A class that assembles multiple cameras into a system of (potentially different) cameras. More...

#include <NCameraSystem.hpp>

Public Types
enum	DistortionType { Equidistant = 0, RadialTangential = 1, NoDistortion = 2, RadialTangential8 = 3 }
	The enumeration of the currently supported distortion types. More...

Public Member Functions
	NCameraSystem ()
	Default constructor. More...

	NCameraSystem (const std::vector< std::shared_ptr< const okvis::kinematics::Transformation >> &T_SC, const std::vector< std::shared_ptr< const cameras::CameraBase >> &cameraGeometries, const std::vector< DistortionType > &distortionTypes, bool computeOverlaps)
	Construct with vector of extrinsics and geometries. More...

virtual	~NCameraSystem ()
	Destructor that doesn't do anything really. More...

void	reset (const std::vector< std::shared_ptr< const okvis::kinematics::Transformation >> &T_SC, const std::vector< std::shared_ptr< const cameras::CameraBase >> &cameraGeometries, const std::vector< DistortionType > &distortionTypes, bool computeOverlaps)
	Reset with vector of extrinsics and geometries. More...

void	addCamera (std::shared_ptr< const okvis::kinematics::Transformation > T_SC, std::shared_ptr< const cameras::CameraBase > cameraGeometry, DistortionType distortionType, bool computeOverlaps=true)
	Append with a single camera. More...

size_t	numCameras () const
	Obtatin the number of cameras currently added. More...

void	computeOverlaps ()
	compute all the overlaps of fields of view. Attention: can be expensive. More...

std::shared_ptr< const okvis::kinematics::Transformation >	T_SC (size_t cameraIndex) const
	get the pose of the IMU frame S with respect to the camera cameraIndex More...

std::shared_ptr< const cameras::CameraBase >	cameraGeometry (size_t cameraIndex) const
	get the camera geometry of camera cameraIndex More...

DistortionType	distortionType (size_t cameraIndex) const
	get the distortion type of the camera More...

const cv::Mat	overlap (size_t cameraIndexSeenBy, size_t cameraIndex) const
	Get the overlap mask. Sorry for the weird syntax, but remember that cv::Mat is essentially a shared pointer. More...

bool	hasOverlap (size_t cameraIndexSeenBy, size_t cameraIndex) const
	Can the first camera see parts of the FOV of the second camera? More...

Protected Member Functions
bool	overlapComputationValid () const
	Use this to check overlapMats_ and overlaps_ have correct sizes. More...

Protected Attributes
std::vector< std::shared_ptr < const okvis::kinematics::Transformation > >	T_SC_
	Mounting transformations from IMU. More...

std::vector< std::shared_ptr < const cameras::CameraBase > >	cameraGeometries_
	Camera geometries. More...

std::vector< DistortionType >	distortionTypes_

std::vector< std::vector < cv::Mat > >	overlapMats_
	Overlaps between cameras: mats. More...

std::vector< std::vector< bool > >	overlaps_
	Overlaps between cameras: binary. More...

Detailed Description

A class that assembles multiple cameras into a system of (potentially different) cameras.

Member Enumeration Documentation

enum okvis::cameras::NCameraSystem::DistortionType

The enumeration of the currently supported distortion types.

Enumerator
Equidistant	Use with okvis::cameras::EquidistantDistortion.
RadialTangential	Use with okvis::cameras::RadialTangentialDistortion.
NoDistortion
RadialTangential8	Use with okvis::cameras::RadialTangentialDistortion.

Constructor & Destructor Documentation

okvis::cameras::NCameraSystem::NCameraSystem ( )

inline

Default constructor.

okvis::cameras::NCameraSystem::NCameraSystem	(	const std::vector< std::shared_ptr< const okvis::kinematics::Transformation >> &	T_SC,
		const std::vector< std::shared_ptr< const cameras::CameraBase >> &	cameraGeometries,
		const std::vector< DistortionType > &	distortionTypes,
		bool	computeOverlaps
	)

inline

Construct with vector of extrinsics and geometries.

Parameters

[in]	T_SC	a vector of extrinsics.
[in]	cameraGeometries	a vector of camera geometries (same length as T_SC).
[in]	distortionTypes	a vector of distortion types (same length as T_SC).
[in]	computeOverlaps	Indicate, if the overlap computation (can take a while) should be performed.

okvis::cameras::NCameraSystem::~NCameraSystem ( )

inlinevirtual

Destructor that doesn't do anything really.

