Base class for all camera models. More...

#include <CameraBase.hpp>

Inheritance diagram for okvis::cameras::CameraBase:

Public Types
enum	ProjectionStatus { ProjectionStatus::Successful, ProjectionStatus::OutsideImage, ProjectionStatus::Masked, ProjectionStatus::Behind, ProjectionStatus::Invalid }

Public Member Functions
	CameraBase ()
	default Constructor – does nothing serious More...

	CameraBase (int imageWidth, int imageHeight, uint64_t id=0)
	Constructor for width, height and Id. More...

virtual	~CameraBase ()
	Destructor – does nothing. More...

uint32_t	imageWidth () const
	The width of the image in pixels. More...

uint32_t	imageHeight () const
	The height of the image in pixels. More...

virtual void	getIntrinsics (Eigen::VectorXd &intrinsics) const =0
	obtain all intrinsics More...

virtual bool	setIntrinsics (const Eigen::VectorXd &intrinsics)=0
	overwrite all intrinsics - use with caution ! More...

virtual int	noIntrinsicsParameters () const =0
	Obtain the number of intrinsics parameters. More...

virtual std::string	type () const =0
	Obtain the type. More...

virtual const std::string	distortionType () const =0
	Obtain the projection type. More...

Methods related to masking a certain image area as invalid.
bool	setMask (const cv::Mat &mask)
	Set the mask. It must be the same size as the image and comply with OpenCV: 0 == masked, nonzero == valid. Type must be CV_8U1C. More...

bool	hasMask () const
	Was a nonzero mask set? More...

bool	removeMask ()
	stop masking More...

const cv::Mat &	mask () const
	Get the mask. More...

Methods related Ids of this camera.
void	setId (uint64_t id)
	Set an Id. More...

uint64_t	id () const
	Obtain the Id. More...

Methods to project points
virtual ProjectionStatus	project (const Eigen::Vector3d &point, Eigen::Vector2d *imagePoint) const =0
	Projects a Euclidean point to a 2d image point (projection). Uses projection including distortion models. More...

virtual ProjectionStatus	project (const Eigen::Vector3d &point, Eigen::Vector2d imagePoint, Eigen::Matrix< double, 2, 3 > pointJacobian, Eigen::Matrix2Xd *intrinsicsJacobian=NULL) const =0
	Projects a Euclidean point to a 2d image point (projection). Uses projection including distortion models. More...

virtual ProjectionStatus	projectWithExternalParameters (const Eigen::Vector3d &point, const Eigen::VectorXd &parameters, Eigen::Vector2d imagePoint, Eigen::Matrix< double, 2, 3 > pointJacobian=NULL, Eigen::Matrix2Xd *intrinsicsJacobian=NULL) const =0
	Projects a Euclidean point to a 2d image point (projection). Uses projection including distortion models. More...

virtual void	projectBatch (const Eigen::Matrix3Xd &points, Eigen::Matrix2Xd imagePoints, std::vector< ProjectionStatus > stati) const =0
	Projects Euclidean points to 2d image points (projection) in a batch. Uses projection including distortion models. More...

virtual ProjectionStatus	projectHomogeneous (const Eigen::Vector4d &point, Eigen::Vector2d *imagePoint) const =0
	Projects a point in homogenous coordinates to a 2d image point (projection). Uses projection including distortion models. More...

virtual ProjectionStatus	projectHomogeneous (const Eigen::Vector4d &point, Eigen::Vector2d imagePoint, Eigen::Matrix< double, 2, 4 > pointJacobian, Eigen::Matrix2Xd *intrinsicsJacobian=NULL) const =0
	Projects a point in homogenous coordinates to a 2d image point (projection). Uses projection including distortion models. More...

virtual ProjectionStatus	projectHomogeneousWithExternalParameters (const Eigen::Vector4d &point, const Eigen::VectorXd &parameters, Eigen::Vector2d imagePoint, Eigen::Matrix< double, 2, 4 > pointJacobian=NULL, Eigen::Matrix2Xd *intrinsicsJacobian=NULL) const =0
	Projects a point in homogenous coordinates to a 2d image point (projection). Uses projection including distortion models. More...

virtual void	projectHomogeneousBatch (const Eigen::Matrix4Xd &points, Eigen::Matrix2Xd imagePoints, std::vector< ProjectionStatus > stati) const =0
	Projects points in homogenous coordinates to 2d image points (projection) in a batch. Uses projection including distortion models. More...

Methods to backproject points
virtual bool	backProject (const Eigen::Vector2d &imagePoint, Eigen::Vector3d *direction) const =0
	Back-project a 2d image point into Euclidean space (direction vector). More...

virtual bool	backProject (const Eigen::Vector2d &imagePoint, Eigen::Vector3d direction, Eigen::Matrix< double, 3, 2 > pointJacobian) const =0
	Back-project a 2d image point into Euclidean space (direction vector). More...

virtual bool	backProjectBatch (const Eigen::Matrix2Xd &imagePoints, Eigen::Matrix3Xd directions, std::vector< bool > success) const =0
	Back-project 2d image points into Euclidean space (direction vectors). More...

virtual bool	backProjectHomogeneous (const Eigen::Vector2d &imagePoint, Eigen::Vector4d *direction) const =0
	Back-project a 2d image point into homogeneous point (direction vector). More...

virtual bool	backProjectHomogeneous (const Eigen::Vector2d &imagePoint, Eigen::Vector4d direction, Eigen::Matrix< double, 4, 2 > pointJacobian) const =0
	Back-project a 2d image point into homogeneous point (direction vector). More...

virtual bool	backProjectHomogeneousBatch (const Eigen::Matrix2Xd &imagePoints, Eigen::Matrix4Xd directions, std::vector< bool > success) const =0
	Back-project 2d image points into homogeneous points (direction vectors). More...

Methods to facilitate unit testing
virtual Eigen::Vector2d	createRandomImagePoint () const
	Creates a random (uniform distribution) image point. More...

virtual Eigen::Vector3d	createRandomVisiblePoint (double minDist=0.0, double maxDist=10.0) const
	Creates a random visible point in Euclidean coordinates. More...

virtual Eigen::Vector4d	createRandomVisibleHomogeneousPoint (double minDist=0.0, double maxDist=10.0) const
	Creates a random visible point in homogeneous coordinates. More...

Protected Member Functions
bool	isMasked (const Eigen::Vector2d &imagePoint) const
	Check if the keypoint is masked. More...

bool	isInImage (const Eigen::Vector2d &imagePoint) const
	Check if the keypoint is in the image. More...

Protected Attributes
cv::Mat	mask_
	The mask – empty by default. More...

int	imageWidth_
	image width in pixels More...

int	imageHeight_
	image height in pixels More...

uint64_t	id_
	an Id More...

Detailed Description

Base class for all camera models.

Member Enumeration Documentation

enum okvis::cameras::CameraBase::ProjectionStatus

strong

Enumerator
Successful
OutsideImage
Masked
Behind
Invalid

Constructor & Destructor Documentation

okvis::cameras::CameraBase::CameraBase ( )

inline

default Constructor – does nothing serious

okvis::cameras::CameraBase::CameraBase	(	int	imageWidth,
		int	imageHeight,
		uint64_t	id = `0`
	)

inline

Constructor for width, height and Id.

virtual okvis::cameras::CameraBase::~CameraBase ( )

inlinevirtual

Destructor – does nothing.

Member Function Documentation

virtual bool okvis::cameras::CameraBase::backProject	(	const Eigen::Vector2d &	imagePoint,
		Eigen::Vector3d *	direction
	)		const

pure virtual

Back-project a 2d image point into Euclidean space (direction vector).

Parameters

[in]	imagePoint	The image point.
[out]	direction	The Euclidean direction vector.

Returns: true on success.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual bool okvis::cameras::CameraBase::backProject	(	const Eigen::Vector2d &	imagePoint,
		Eigen::Vector3d *	direction,
		Eigen::Matrix< double, 3, 2 > *	pointJacobian
	)		const

pure virtual

Back-project a 2d image point into Euclidean space (direction vector).

Parameters

[in]	imagePoint	The image point.
[out]	direction	The Euclidean direction vector.
[out]	pointJacobian	Jacobian of the back-projection function w.r.t. the point.

Returns: true on success.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual bool okvis::cameras::CameraBase::backProjectBatch	(	const Eigen::Matrix2Xd &	imagePoints,
		Eigen::Matrix3Xd *	directions,
		std::vector< bool > *	success
	)		const

pure virtual

Back-project 2d image points into Euclidean space (direction vectors).

Parameters

[in]	imagePoints	The image points (one point per column).
[out]	directions	The Euclidean direction vectors (one point per column).
[out]	success	Success of each of the back-projection

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual bool okvis::cameras::CameraBase::backProjectHomogeneous	(	const Eigen::Vector2d &	imagePoint,
		Eigen::Vector4d *	direction
	)		const

pure virtual

Back-project a 2d image point into homogeneous point (direction vector).

Parameters

[in]	imagePoint	The image point.
[out]	direction	The homogeneous point as direction vector.

Returns: true on success.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual bool okvis::cameras::CameraBase::backProjectHomogeneous	(	const Eigen::Vector2d &	imagePoint,
		Eigen::Vector4d *	direction,
		Eigen::Matrix< double, 4, 2 > *	pointJacobian
	)		const

pure virtual

Back-project a 2d image point into homogeneous point (direction vector).

Parameters

[in]	imagePoint	The image point.
[out]	direction	The homogeneous point as direction vector.
[out]	pointJacobian	Jacobian of the back-projection function.

Returns: true on success.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual bool okvis::cameras::CameraBase::backProjectHomogeneousBatch	(	const Eigen::Matrix2Xd &	imagePoints,
		Eigen::Matrix4Xd *	directions,
		std::vector< bool > *	success
	)		const

pure virtual

Back-project 2d image points into homogeneous points (direction vectors).

Parameters

[in]	imagePoints	The image points (one point per column).
[out]	directions	The homogeneous points as direction vectors (one point per column).
[out]	success	Success of each of the back-projection

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

Eigen::Vector2d okvis::cameras::CameraBase::createRandomImagePoint ( ) const

virtual

Creates a random (uniform distribution) image point.

Returns: A random image point.

Eigen::Vector4d okvis::cameras::CameraBase::createRandomVisibleHomogeneousPoint	(	double	minDist = `0.0`,
		double	maxDist = `10.0`
	)		const

virtual

Creates a random visible point in homogeneous coordinates.

Parameters

[in]	minDist	The minimal distance of this point.
[in]	maxDist	The maximum distance of this point.

Returns: A random homogeneous point.

Eigen::Vector3d okvis::cameras::CameraBase::createRandomVisiblePoint	(	double	minDist = `0.0`,
		double	maxDist = `10.0`
	)		const

virtual

Creates a random visible point in Euclidean coordinates.

Parameters

[in]	minDist	The minimal distance of this point.
[in]	maxDist	The maximum distance of this point.

Returns: A random Euclidean point.

virtual const std::string okvis::cameras::CameraBase::distortionType ( ) const

pure virtual

Obtain the projection type.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual void okvis::cameras::CameraBase::getIntrinsics ( Eigen::VectorXd & intrinsics ) const

pure virtual

obtain all intrinsics

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

bool okvis::cameras::CameraBase::hasMask ( ) const

inline

Was a nonzero mask set?

uint64_t okvis::cameras::CameraBase::id ( ) const

inline

Obtain the Id.

uint32_t okvis::cameras::CameraBase::imageHeight ( ) const

inline

The height of the image in pixels.

uint32_t okvis::cameras::CameraBase::imageWidth ( ) const

inline

The width of the image in pixels.

bool okvis::cameras::CameraBase::isInImage ( const Eigen::Vector2d & imagePoint ) const

inlineprotected

Check if the keypoint is in the image.

bool okvis::cameras::CameraBase::isMasked ( const Eigen::Vector2d & imagePoint ) const

inlineprotected

Check if the keypoint is masked.

const cv::Mat & okvis::cameras::CameraBase::mask ( ) const

inline

Get the mask.

virtual int okvis::cameras::CameraBase::noIntrinsicsParameters ( ) const

pure virtual

Obtain the number of intrinsics parameters.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual ProjectionStatus okvis::cameras::CameraBase::project	(	const Eigen::Vector3d &	point,
		Eigen::Vector2d *	imagePoint
	)		const

pure virtual

Projects a Euclidean point to a 2d image point (projection). Uses projection including distortion models.

Parameters

[in]	point	The point in Euclidean coordinates.
[out]	imagePoint	The image point.

Returns: Get information about the success of the projection. See ProjectionStatus for more information.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual ProjectionStatus okvis::cameras::CameraBase::project	(	const Eigen::Vector3d &	point,
		Eigen::Vector2d *	imagePoint,
		Eigen::Matrix< double, 2, 3 > *	pointJacobian,
		Eigen::Matrix2Xd *	intrinsicsJacobian = `NULL`
	)		const

pure virtual

Projects a Euclidean point to a 2d image point (projection). Uses projection including distortion models.

Parameters

[in]	point	The point in Euclidean coordinates.
[out]	imagePoint	The image point.
[out]	pointJacobian	The Jacobian of the projection function w.r.t. the point..
[out]	intrinsicsJacobian	The Jacobian of the projection function w.r.t. the intinsics.

Returns: Get information about the success of the projection. See ProjectionStatus for more information.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual void okvis::cameras::CameraBase::projectBatch	(	const Eigen::Matrix3Xd &	points,
		Eigen::Matrix2Xd *	imagePoints,
		std::vector< ProjectionStatus > *	stati
	)		const

pure virtual

Projects Euclidean points to 2d image points (projection) in a batch. Uses projection including distortion models.

Parameters

[in]	points	The points in Euclidean coordinates (one point per column).
[out]	imagePoints	The image points (one point per column).
[out]	stati	Get information about the success of the projections. See ProjectionStatus for more information.

virtual ProjectionStatus okvis::cameras::CameraBase::projectHomogeneous	(	const Eigen::Vector4d &	point,
		Eigen::Vector2d *	imagePoint
	)		const

pure virtual

Projects a point in homogenous coordinates to a 2d image point (projection). Uses projection including distortion models.

