apollo::perception::base::PinholeCameraModel类 参考

#include <camera.h>

类 apollo::perception::base::PinholeCameraModel 继承关系图:

apollo::perception::base::PinholeCameraModel 的协作图:

Public 成员函数
	~PinholeCameraModel ()=default
Eigen::Vector2f	Project (const Eigen::Vector3f &point3d) override
Eigen::Vector3f	UnProject (const Eigen::Vector2f &point2d) override
std::string	name () const override
void	set_intrinsic_params (const Eigen::Matrix3f &params)
Eigen::Matrix3f	get_intrinsic_params () const
Public 成员函数 继承自 apollo::perception::base::BaseCameraModel
virtual	~BaseCameraModel ()=default
void	set_width (size_t width)
void	set_height (size_t height)
size_t	get_width () const
size_t	get_height () const

Protected 属性
Eigen::Matrix3f	intrinsic_params_
Protected 属性 继承自 apollo::perception::base::BaseCameraModel
size_t	image_width_ = 0
size_t	image_height_ = 0

详细描述

在文件 camera.h 第 47 行定义.

构造及析构函数说明

~PinholeCameraModel()

apollo::perception::base::PinholeCameraModel::~PinholeCameraModel ( )

default

成员函数说明

get_intrinsic_params()

Eigen::Matrix3f apollo::perception::base::PinholeCameraModel::get_intrinsic_params ( ) const

inline

在文件 camera.h 第 62 行定义.

                                                    {
    return intrinsic_params_;
  }

name()

std::string apollo::perception::base::PinholeCameraModel::name ( ) const

inlineoverridevirtual

实现了 apollo::perception::base::BaseCameraModel.

在文件 camera.h 第 56 行定义.

{ return "PinholeCameraModel"; }

Project()

Eigen::Vector2f apollo::perception::base::PinholeCameraModel::Project ( const Eigen::Vector3f &  point3d )

overridevirtual

实现了 apollo::perception::base::BaseCameraModel.

在文件 camera.cc 第 23 行定义.

                                                                      {
  Eigen::Vector2f pt2d;
 
  pt2d(0) = point3d(0) / point3d(2) * intrinsic_params_(0, 0) +
            intrinsic_params_(0, 2);
  pt2d(1) = point3d(1) / point3d(2) * intrinsic_params_(1, 1) +
            intrinsic_params_(1, 2);
 
  return pt2d;
}

set_intrinsic_params()

void apollo::perception::base::PinholeCameraModel::set_intrinsic_params ( const Eigen::Matrix3f &  params )

inline

在文件 camera.h 第 58 行定义.

                                                                {
    intrinsic_params_ = params;
  }

UnProject()

Eigen::Vector3f apollo::perception::base::PinholeCameraModel::UnProject ( const Eigen::Vector2f &  point2d )

overridevirtual

实现了 apollo::perception::base::BaseCameraModel.

在文件 camera.cc 第 34 行定义.

                                                                        {
  Eigen::Vector3f pt3d;
  pt3d(0) = (point2d(0) - intrinsic_params_(0, 2)) / intrinsic_params_(0, 0);
  pt3d(1) = (point2d(1) - intrinsic_params_(1, 2)) / intrinsic_params_(1, 1);
  pt3d(2) = 1.0f;
 
  return pt3d;
}

类成员变量说明

intrinsic_params_

Eigen::Matrix3f apollo::perception::base::PinholeCameraModel::intrinsic_params_

protected

在文件 camera.h 第 71 行定义.

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该类的文档由以下文件生成:

• modules/perception/common/base/camera.h
• modules/perception/common/base/camera.cc