Function aslam::createCamera(aslam::CameraId, const Eigen::VectorXd&, uint32_t, uint32_t, const Eigen::VectorXd&, Camera::Type, Distortion::Type)

Function Documentation

Camera::Ptr aslam::createCamera(aslam::CameraId id, const Eigen::VectorXd &intrinsics, uint32_t image_width, uint32_t image_height, const Eigen::VectorXd &distortion_parameters, Camera::Type camera_type, Distortion::Type distortion_type)

A factory function to create a derived class camera.

This function takes vectors of intrinsics and distortion parameters and creates a camera.

Return

A new camera based on the provided arguments.

Parameters

  • [in] id: Id of the camera.

  • [in] intrinsics: A vector of projection intrinsic parameters.

  • [in] image_width: Image width in pixels.

  • [in] image_height: Image height in pixels.

  • [in] distortion_parameters: The parameters of the distortion object.

  • [in] camera_type: The camera model.

  • [in] distortion_type: The distortion model.