#include <PinholeCamera.hpp>

Inheritance diagram for okvis::cameras::PinholeCamera< DISTORTION_T >:

Public Member Functions
	PinholeCamera (int imageWidth, int imageHeight, double focalLengthU, double focalLengthV, double imageCenterU, double imageCenterV, const distortion_t &distortion, uint64_t id=-1)
	Constructor that will figure out the type of distortion. More...

	~PinholeCamera ()
	Destructor. More...

double	focalLengthU () const
	Get the focal length along the u-dimension. More...

double	focalLengthV () const
	Get the focal length along the v-dimension. More...

double	imageCenterU () const
	Get the image centre along the u-dimension. More...

double	imageCenterV () const
	Get the focal image centre along the v-dimension. More...

void	getIntrinsics (Eigen::VectorXd &intrinsics) const
	Get the intrinsics as a concatenated vector. More...

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

int	noIntrinsicsParameters () const
	Get the total number of intrinsics. More...

std::string	type () const
	Obtain the projection type. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Public Member Functions inherited from okvis::cameras::CameraBase
	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...

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...

void	setId (uint64_t id)
	Set an Id. More...

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

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...

Static Public Member Functions
static std::shared_ptr < CameraBase >	createTestObject ()
	get a test instance More...

static PinholeCamera	testObject ()
	get a test instance More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DISTORTION_T	distortion_t
	Makes the distortion type accessible. More...

Static Public Attributes
static const int	NumProjectionIntrinsics = 4
	optimisable projection intrinsics More...

static const int	NumIntrinsics
	total number of intrinsics More...

Protected Member Functions
	PinholeCamera ()=delete
	No default constructor. More...

Protected Member Functions inherited from okvis::cameras::CameraBase
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
distortion_t	distortion_
	the distortion to be used More...

Eigen::Matrix< double, NumIntrinsics, 1 >	intrinsics_
	summary of all intrinsics parameters More...

double	fu_
	focalLengthU More...

double	fv_
	focalLengthV More...

double	cu_
	imageCenterU More...

double	cv_
	imageCenterV More...

double	one_over_fu_
	1.0 / fu_ More...

double	one_over_fv_
	1.0 / fv_ More...

double	fu_over_fv_
	fu_ / fv_ More...

Protected Attributes inherited from okvis::cameras::CameraBase
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...

Additional Inherited Members
Public Types inherited from okvis::cameras::CameraBase
enum	ProjectionStatus { ProjectionStatus::Successful, ProjectionStatus::OutsideImage, ProjectionStatus::Masked, ProjectionStatus::Behind, ProjectionStatus::Invalid }

Constructor & Destructor Documentation

template<class DISTORTION_T >

okvis::cameras::PinholeCamera< DISTORTION_T >::PinholeCamera	(	int	imageWidth,
		int	imageHeight,
		double	focalLengthU,
		double	focalLengthV,
		double	imageCenterU,
		double	imageCenterV,
		const distortion_t &	distortion,
		uint64_t	id = `-1`
	)

Constructor that will figure out the type of distortion.

Parameters

[in]	imageWidth	The width in pixels.
[in]	imageHeight	The height in pixels.
[in]	focalLengthU	The horizontal focal length in pixels.
[in]	focalLengthV	The vertical focal length in pixels.
[in]	imageCenterU	The horizontal centre in pixels.
[in]	imageCenterV	The vertical centre in pixels.
[in]	distortion	The distortion object to be used.
[in]	id	Assign a generic ID, if desired.

template<class DISTORTION_T >

okvis::cameras::PinholeCamera< DISTORTION_T >::~PinholeCamera ( )

inline

Destructor.

template<class DISTORTION_T >

okvis::cameras::PinholeCamera< DISTORTION_T >::PinholeCamera ( )

protecteddelete

No default constructor.

Member Function Documentation

template<class DISTORTION_T >

bool okvis::cameras::PinholeCamera< DISTORTION_T >::backProject	(	const Eigen::Vector2d &	imagePoint,
		Eigen::Vector3d *	direction
	)		const

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inlinevirtual

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

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

bool okvis::cameras::PinholeCamera< DISTORTION_T >::backProjectHomogeneous	(	const Eigen::Vector2d &	imagePoint,
		Eigen::Vector4d *	direction
	)		const

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inlinevirtual

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

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

static std::shared_ptr<CameraBase> okvis::cameras::PinholeCamera< DISTORTION_T >::createTestObject ( )

inlinestatic

get a test instance

template<class DISTORTION_T >

const std::string okvis::cameras::PinholeCamera< DISTORTION_T >::distortionType ( ) const

inlinevirtual

Obtain the projection type.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::focalLengthU ( ) const

inline

Get the focal length along the u-dimension.

Returns: The horizontal focal length in pixels.

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::focalLengthV ( ) const

inline

Get the focal length along the v-dimension.

Returns: The vertical focal length in pixels.

template<class DISTORTION_T >

void okvis::cameras::PinholeCamera< DISTORTION_T >::getIntrinsics ( Eigen::VectorXd & intrinsics ) const

inlinevirtual

Get the intrinsics as a concatenated vector.

Returns: The intrinsics as a concatenated vector.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::imageCenterU ( ) const

inline

Get the image centre along the u-dimension.

Returns: The horizontal centre in pixels.

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::imageCenterV ( ) const

inline

Get the focal image centre along the v-dimension.

Returns: The vertical centre in pixels.

template<class DISTORTION_T >

int okvis::cameras::PinholeCamera< DISTORTION_T >::noIntrinsicsParameters ( ) const

inlinevirtual

Get the total number of intrinsics.

Returns: Number of intrinsics parameters.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

CameraBase::ProjectionStatus okvis::cameras::PinholeCamera< DISTORTION_T >::project	(	const Eigen::Vector3d &	point,
		Eigen::Vector2d *	imagePoint
	)		const

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inline

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.

template<class DISTORTION_T >

CameraBase::ProjectionStatus okvis::cameras::PinholeCamera< DISTORTION_T >::projectHomogeneous	(	const Eigen::Vector4d &	point,
		Eigen::Vector2d *	imagePoint
	)		const

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inline

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.

template<class DISTORTION_T >

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

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

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

inlinevirtual

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.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

bool okvis::cameras::PinholeCamera< DISTORTION_T >::setIntrinsics ( const Eigen::VectorXd & intrinsics )

inlinevirtual

overwrite all intrinsics - use with caution !

Parameters

[in] intrinsics The intrinsics as a concatenated vector.

Implements okvis::cameras::CameraBase.

template<class DISTORTION_T >

static PinholeCamera okvis::cameras::PinholeCamera< DISTORTION_T >::testObject ( )

inlinestatic

get a test instance

template<class DISTORTION_T >

std::string okvis::cameras::PinholeCamera< DISTORTION_T >::type ( ) const

inlinevirtual

Obtain the projection type.

Implements okvis::cameras::CameraBase.

Member Data Documentation

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::cu_

protected

imageCenterU

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::cv_

protected

imageCenterV

template<class DISTORTION_T >

distortion_t okvis::cameras::PinholeCamera< DISTORTION_T >::distortion_

protected

the distortion to be used

template<class DISTORTION_T >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DISTORTION_T okvis::cameras::PinholeCamera< DISTORTION_T >::distortion_t

Makes the distortion type accessible.

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::fu_

protected

focalLengthU

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::fu_over_fv_

protected

fu_ / fv_

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::fv_

protected

focalLengthV

template<class DISTORTION_T >

Eigen::Matrix<double, NumIntrinsics, 1> okvis::cameras::PinholeCamera< DISTORTION_T >::intrinsics_

protected

summary of all intrinsics parameters

template<class DISTORTION_T >

const int okvis::cameras::PinholeCamera< DISTORTION_T >::NumIntrinsics

static

Initial value:

= NumProjectionIntrinsics

+ distortion_t::NumDistortionIntrinsics

total number of intrinsics

template<class DISTORTION_T >

const int okvis::cameras::PinholeCamera< DISTORTION_T >::NumProjectionIntrinsics = 4

static

optimisable projection intrinsics

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::one_over_fu_

protected

1.0 / fu_

template<class DISTORTION_T >

double okvis::cameras::PinholeCamera< DISTORTION_T >::one_over_fv_

protected

1.0 / fv_

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

okvis_cv/include/okvis/cameras/PinholeCamera.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation