div class="ttdoc">Accessor of image size.</div><div class="ttdef"><b>Definition:</b> camera_model.h:285</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a02f412fb036fd7f726cb648d98aead5c"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a02f412fb036fd7f726cb648d98aead5c">sophus::CameraModelT::DistorationParams</a></div><div class="ttdeci">Eigen::Matrix< TScalar, kNumDistortionParams, 1 > DistorationParams</div><div class="ttdef"><b>Definition:</b> camera_model.h:96</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a0ed4f3357e4b23a67694e430ed71b1d6"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a0ed4f3357e4b23a67694e430ed71b1d6">sophus::CameraModelT::fromData</a></div><div class="ttdeci">static auto fromData(TScalar const *const ptr) -> CameraModelT</div><div class="ttdoc">Returns camera model from raw data pointer. To be used within ceres optimization only.</div><div class="ttdef"><b>Definition:</b> camera_model.h:109</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a172d82254225e4394356b0e681824656"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a172d82254225e4394356b0e681824656">sophus::CameraModelT::undistort</a></div><div class="ttdeci">auto undistort(PixelImage const &pixel_in_image) const -> ProjInCameraLifted</div><div class="ttdoc">Maps a pixel in the image to a 2-point in the z=1 plane of the camera.</div><div class="ttdef"><b>Definition:</b> camera_model.h:244</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a27d915edfaa6feb194d104d17588ac77"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a27d915edfaa6feb194d104d17588ac77">sophus::CameraModelT::distortionParams</a></div><div class="ttdeci">auto distortionParams() const -> DistorationParams</div><div class="ttdoc">Returns distortion parameters by value.</div><div class="ttdef"><b>Definition:</b> camera_model.h:137</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a2f554b3c7cb0ca0b61c28bb1dd94d7a5"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a2f554b3c7cb0ca0b61c28bb1dd94d7a5">sophus::CameraModelT::distort</a></div><div class="ttdeci">auto distort(ProjInCameraLifted const &point2_in_camera_lifted) const -> PixelImage</div><div class="ttdoc">Maps a 2-point in the z=1 plane of the camera to a pixel in the image.</div><div class="ttdef"><b>Definition:</b> camera_model.h:233</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a2ff890a156617e0b83d8cc35c879a32f"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a2ff890a156617e0b83d8cc35c879a32f">sophus::CameraModelT::PixelImage</a></div><div class="ttdeci">Eigen::Matrix< TScalar, 2, 1 > PixelImage</div><div class="ttdef"><b>Definition:</b> camera_model.h:93</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a3a351c712039d761e235771b75df4389"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a3a351c712039d761e235771b75df4389">sophus::CameraModelT::Distortion</a></div><div class="ttdeci">TDistortion Distortion</div><div class="ttdef"><b>Definition:</b> camera_model.h:85</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a51ae36588f006e0d3600988ead44ee6f"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a51ae36588f006e0d3600988ead44ee6f">sophus::CameraModelT::cast</a></div><div class="ttdeci">auto cast() const -> CameraModelT< TScalar2, TDistortion, TProj ></div><div class="ttdoc">cast to different scalar type.</div><div class="ttdef"><b>Definition:</b> camera_model.h:307</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a5201b39438f25dca3dd49cdf80aa0f05"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a5201b39438f25dca3dd49cdf80aa0f05">sophus::CameraModelT::Params</a></div><div class="ttdeci">Eigen::Matrix< TScalar, kNumParams, 1 > Params</div><div class="ttdef"><b>Definition:</b> camera_model.h:95</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a57dfdb0e907283039b9f7f0be2db6c89"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a57dfdb0e907283039b9f7f0be2db6c89">sophus::CameraModelT::data</a></div><div class="ttdeci">auto data() -> TScalar *</div><div class="ttdoc">Raw data access. To be used in ceres optimization only.