camera_models.h File Reference

#include <ceres/ceres.h>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <cfloat>
#include <string>
#include <vector>

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Classes
struct	colmap::BaseCameraModel< CameraModel >
struct	colmap::SimplePinholeCameraModel
struct	colmap::PinholeCameraModel
struct	colmap::SimpleRadialCameraModel
struct	colmap::RadialCameraModel
struct	colmap::OpenCVCameraModel
struct	colmap::OpenCVFisheyeCameraModel
struct	colmap::FullOpenCVCameraModel
struct	colmap::FOVCameraModel
struct	colmap::SimpleRadialFisheyeCameraModel
struct	colmap::RadialFisheyeCameraModel
struct	colmap::ThinPrismFisheyeCameraModel

Namespaces
	colmap

Macros
#define	CAMERA_MODEL_DEFINITIONS(model_id_value, model_name_value, num_params_value)
#define	CAMERA_MODEL_CASES
#define	CAMERA_MODEL_SWITCH_CASES
#define	CAMERA_MODEL_DOES_NOT_EXIST_EXCEPTION    throw std::domain_error("Camera model does not exist");
#define	CAMERA_MODEL_CASE(CameraModel)
#define	CAMERA_MODEL_CASE(CameraModel)
#define	CAMERA_MODEL_CASE(CameraModel)

Functions
bool	colmap::ExistsCameraModelWithName (const std::string &model_name)
bool	colmap::ExistsCameraModelWithId (const int model_id)
int	colmap::CameraModelNameToId (const std::string &model_name)
std::string	colmap::CameraModelIdToName (const int model_id)
std::vector< double >	colmap::CameraModelInitializeParams (const int model_id, const double focal_length, const size_t width, const size_t height)
std::string	colmap::CameraModelParamsInfo (const int model_id)
const std::vector< size_t > &	colmap::CameraModelFocalLengthIdxs (const int model_id)
const std::vector< size_t > &	colmap::CameraModelPrincipalPointIdxs (const int model_id)
const std::vector< size_t > &	colmap::CameraModelExtraParamsIdxs (const int model_id)
size_t	colmap::CameraModelNumParams (const int model_id)
bool	colmap::CameraModelVerifyParams (const int model_id, const std::vector< double > &params)
bool	colmap::CameraModelHasBogusParams (const int model_id, const std::vector< double > &params, const size_t width, const size_t height, const double min_focal_length_ratio, const double max_focal_length_ratio, const double max_extra_param)
void	colmap::CameraModelWorldToImage (const int model_id, const std::vector< double > &params, const double u, const double v, double *x, double *y)
void	colmap::CameraModelImageToWorld (const int model_id, const std::vector< double > &params, const double x, const double y, double *u, double *v)
double	colmap::CameraModelImageToWorldThreshold (const int model_id, const std::vector< double > &params, const double threshold)

Variables
static const int	colmap::kInvalidCameraModelId = -1

Macro Definition Documentation

CAMERA_MODEL_CASE [1/3]

#define CAMERA_MODEL_CASE

(

CameraModel

)

Value:

    case CameraModel::kModelId:                               \
        CameraModel::WorldToImage(params.data(), u, v, x, y); \
        break;

CAMERA_MODEL_CASE [2/3]

#define CAMERA_MODEL_CASE

(

CameraModel

)

Value:

    case CameraModel::kModelId:                               \
        CameraModel::ImageToWorld(params.data(), x, y, u, v); \
        break;

CAMERA_MODEL_CASE [3/3]

#define CAMERA_MODEL_CASE

(

CameraModel

)

Value:

    case CameraModel::kModelId:                                              \
        return CameraModel::ImageToWorldThreshold(params.data(), threshold); \
        break;

CAMERA_MODEL_CASES

#define CAMERA_MODEL_CASES

Value:

    CAMERA_MODEL_CASE(SimplePinholeCameraModel)       \
    CAMERA_MODEL_CASE(PinholeCameraModel)             \
    CAMERA_MODEL_CASE(SimpleRadialCameraModel)        \
    CAMERA_MODEL_CASE(SimpleRadialFisheyeCameraModel) \
    CAMERA_MODEL_CASE(RadialCameraModel)              \
    CAMERA_MODEL_CASE(RadialFisheyeCameraModel)       \
    CAMERA_MODEL_CASE(OpenCVCameraModel)              \
    CAMERA_MODEL_CASE(OpenCVFisheyeCameraModel)       \
    CAMERA_MODEL_CASE(FullOpenCVCameraModel)          \
    CAMERA_MODEL_CASE(FOVCameraModel)                 \
    CAMERA_MODEL_CASE(ThinPrismFisheyeCameraModel)

Definition at line 95 of file camera_models.h.

CAMERA_MODEL_DEFINITIONS

#define CAMERA_MODEL_DEFINITIONS	(		model_id_value,
			model_name_value,
			num_params_value
	)

Definition at line 58 of file camera_models.h.

CAMERA_MODEL_DOES_NOT_EXIST_EXCEPTION

#define CAMERA_MODEL_DOES_NOT_EXIST_EXCEPTION    throw std::domain_error("Camera model does not exist");

Definition at line 117 of file camera_models.h.

CAMERA_MODEL_SWITCH_CASES

#define CAMERA_MODEL_SWITCH_CASES

Value:

    CAMERA_MODEL_CASES                        \
    default:                                  \
        CAMERA_MODEL_DOES_NOT_EXIST_EXCEPTION \
        break;

Definition at line 110 of file camera_models.h.