Class NCamera¶
Defined in File ncamera.h
Inheritance Relationships¶
Base Type¶
public aslam::Sensor
(Class Sensor)
Class Documentation¶
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class
aslam
::
NCamera
: public aslam::Sensor¶ -
Public Functions
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NCamera
()¶ Default constructor builds an empty camera rig.
initialize from a list of transformations and a list of cameras
The two lists must be parallel arrays (same size). The transformation at T_C_B[i] corresponds to the camera at cameras[i].
- Parameters
id
: unique id for this camera rigT_C_B
: a list of transformations that take points from B to Cicameras
: a list camerasdescription
: a human-readable description of this camera rig
initialize from a list of transformations and a list of cameras
The two lists must be parallel arrays (same size). The transformation at T_C_B[i] corresponds to the camera at cameras[i].
- Parameters
id
: unique id for this camera rigT_C_B
: a list of transformations that take points from B to CiT_G_B_fixed_localization_covariance
: a fixed covariance used for result of visual localizations of a vertex.cameras
: a list camerasdescription
: a human-readable description of this camera rig
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NCamera
(const sm::PropertyTree &propertyTree)¶ Initialize from a property tree.
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virtual
~NCamera
() = default¶
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inline virtual uint8_t
getSensorType
() const override¶ Get sensor type as an integer or as a string.
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inline virtual std::string
getSensorTypeString
() const override¶
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size_t
getNumCameras
() const¶ Get the number of cameras.
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const Transformation &
get_T_C_B
(size_t camera_index) const¶ Get the pose of body frame with respect to the camera i.
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Transformation &
get_T_C_B_Mutable
(size_t camera_index)¶ Get the pose of body frame with respect to the camera i.
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const Transformation &
get_T_C_B
(const CameraId &camera_id) const¶ Get the pose of body frame with respect to the camera with a camera id.
The method will assert that the camera is not in the rig!
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Transformation &
get_T_C_B_Mutable
(const CameraId &camera_id)¶ Get the pose of body frame with respect to the camera with a camera id.
The method will assert that the camera is not in the rig!
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void
set_T_C_B
(size_t camera_index, const Transformation &T_Ci_B)¶ Set the pose of body frame with respect to the camera i.
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const TransformationVector &
getTransformationVector
() const¶ Get all transformations.
Get the geometry object for camera i.
Get the geometry object for camera i.
Get the geometry object for camera i.
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size_t
numCameras
() const¶ How many cameras does this system have?
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bool
has_T_G_B_fixed_localization_covariance
() const¶ Whether the covariance matrix for visual localization has been set.
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bool
get_T_G_B_fixed_localization_covariance
(aslam::TransformationCovariance *covariance) const¶
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void
set_T_G_B_fixed_localization_covariance
(const aslam::TransformationCovariance &covariance)¶
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