</div><div class="ttdef"><b>Definition:</b> camera_model.h:282</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a5ca3da92ad883d7582f867c991a3b352"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a5ca3da92ad883d7582f867c991a3b352">sophus::CameraModelT::roi</a></div><div class="ttdeci">auto roi(Eigen::Vector2i const &top_left, ImageSize roi_size) const -> CameraModelT</div><div class="ttdoc">Region of interest given top_left and `roi_size.</div><div class="ttdef"><b>Definition:</b> camera_model.h:224</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a631254f5927de14d9e7bde7b90453c39"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a631254f5927de14d9e7bde7b90453c39">sophus::CameraModelT::binDown</a></div><div class="ttdeci">auto binDown() const -> CameraModelT</div><div class="ttdoc">Bins pixel down, factor of 0.5.</div><div class="ttdef"><b>Definition:</b> camera_model.h:187</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a75019e833299c1b15c7cf03639f63783"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a75019e833299c1b15c7cf03639f63783">sophus::CameraModelT::camProj</a></div><div class="ttdeci">auto camProj(PointCamera const &point_in_camera) const -> PixelImage</div><div class="ttdoc">Projects 3-point in camera frame to a pixel in the image.</div><div class="ttdef"><b>Definition:</b> camera_model.h:261</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a8341da15d205a50fc8350529ac7a79e8"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a8341da15d205a50fc8350529ac7a79e8">sophus::CameraModelT::contains</a></div><div class="ttdeci">auto contains(PixelImage const &obs, TScalar border=TScalar(0)) const -> bool</div><div class="ttdoc">Returns true if obs is within image.</div><div class="ttdef"><b>Definition:</b> camera_model.h:300</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a87033848b8c4a7f9acf62e11a638e8e3"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a87033848b8c4a7f9acf62e11a638e8e3">sophus::CameraModelT::kProjectionModel</a></div><div class="ttdeci">static constexpr std::string_view const kProjectionModel</div><div class="ttdef"><b>Definition:</b> camera_model.h:89</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_a8b97bdf4982c61b17a096b8d7e09c5ef"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#a8b97bdf4982c61b17a096b8d7e09c5ef">sophus::CameraModelT::Proj</a></div><div class="ttdeci">TProj Proj</div><div class="ttdef"><b>Definition:</b> camera_model.h:86</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_aa7e8eae3dac0757fd4cb029c7d6b98c6"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#aa7e8eae3dac0757fd4cb029c7d6b98c6">sophus::CameraModelT::principalPoint</a></div><div class="ttdeci">auto principalPoint() const -> PixelImage</div><div class="ttdef"><b>Definition:</b> camera_model.h:127</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_aa89aa0d42e5ee86f13dd0538659b6b23"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#aa89aa0d42e5ee86f13dd0538659b6b23">sophus::CameraModelT::CameraModelT</a></div><div class="ttdeci">CameraModelT()</div><div class="ttdef"><b>Definition:</b> camera_model.h:102</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_ab04c7b0443ec00c5c1ea2d4a0417bd95"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#ab04c7b0443ec00c5c1ea2d4a0417bd95">sophus::CameraModelT::ProjInCameraLifted</a></div><div class="ttdeci">Eigen::Matrix< TScalar, 2, 1 > ProjInCameraLifted</div><div class="ttdef"><b>Definition:</b> camera_model.h:94</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_ab32c557470d3493aa79f88b78340491d"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#ab32c557470d3493aa79f88b78340491d">sophus::CameraModelT::camUnproj</a></div><div class="ttdeci">auto camUnproj(PixelImage const &pixel_in_image, double depth_z) const -> PointCamera</div><div class="ttdoc">Unprojects pixel in the image to point in camera frame.</div><div class="ttdef"><b>Definition:</b> camera_model.h:275</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_ab52e661613096f33d192eda20bddd787"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#ab52e661613096f33d192eda20bddd787">sophus::CameraModelT::CameraModelT</a></div><div class="ttdeci">CameraModelT(ImageSize const &image_size, Params const &params)</div><div class="ttdoc">Constructs camera model from image size and set up parameters.