44 #ifndef __ATAN_CAMERA_H
45 #define __ATAN_CAMERA_H
56 class CameraCalibrator;
89 inline bool Invalid() {
return mbInvalid;}
98 Matrix<4> MakeUFBLinearFrustumMatrix(
double near,
double far);
112 void DisableRadialDistortion();
145 if(r < 0.001 || mdW == 0.0)
148 return (mdWinv* atan(r * md2Tan) / r);
156 return(tan(r * mdW) * mdOneOver2Tan);
161 friend class CameraCalibrator;
162 friend class CalibImage;
169 v2Res[0] = camframe[0] * mvUFBLinearFocal[0] + mvUFBLinearCenter[0];
170 v2Res[1] = camframe[1] * mvUFBLinearFocal[1] + mvUFBLinearCenter[1];
177 v2Res[0] = (fbframe[0] - mvUFBLinearCenter[0]) * mvUFBLinearInvFocal[0];
178 v2Res[1] = (fbframe[1] - mvUFBLinearCenter[1]) * mvUFBLinearInvFocal[1];
double mdDistortionEnabled
void SetImageSize(CVD::ImageRef irImageSize)
Vector< 2 > UFBLinearUnProject(const Vector< 2 > &fbframe)
TooN::Vector< 2 > vec(const ImageRef &ir)
Everything lives inside this namespace.
double invrtrans(double r)
Vector< 2 > GetImageSize()
Vector< 2 > mvLastDistCam
Vector< 2 > mvUFBLinearFocal
Vector< 2 > Project(CVD::ImageRef ir)
static const Vector< NUMTRACKERCAMPARAMETERS > mvDefaultParams
ImageRef ir(const TooN::Vector< 2 > &v)
Vector< 2 > mvUFBLinearCenter
double rtrans_factor(double r)
Vector< NUMTRACKERCAMPARAMETERS > mgvvCameraParams
Vector< 2 > UFBLinearProject(const Vector< 2 > &camframe)
double LargestRadiusInImage()
double PixelAspectRatio()
Vector< 2 > UnProject(CVD::ImageRef ir)
Vector< 2 > mvUFBLinearInvFocal