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.

Parameters
  • id[in] Id of the camera.

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

  • image_width[in] Image width in pixels.

  • image_height[in] Image height in pixels.

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

  • camera_type[in] The camera model.

  • distortion_type[in] The distortion model.

Returns

A new camera based on the provided arguments.