</div><div class="ttdef"><b>Definition:</b> camera_model.h:99</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_ab8e068ff84d5248e6b54280e652a3d46"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#ab8e068ff84d5248e6b54280e652a3d46">sophus::CameraModelT::PointCamera</a></div><div class="ttdeci">Eigen::Matrix< TScalar, 3, 1 > PointCamera</div><div class="ttdef"><b>Definition:</b> camera_model.h:92</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_abb1be9eefb1cb791070aff669d917349"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#abb1be9eefb1cb791070aff669d917349">sophus::CameraModelT::dxCamProjX</a></div><div class="ttdeci">auto dxCamProjX(PointCamera const &point_in_camera) const -> Eigen::Matrix< TScalar, 2, 3 ></div><div class="ttdef"><b>Definition:</b> camera_model.h:266</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_abbd1f92cd1bbaed8d69fe002b1b14f58"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#abbd1f92cd1bbaed8d69fe002b1b14f58">sophus::CameraModelT::params</a></div><div class="ttdeci">auto params() const -> Eigen::Matrix< TScalar, kNumParams, 1 > const &</div><div class="ttdoc">Parameters accessor.</div><div class="ttdef"><b>Definition:</b> camera_model.h:145</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_abe61627ee70ef5da8258e84a71dfd502"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#abe61627ee70ef5da8258e84a71dfd502">sophus::CameraModelT::dxDistort</a></div><div class="ttdeci">auto dxDistort(PixelImage const &pixel_in_image) const -> Eigen::Matrix< TScalar, 2, 2 ></div><div class="ttdef"><b>Definition:</b> camera_model.h:238</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_abfebda0062e1f7f0b15346d8e5531012"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#abfebda0062e1f7f0b15346d8e5531012">sophus::CameraModelT::subsampleUp</a></div><div class="ttdeci">auto subsampleUp() const -> CameraModelT</div><div class="ttdoc">Subsamples pixel up, factor of 2.0.</div><div class="ttdef"><b>Definition:</b> camera_model.h:170</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_ac853ff5ad63c972fcc0333a5bba9868d"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#ac853ff5ad63c972fcc0333a5bba9868d">sophus::CameraModelT::params</a></div><div class="ttdeci">auto params() -> Eigen::Matrix< TScalar, kNumParams, 1 > &</div><div class="ttdoc">Parameters mutator.</div><div class="ttdef"><b>Definition:</b> camera_model.h:142</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_ac91eb5a8b381924b0dc314e3adef1be7"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#ac91eb5a8b381924b0dc314e3adef1be7">sophus::CameraModelT::kNumParams</a></div><div class="ttdeci">static constexpr int kNumParams</div><div class="ttdef"><b>Definition:</b> camera_model.h:88</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_acd1152ef2b9b5627fdcb70b1462bbe7e"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#acd1152ef2b9b5627fdcb70b1462bbe7e">sophus::CameraModelT::contains</a></div><div class="ttdeci">auto contains(Eigen::Vector2i const &obs, int border=0) const -> bool</div><div class="ttdoc">Returns true if obs is within image.</div><div class="ttdef"><b>Definition:</b> camera_model.h:292</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_acd16954c3dfa0818e851d7ddf7b5a413"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#acd16954c3dfa0818e851d7ddf7b5a413">sophus::CameraModelT::kNumDistortionParams</a></div><div class="ttdeci">static constexpr int kNumDistortionParams</div><div class="ttdef"><b>Definition:</b> camera_model.h:87</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_ad04393410d8e32cd6964fd2a3b8c22cb"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#ad04393410d8e32cd6964fd2a3b8c22cb">sophus::CameraModelT::binUp</a></div><div class="ttdeci">auto binUp() const -> CameraModelT</div><div class="ttdoc">Bins pixel up, factor of 2.0.</div><div class="ttdef"><b>Definition:</b> camera_model.h:200</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_ae6b946557f9f05b94d89ac9d94dfefa5"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#ae6b946557f9f05b94d89ac9d94dfefa5">sophus::CameraModelT::setFocalLength</a></div><div class="ttdeci">void setFocalLength(PixelImage const &focal_length)</div><div class="ttdoc">Focal length.