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.
| 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 |
| 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 |
| nu | number of pixels in u-direction |
| nv | number of pixels in v-direction |
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.
| '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 |
Camera, CentralCamera, CatadioptricCamera, SphericalCamera
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.
| '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. |
Machine Vision Toolbox for MATLAB © 1990-2014 Peter Corke.