# EICAM
**Repository Path**: KNLc/EICAM
## Basic Information
- **Project Name**: EICAM
- **Description**: The EICAM is the a part of PIL library, which includes some pretty useful tools for C++ programing espesially in the areas of moblile robotics and CV (computer vision). Since cameras projection and unprojection actions are often needed in CV or other area such as Robot localization like SLAM (simultaneous localization and mapping), we provided EICAM for efficient implimentation of different camera models including PinHole, ATAN, OpenCV, OCAM .etc.
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 0
- **Forks**: 1
- **Created**: 2019-10-17
- **Last Updated**: 2020-12-19
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## README
#The EICAM library
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##1. Introduction
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The EICAM is the a part of [PIL](https://github.com/zdzhaoyong/PIL) library, which includes some pretty useful tools for C++ programing espesially in the areas of moblile robotics and CV (computer vision). Since cameras projection and unprojection actions are often needed in CV or other area such as Robot localization like SLAM (simultaneous localization and mapping), we provided EICAM for efficient implimentation of different camera models including PinHole, ATAN, OpenCV, OCAM .etc.
This documentation will briefly introduce the usage of the library and focus on the camera models introduction.
##2. Resources and Compilation
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###2.1. Resources
* Download the latest code with:
* Git:
git clone https://github.com/zdzhaoyong/EICAM
* Also you can download the whole PIL library:
* Git:
git clone https://github.com/zdzhaoyong/PIL
###2.2. Compilation
As we develop the whole project on Linux, only compilation *Makefile* for linux is provided. But since only *pthread* dependency is required (acqually no dependency for linux), it can be easily transplanted on Windows, Mac or other embedded systems.
> Warnning: Sophus and vikit_common with Eigen is needed for comparison and they are integraded in the Thirdparty folder. The Svar class is used for parameters configuration and the detail introduction of it can be found at [PI_Base](http://zhaoyong.adv-ci.com/pibase/).
If you are using linux systems, it can be compiled with one command:
cd EICAM;make
We highly recommand users to compile it with *c++11* standard as some fuctions in *std::tr1* should be used.
##3. Usage and demos
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###3.1. Run the demo
After compilation, the application will be listed in folder *bin*, but since it does not hold the data, we highly recommand you to run the demo at the application folder.
Run the demo CameraTest:
`cd apps/CameraTest`
`make run`
In this demo, we compare different camera models and their implimentations in both accuracy and efficiency, in which the EICAM obtains the best performence and keeps very easy to use.
###3.2. Usage demo
Just given the name or file, a camera can be created and all the cameras shares the two important functions:
```cpp
// file Cameras.h
class Camera
{
public:
...
// Project a point from the world to image
Point2d Project(const Point3d& p3d);
// Un-project a point from the image to the world
Point3d UnProject(const Point2d& p2d);
...
};
```
Simple usage demo:
```cpp
// file CameraDemo.cpp
#include
#include
int main(int argc, char** argv)
{
// Parse the configuration
svar.ParseMain(argc,argv);
// Create a camera from name
Camera camera(svar.GetString("Camera.Name","DefaultCamera"));
std::cout<<"Loaded camera:"<