</div><div class="ttdef"><b>Definition:</b> camera_model.h:123</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_aec215a54e3d2a975865bc5b37fc24f36"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#aec215a54e3d2a975865bc5b37fc24f36">sophus::CameraModelT::focalLength</a></div><div class="ttdeci">auto focalLength() const -> PixelImage</div><div class="ttdoc">Focal length.</div><div class="ttdef"><b>Definition:</b> camera_model.h:118</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_aedbcae539a613de486326e0aee2d986b"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#aedbcae539a613de486326e0aee2d986b">sophus::CameraModelT::scale</a></div><div class="ttdeci">auto scale(ImageSize const &image_size) const -> CameraModelT</div><div class="ttdef"><b>Definition:</b> camera_model.h:210</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_aeed6ab47ae14d9ba1ed4d3008c9134d2"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#aeed6ab47ae14d9ba1ed4d3008c9134d2">sophus::CameraModelT::subsampleDown</a></div><div class="ttdeci">auto subsampleDown() const -> CameraModelT</div><div class="ttdoc">Subsamples pixel down, factor of 0.5.</div><div class="ttdef"><b>Definition:</b> camera_model.h:157</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_af1eda87b6149024ce8a17d0138475fd3"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#af1eda87b6149024ce8a17d0138475fd3">sophus::CameraModelT::setPrincipalPoint</a></div><div class="ttdeci">void setPrincipalPoint(PixelImage const &principal_point)</div><div class="ttdoc">Focal length.</div><div class="ttdef"><b>Definition:</b> camera_model.h:132</div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_t_html_af4a21e9e6ccaf7d1d2e33d4f221e6c45"><div class="ttname"><a href="classsophus_1_1_camera_model_t.html#af4a21e9e6ccaf7d1d2e33d4f221e6c45">sophus::CameraModelT::undistortTable</a></div><div class="ttdeci">auto undistortTable() const -> MutImage< Eigen::Vector2f ></div><div class="ttdef"><b>Definition:</b> camera_model.h:249</div></div>
<div class="ttc" id="aclasssophus_1_1_mut_image_html"><div class="ttname"><a href="classsophus_1_1_mut_image.html">sophus::MutImage</a></div><div class="ttdoc">A image with write access to pixels and exclusive ownership. There is no copy constr / copy assignmen...</div><div class="ttdef"><b>Definition:</b> mut_image.h:89</div></div>
<div class="ttc" id="aclasssophus_1_1_mut_image_view_html_a225804259b97cfe27737921ff9c84c31"><div class="ttname"><a href="classsophus_1_1_mut_image_view.html#a225804259b97cfe27737921ff9c84c31">sophus::MutImageView::rowPtrMut</a></div><div class="ttdeci">auto rowPtrMut(int v) const -> TPixel *</div><div class="ttdoc">Returns v-th row pointer of mutable pixel.</div><div class="ttdef"><b>Definition:</b> mut_image_view.h:115</div></div>
<div class="ttc" id="acommon_2common_8h_html"><div class="ttname"><a href="common_2common_8h.html">common.h</a></div><div class="ttdoc">Common functionality.</div></div>
<div class="ttc" id="ahomogeneous_8h_html"><div class="ttname"><a href="homogeneous_8h.html">homogeneous.h</a></div></div>
<div class="ttc" id="aimage_2image_8h_html"><div class="ttname"><a href="image_2image_8h.html">image.h</a></div></div>
<div class="ttc" id="aimage__size_8h_html"><div class="ttname"><a href="image__size_8h.html">image_size.h</a></div></div>
<div class="ttc" id="akannala__brandt_8h_html"><div class="ttname"><a href="kannala__brandt_8h.html">kannala_brandt.h</a></div></div>
<div class="ttc" id="anamespacesophus_html"><div class="ttname"><a href="namespacesophus.html">sophus</a></div><div class="ttdoc">Image MutImage, owning images types.</div><div class="ttdef"><b>Definition:</b> num_diff.h:20</div></div>
<div class="ttc" id="anamespacesophus_html_a4c0ed147f514066f886c19e54df6d34e"><div class="ttname"><a href="namespacesophus.html#a4c0ed147f514066f886c19e54df6d34e">sophus::SOPHUS_ENUM</a></div><div class="ttdeci">SOPHUS_ENUM(ColorHue,(red, orange, yellow, chartreuse, green, turquoise, cyan, azure, blue, violet, magenta, pink))</div></div>