Parameters

[in]	point	The point in Homogeneous coordinates.
[out]	imagePoint	The image point.

Returns: Get information about the success of the projection. See ProjectionStatus for more information.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual ProjectionStatus okvis::cameras::CameraBase::projectHomogeneous	(	const Eigen::Vector4d &	point,
		Eigen::Vector2d *	imagePoint,
		Eigen::Matrix< double, 2, 4 > *	pointJacobian,
		Eigen::Matrix2Xd *	intrinsicsJacobian = `NULL`
	)		const

pure virtual

Projects a point in homogenous coordinates to a 2d image point (projection). Uses projection including distortion models.

Parameters

[in]	point	The point in Homogeneous coordinates.
[out]	imagePoint	The image point.
[out]	pointJacobian	The Jacobian of the projection function w.r.t. the point.
[out]	intrinsicsJacobian	The Jacobian of the projection function w.r.t. the intrinsics.

Returns: Get information about the success of the projection. See ProjectionStatus for more information.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual void okvis::cameras::CameraBase::projectHomogeneousBatch	(	const Eigen::Matrix4Xd &	points,
		Eigen::Matrix2Xd *	imagePoints,
		std::vector< ProjectionStatus > *	stati
	)		const

pure virtual

Projects points in homogenous coordinates to 2d image points (projection) in a batch. Uses projection including distortion models.

Parameters

[in]	points	The points in homogeneous coordinates (one point per column).
[out]	imagePoints	The image points (one point per column).
[out]	stati	Get information about the success of the projections. See ProjectionStatus for more information.

virtual ProjectionStatus okvis::cameras::CameraBase::projectHomogeneousWithExternalParameters	(	const Eigen::Vector4d &	point,
		const Eigen::VectorXd &	parameters,
		Eigen::Vector2d *	imagePoint,
		Eigen::Matrix< double, 2, 4 > *	pointJacobian = `NULL`,
		Eigen::Matrix2Xd *	intrinsicsJacobian = `NULL`
	)		const

pure virtual

Projects a point in homogenous coordinates to a 2d image point (projection). Uses projection including distortion models.

Parameters

[in]	point	The point in Homogeneous coordinates.
[in]	parameters	The intrinsics.
[out]	imagePoint	The image point.
[out]	pointJacobian	The Jacobian of the projection function w.r.t. the point.
[out]	intrinsicsJacobian	The Jacobian of the projection function w.r.t. the intrinsics.

Returns: Get information about the success of the projection. See ProjectionStatus for more information.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

virtual ProjectionStatus okvis::cameras::CameraBase::projectWithExternalParameters	(	const Eigen::Vector3d &	point,
		const Eigen::VectorXd &	parameters,
		Eigen::Vector2d *	imagePoint,
		Eigen::Matrix< double, 2, 3 > *	pointJacobian = `NULL`,
		Eigen::Matrix2Xd *	intrinsicsJacobian = `NULL`
	)		const

pure virtual

Projects a Euclidean point to a 2d image point (projection). Uses projection including distortion models.

Parameters

[in]	point	The point in Euclidean coordinates.
[in]	parameters	The intrinsics.
[out]	imagePoint	The image point.
[out]	pointJacobian	The Jacobian of the projection function w.r.t. the point..
[out]	intrinsicsJacobian	The Jacobian of the projection function w.r.t. the intinsics.

Returns: Get information about the success of the projection. See ProjectionStatus for more information.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

bool okvis::cameras::CameraBase::removeMask ( )

inline

stop masking

Was a nonzero mask set?

void okvis::cameras::CameraBase::setId ( uint64_t id )

inline

Set an Id.

virtual bool okvis::cameras::CameraBase::setIntrinsics ( const Eigen::VectorXd & intrinsics )

pure virtual

overwrite all intrinsics - use with caution !

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

bool okvis::cameras::CameraBase::setMask ( const cv::Mat & mask )

inline

Set the mask. It must be the same size as the image and comply with OpenCV: 0 == masked, nonzero == valid. Type must be CV_8U1C.

Parameters

[in] mask The actual mask.

Returns: True if the requirements were followed.

virtual std::string okvis::cameras::CameraBase::type ( ) const

pure virtual

Obtain the type.

Implemented in okvis::cameras::PinholeCamera< DISTORTION_T >.

Member Data Documentation

uint64_t okvis::cameras::CameraBase::id_

protected

an Id

int okvis::cameras::CameraBase::imageHeight_

protected

image height in pixels

int okvis::cameras::CameraBase::imageWidth_

protected

image width in pixels

cv::Mat okvis::cameras::CameraBase::mask_

protected

The mask – empty by default.

The documentation for this class was generated from the following files:

okvis_cv/include/okvis/cameras/CameraBase.hpp
okvis_cv/src/CameraBase.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation