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<div class="title">camera_rig.h</div> </div>
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<a href="camera__rig_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (c) 2011, Hauke Strasdat</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Copyright (c) 2012, Steven Lovegrove</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Copyright (c) 2021, farm-ng, inc.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Use of this source code is governed by an MIT-style</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// license that can be found in the LICENSE file or at</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// https://opensource.org/licenses/MIT.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="se3_8h.html">sophus/lie/se3.h</a>"</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="camera__model_8h.html">sophus/sensor/camera_model.h</a>"</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">namespace </span><a class="code" href="namespacesophus.html">sophus</a> {</div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"></span> </div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">/// Camera attached to a rigid body. We call the frame of the rigid body "rig".</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="structsophus_1_1_rigid_camera.html"> 17</a></span> <span class="comment"></span><span class="keyword">struct </span><a class="code" href="structsophus_1_1_rigid_camera.html">RigidCamera</a> {<span class="comment"></span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> /// Camera intrinsics</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structsophus_1_1_rigid_camera.html#aa0f1ae3df11bd8625c26d26c467c9e50"> 19</a></span> <span class="comment"></span> <a class="code" href="classsophus_1_1_camera_model.html">CameraModel</a> <a class="code" href="structsophus_1_1_rigid_camera.html#aa0f1ae3df11bd8625c26d26c467c9e50">intrinsics</a>;</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"></span> </div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> /// Camera extrinsics</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structsophus_1_1_rigid_camera.html#a5bb6d81ee86517f17aac93bc98ba63c2"> 22</a></span> <span class="comment"></span> <a class="code" href="classsophus_1_1_isometry3.html">sophus::SE3d</a> <a class="code" href="structsophus_1_1_rigid_camera.html#a5bb6d81ee86517f17aac93bc98ba63c2">rig_from_camera</a>;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> };</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="namespacesophus.html#af0c870587878597a4d0e419a6caab900"> 25</a></span> <span class="keyword">using</span> <a class="code" href="namespacesophus.html#af0c870587878597a4d0e419a6caab900">MultiCameraRig</a> = std::vector<RigidCamera>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> } <span class="comment">// namespace sophus</span></div>
<div class="ttc" id="acamera__model_8h_html"><div class="ttname"><a href="camera__model_8h.html">camera_model.h</a></div></div>
<div class="ttc" id="aclasssophus_1_1_camera_model_html"><div class="ttname"><a href="classsophus_1_1_camera_model.html">sophus::CameraModel</a></div><div class="ttdoc">Concrete camera model class.</div><div class="ttdef"><b>Definition:</b> camera_model.h:351</div></div>
<div class="ttc" id="aclasssophus_1_1_isometry3_html"><div class="ttname"><a href="classsophus_1_1_isometry3.html">sophus::Isometry3< double ></a></div></div>
<div class="ttc" id="anamespacesophus_html"><div class="ttname"><a href="namespacesophus.html">sophus</a></div><div class="ttdoc">Image MutImage, owning images types.</div><div class="ttdef"><b>Definition:</b> num_diff.h:20</div></div>
<div class="ttc" id="anamespacesophus_html_af0c870587878597a4d0e419a6caab900"><div class="ttname"><a href="namespacesophus.html#af0c870587878597a4d0e419a6caab900">sophus::MultiCameraRig</a></div><div class="ttdeci">std::vector< RigidCamera > MultiCameraRig</div><div class="ttdef"><b>Definition:</b> camera_rig.h:25</div></div>
<div class="ttc" id="ase3_8h_html"><div class="ttname"><a href="se3_8h.html">se3.h</a></div></div>
<div class="ttc" id="astructsophus_1_1_rigid_camera_html"><div class="ttname"><a href="structsophus_1_1_rigid_camera.html">sophus::RigidCamera</a></div><div class="ttdoc">Camera attached to a rigid body. We call the frame of the rigid body "rig".</div><div class="ttdef"><b>Definition:</b> camera_rig.h:17</div></div>
<div class="ttc" id="astructsophus_1_1_rigid_camera_html_a5bb6d81ee86517f17aac93bc98ba63c2"><div class="ttname"><a href="structsophus_1_1_rigid_camera.html#a5bb6d81ee86517f17aac93bc98ba63c2">sophus::RigidCamera::rig_from_camera</a></div><div class="ttdeci">sophus::SE3d rig_from_camera</div><div class="ttdoc">Camera extrinsics.</div><div class="ttdef"><b>Definition:</b> camera_rig.h:22</div></div>
<div class="ttc" id="astructsophus_1_1_rigid_camera_html_aa0f1ae3df11bd8625c26d26c467c9e50"><div class="ttname"><a href="structsophus_1_1_rigid_camera.html#aa0f1ae3df11bd8625c26d26c467c9e50">sophus::RigidCamera::intrinsics</a></div><div class="ttdeci">CameraModel intrinsics</div><div class="ttdoc">Camera intrinsics.</div><div class="ttdef"><b>Definition:</b> camera_rig.h:19</div></div>
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