<div class="ttc" id="anamespacesophus_html_a5160d337ddc875513cfbe98ab42b731d"><div class="ttname"><a href="namespacesophus.html#a5160d337ddc875513cfbe98ab42b731d">sophus::half</a></div><div class="ttdeci">auto half(ImageSize size) -> ImageSize</div><div class="ttdoc">If the original width [height] is odd, the new width [height] will be: (width+1)/2 [height+1)/2].</div></div>
<div class="ttc" id="anamespacesophus_html_a5878e77ddc7eb3e75ca7dfcb3f9f902e"><div class="ttname"><a href="namespacesophus.html#a5878e77ddc7eb3e75ca7dfcb3f9f902e">sophus::CameraDistortionVariant</a></div><div class="ttdeci">std::variant< PinholeModel, BrownConradyModel, KannalaBrandtK3Model, OrthographicModel > CameraDistortionVariant</div><div class="ttdoc">Variant of camera models.</div><div class="ttdef"><b>Definition:</b> camera_model.h:342</div></div>
<div class="ttc" id="anamespacesophus_html_a5b459c6209a0785c774aefa8f5b530ef"><div class="ttname"><a href="namespacesophus.html#a5b459c6209a0785c774aefa8f5b530ef">sophus::PinholeModel</a></div><div class="ttdeci">CameraModelT< double, AffineTransform, ProjectionZ1 > PinholeModel</div><div class="ttdoc">Pinhole camera model.</div><div class="ttdef"><b>Definition:</b> camera_model.h:324</div></div>
<div class="ttc" id="anamespacesophus_html_a5f1e243e0245c99be109ad17e0195026"><div class="ttname"><a href="namespacesophus.html#a5f1e243e0245c99be109ad17e0195026">sophus::BrownConradyModel</a></div><div class="ttdeci">CameraModelT< double, BrownConradyTransform, ProjectionZ1 > BrownConradyModel</div><div class="ttdoc">Brown Conrady camera model.</div><div class="ttdef"><b>Definition:</b> camera_model.h:328</div></div>
<div class="ttc" id="anamespacesophus_html_a60e25c7d7b21d1bad778374d48cda8ff"><div class="ttname"><a href="namespacesophus.html#a60e25c7d7b21d1bad778374d48cda8ff">sophus::binUp</a></div><div class="ttdeci">auto binUp(Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 ></div><div class="ttdoc">Bins pixel up, factor of 2.0.</div><div class="ttdef"><b>Definition:</b> camera_model.h:71</div></div>
<div class="ttc" id="anamespacesophus_html_a7949bed4e3feceed3957f1b83a40585d"><div class="ttname"><a href="namespacesophus.html#a7949bed4e3feceed3957f1b83a40585d">sophus::dxProjX</a></div><div class="ttdeci">auto dxProjX(InverseDepthPoint3< TT > const &) -> Eigen::Matrix< TT, 2, 3 ></div><div class="ttdoc">Returns point derivative of inverse depth point projection:</div><div class="ttdef"><b>Definition:</b> point_transform.h:29</div></div>
<div class="ttc" id="anamespacesophus_html_a8fc544aa3afc9b4ba675067fe300c4ea"><div class="ttname"><a href="namespacesophus.html#a8fc544aa3afc9b4ba675067fe300c4ea">sophus::subsampleDown</a></div><div class="ttdeci">auto subsampleDown(Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 ></div><div class="ttdoc">Subsamples pixel down, factor of 0.5.</div><div class="ttdef"><b>Definition:</b> camera_model.h:36</div></div>
<div class="ttc" id="anamespacesophus_html_a9ff3bc533c429730a30951f3da964f4f"><div class="ttname"><a href="namespacesophus.html#a9ff3bc533c429730a30951f3da964f4f">sophus::subsampleUp</a></div><div class="ttdeci">auto subsampleUp(Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 ></div><div class="ttdoc">Subsamples pixel up, factor of 2.0.</div><div class="ttdef"><b>Definition:</b> camera_model.h:46</div></div>
<div class="ttc" id="anamespacesophus_html_abf48bc67b09161050914ededa9363d6e"><div class="ttname"><a href="namespacesophus.html#abf48bc67b09161050914ededa9363d6e">sophus::binDown</a></div><div class="ttdeci">auto binDown(Eigen::Matrix< TScalar, 2, 1 > const &in) -> Eigen::Matrix< TScalar, 2, 1 ></div><div class="ttdoc">Bins pixel down, factor of 0.5.</div><div class="ttdef"><b>Definition:</b> camera_model.h:56</div></div>
<div class="ttc" id="anamespacesophus_html_ac4bbb26f955c18677bb12d3a1e4d1245"><div class="ttname"><a href="namespacesophus.html#ac4bbb26f955c18677bb12d3a1e4d1245">sophus::KannalaBrandtK3Model</a></div><div class="ttdeci">CameraModelT< double, KannalaBrandtK3Transform, ProjectionZ1 > KannalaBrandtK3Model</div><div class="ttdoc">KannalaBrandt camera model with k0, k1, k2, k3.</div><div class="ttdef"><b>Definition:</b> camera_model.h:332</div></div>