Member Function Documentation

void okvis::cameras::NCameraSystem::addCamera	(	std::shared_ptr< const okvis::kinematics::Transformation >	T_SC,
		std::shared_ptr< const cameras::CameraBase >	cameraGeometry,
		DistortionType	distortionType,
		bool	computeOverlaps = `true`
	)

inline

Append with a single camera.

Parameters

[in]	T_SC	extrinsics.
[in]	cameraGeometry	Camera geometry.
[in]	distortionType	Distortion type.
[in]	computeOverlaps	Indicate, if the overlap computation (can take a while) should be performed.

std::shared_ptr< const cameras::CameraBase > okvis::cameras::NCameraSystem::cameraGeometry ( size_t cameraIndex ) const

inline

get the camera geometry of camera cameraIndex

Parameters

[in] cameraIndex The camera index for which the camera geometry should be returned.

Returns: The camera geometry.

void okvis::cameras::NCameraSystem::computeOverlaps ( )

compute all the overlaps of fields of view. Attention: can be expensive.

NCameraSystem::DistortionType okvis::cameras::NCameraSystem::distortionType ( size_t cameraIndex ) const

inline

get the distortion type of the camera

Parameters

[in] cameraIndex The camera index for which the distortion type should be returned.

Returns: The distortion type

bool okvis::cameras::NCameraSystem::hasOverlap	(	size_t	cameraIndexSeenBy,
		size_t	cameraIndex
	)		const

inline

Can the first camera see parts of the FOV of the second camera?

Parameters

[in]	cameraIndexSeenBy	The camera index for one camera.
[in]	cameraIndex	The camera index for the other camera.

Returns: True, if there is at least one pixel of overlap.

size_t okvis::cameras::NCameraSystem::numCameras ( ) const

inline

Obtatin the number of cameras currently added.

Returns: The number of cameras.

const cv::Mat okvis::cameras::NCameraSystem::overlap	(	size_t	cameraIndexSeenBy,
		size_t	cameraIndex
	)		const

inline

Get the overlap mask. Sorry for the weird syntax, but remember that cv::Mat is essentially a shared pointer.

Parameters

[in]	cameraIndexSeenBy	The camera index for one camera.
[in]	cameraIndex	The camera index for the other camera.

Returns: The overlap mask image.

bool okvis::cameras::NCameraSystem::overlapComputationValid ( ) const

inlineprotected

Use this to check overlapMats_ and overlaps_ have correct sizes.

Returns: True, if valid.

void okvis::cameras::NCameraSystem::reset	(	const std::vector< std::shared_ptr< const okvis::kinematics::Transformation >> &	T_SC,
		const std::vector< std::shared_ptr< const cameras::CameraBase >> &	cameraGeometries,
		const std::vector< DistortionType > &	distortionTypes,
		bool	computeOverlaps
	)

inline

Reset with vector of extrinsics and geometries.

Parameters

[in]	T_SC	a vector of extrinsics.
[in]	cameraGeometries	a vector of camera geometries (same length as T_SC).
[in]	distortionTypes	a vector of distortion types (same length as T_SC).
[in]	computeOverlaps	Indicate, if the overlap computation (can take a while) should be performed.

std::shared_ptr< const okvis::kinematics::Transformation > okvis::cameras::NCameraSystem::T_SC ( size_t cameraIndex ) const

inline

get the pose of the IMU frame S with respect to the camera cameraIndex

Parameters

[in] cameraIndex The camera index for which the extrinsics should be returned.

Returns: T_SC, the extrinsics.

Member Data Documentation

std::vector<std::shared_ptr<const cameras::CameraBase> > okvis::cameras::NCameraSystem::cameraGeometries_

protected

Camera geometries.

std::vector<DistortionType> okvis::cameras::NCameraSystem::distortionTypes_

protected

std::vector<std::vector<cv::Mat> > okvis::cameras::NCameraSystem::overlapMats_

protected

Overlaps between cameras: mats.

std::vector<std::vector<bool> > okvis::cameras::NCameraSystem::overlaps_

protected

Overlaps between cameras: binary.

std::vector<std::shared_ptr<const okvis::kinematics::Transformation> > okvis::cameras::NCameraSystem::T_SC_

protected

Mounting transformations from IMU.

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

okvis_cv/include/okvis/cameras/NCameraSystem.hpp
okvis_cv/src/NCameraSystem.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation