vslam::CylindricalCCMSphRays Class Reference

Spherical camera model with panoramatic image plane and rays in spherical coordinates. More...

#include <camera_model.h>

Inheritance diagram for vslam::CylindricalCCMSphRays:

List of all members.

Public Member Functions
SphericalCoord	backProject (Eigen::Vector2d pixel) const
	CylindricalCCMSphRays (int _pan_width, int _pan_height)
Vector2d	project (SphericalCoord sc) const
Protected Attributes
int	pan_height
int	pan_width

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Detailed Description

Spherical camera model with panoramatic image plane and rays in spherical coordinates.

Pixel coordinate (x,y)=(0,0) is at the upper-left corner of the image. (x,y)=(width-1,height-1) is bottom right corner.

MATLAB code used to construct panoramas.

% Azimuth grows right.

azimuth = repmat(linspace(0, (width - 1) / width * (-2)*pi, width), height, 1);

% Center zero azimuth in the panorama.

azimuth = circshift(azimuth, [0 floor(width/2)]);

elevation = repmat(linspace(pi/2, -pi/2, height)', 1, width);

[xmat ymat zmat] = sph2cart(azimuth, elevation, radius);

Definition at line 134 of file camera_model.h.

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Constructor & Destructor Documentation

vslam::CylindricalCCMSphRays::CylindricalCCMSphRays	(	int	_pan_width,
		int	_pan_height
	)		[inline]

Definition at line 139 of file camera_model.h.

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Member Function Documentation

SphericalCoord vslam::CylindricalCCMSphRays::backProject

(

Eigen::Vector2d

pixel

)

const [inline]

Definition at line 142 of file camera_model.h.

Vector2d vslam::CylindricalCCMSphRays::project

(

SphericalCoord

sc

)

const [inline]

Definition at line 153 of file camera_model.h.

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Member Data Documentation

int vslam::CylindricalCCMSphRays::pan_height [protected]

Definition at line 137 of file camera_model.h.

int vslam::CylindricalCCMSphRays::pan_width [protected]

Definition at line 136 of file camera_model.h.

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The documentation for this class was generated from the following file:

• camera_model.h