<div class="ttc" id="anamespacesophus_html_ac623a4067fc7a36d01dc3de68b2d7dea"><div class="ttname"><a href="namespacesophus.html#ac623a4067fc7a36d01dc3de68b2d7dea">sophus::unproj</a></div><div class="ttdeci">auto unproj(Eigen::MatrixBase< TPoint > const &p, typename TPoint::Scalar const &z=typename TPoint::Scalar(1.0)) -> Eigen::Vector< typename TPoint::Scalar, TPoint::RowsAtCompileTime+1 ></div><div class="ttdoc">Maps point on the z=1 plane (a,b) to homogeneous representation of the same point: (z*a,...</div><div class="ttdef"><b>Definition:</b> homogeneous.h:31</div></div>
<div class="ttc" id="anamespacesophus_html_ae97464f22d86735c5eb2cc9963672bbd"><div class="ttname"><a href="namespacesophus.html#ae97464f22d86735c5eb2cc9963672bbd">sophus::createDefaultOrthoModel</a></div><div class="ttdeci">auto createDefaultOrthoModel(ImageSize image_size) -> OrthographicModel</div><div class="ttdoc">Creates default orthographic model from image_size.</div></div>
<div class="ttc" id="anamespacesophus_html_afccaa41eacfdd40fc316aa1ab95f7d65"><div class="ttname"><a href="namespacesophus.html#afccaa41eacfdd40fc316aa1ab95f7d65">sophus::proj</a></div><div class="ttdeci">auto proj(InverseDepthPoint3< TT > const &inverse_depth_point) -> Eigen::Matrix< TT, 2, 1 ></div><div class="ttdoc">Projects 3-point (a,b,psi) = (x/z,y/z,1/z) through the origin (0,0,0) onto the plane z=1....</div><div class="ttdef"><b>Definition:</b> point_transform.h:20</div></div>
<div class="ttc" id="apoint__transform_8h_html"><div class="ttname"><a href="point__transform_8h.html">point_transform.h</a></div></div>
<div class="ttc" id="aprojection__ortho_8h_html"><div class="ttname"><a href="projection__ortho_8h.html">projection_ortho.h</a></div></div>
<div class="ttc" id="aprojection__z1_8h_html"><div class="ttname"><a href="projection__z1_8h.html">projection_z1.h</a></div></div>
<div class="ttc" id="ase3_8h_html"><div class="ttname"><a href="se3_8h.html">se3.h</a></div></div>
<div class="ttc" id="asophus_2common_2enum_8h_html"><div class="ttname"><a href="sophus_2common_2enum_8h.html">enum.h</a></div></div>
<div class="ttc" id="astructsophus_1_1_image_size_html"><div class="ttname"><a href="structsophus_1_1_image_size.html">sophus::ImageSize</a></div><div class="ttdoc">Image size, hence its width and height.</div><div class="ttdef"><b>Definition:</b> image_size.h:21</div></div>
<div class="ttc" id="astructsophus_1_1_image_size_html_a6860fc9e6cb763fd0b8597d12f22f324"><div class="ttname"><a href="structsophus_1_1_image_size.html#a6860fc9e6cb763fd0b8597d12f22f324">sophus::ImageSize::height</a></div><div class="ttdeci">int height</div><div class="ttdoc">Vertical height of images, i.e. number of rows.</div><div class="ttdef"><b>Definition:</b> image_size.h:56</div></div>
<div class="ttc" id="astructsophus_1_1_image_size_html_a7da2f5a1bc9e89ec428960e9b996cf54"><div class="ttname"><a href="structsophus_1_1_image_size.html#a7da2f5a1bc9e89ec428960e9b996cf54">sophus::ImageSize::contains</a></div><div class="ttdeci">auto contains(Eigen::Vector2i const &obs, int border=0) const -> bool</div><div class="ttdoc">Returns true if obs is within image.</div></div>
<div class="ttc" id="astructsophus_1_1_image_size_html_a7ea479dfc195f980d6650ceadfda5c97"><div class="ttname"><a href="structsophus_1_1_image_size.html#a7ea479dfc195f980d6650ceadfda5c97">sophus::ImageSize::width</a></div><div class="ttdeci">int width</div><div class="ttdoc">Horizontal width of images, i.e. number of columns.</div><div class="ttdef"><b>Definition:</b> image_size.h:53</div></div>
<div class="ttc" id="astructsophus_1_1_image_view_html_a414713ad1b79d73984f26f13d375b81f"><div class="ttname"><a href="structsophus_1_1_image_view.html#a414713ad1b79d73984f26f13d375b81f">sophus::ImageView::width</a></div><div class="ttdeci">auto width() const -> int</div><div class="ttdef"><b>Definition:</b> image_view.h:89</div></div>
<div class="ttc" id="astructsophus_1_1_image_view_html_aa2a0da523ed97de1a8847b1ed707cdb1"><div class="ttname"><a href="structsophus_1_1_image_view.html#aa2a0da523ed97de1a8847b1ed707cdb1">sophus::ImageView::height</a></div><div class="ttdeci">auto height() const -> int</div><div class="ttdef"><b>Definition:</b> image_view.h:90</div></div>
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