M-File Help: FishEyeCamera View code for FishEyeCamera

FishEyeCamera

Fish eye camera class

A concrete class a fisheye lense projection camera.

The camera coordinate system is:

0------------> u, X
|
|
|   + (principal point)
|
|   Z-axis is into the page.
v, Y

This camera model assumes central projection, that is, the focal point is at z=0 and the image plane is at z=f. The image is not inverted.

Methods

project project world points to image plane
plot plot/return world point on image plane
hold control hold for image plane
ishold test figure hold for image plane
clf clear image plane
figure figure holding the image plane
mesh draw shape represented as a mesh
point draw homogeneous points on image plane
line draw homogeneous lines on image plane
plot_camera draw camera
rpy set camera attitude
move copy of Camera after motion
centre get world coordinate of camera centre
delete object destructor
char convert camera parameters to string
display display camera parameters

Properties (read/write)

npix image dimensions in pixels (2x1)
pp intrinsic: principal point (2x1)
f intrinsic: focal length [metres]
rho intrinsic: pixel dimensions (2x1) [metres]
T extrinsic: camera pose as homogeneous transformation

Properties (read only)

nu number of pixels in u-direction
nv number of pixels in v-direction

Notes

See also

Camera


FishEyeCamera.FishEyeCamera

Create fisheyecamera object

C = FishEyeCamera() creates a fisheye camera with canonic parameters: f=1 and name='canonic'.

C = FishEyeCamera(options) as above but with specified parameters.

Options

'name', N Name of camera
'default' Default camera parameters: 1024x1024, f=8mm, 10um pixels, camera at origin, optical axis is z-axis, u- and v-axes are parallel to x- and y- axes respectively.
'projection', M Fisheye model: 'equiangular' (default), 'sine', 'equisolid', 'stereographic'
'k', K Parameter for the projection model
'resolution', N Image plane resolution: NxN or N=[W H].
'sensor', S Image sensor size [metres] (2x1)
'centre', P Principal point (2x1)
'pixel', S Pixel size: SxS or S=[W H].
'noise', SIGMA Standard deviation of additive Gaussian noise added to returned image projections
'pose', T Pose of the camera as a homogeneous transformation

Notes

See also

Camera, CentralCamera, CatadioptricCamera, SphericalCamera


FishEyeCamera.project

Project world points to image plane

uv = C.project(p, options) are the image plane coordinates for the world points p. The columns of p (3xN) are the world points and the columns of uv (2xN) are the corresponding image plane points.

Options

'Tobj', T Transform all points by the homogeneous transformation T before projecting them to the camera image plane.
'Tcam', T Set the camera pose to the homogeneous transformation T before projecting points to the camera image plane. Temporarily overrides the current camera pose C.T.

See also

FishEyeCamera.plot


 

© 1990-2012 Peter Corke.