Concrete camera model class. More...

#include <camera_model.h>

Public Member Functions
	CameraModel ()

template<class TTransformModelT >
	CameraModel (TTransformModelT model)
	Constructs camera model from `frame_name` and concrete projection model. More...

	CameraModel (ImageSize image_size, CameraDistortionType projection_type, Eigen::VectorXd const &params)
	Constructs camera model from `frame_name`, `image_size`, `projection_type` flag and `params` vector. More...

auto	isEmpty () const -> bool
	Returns true if this camera remains default-initialized with zero image dimensions. More...

auto	distortionModelName () const -> std::string_view
	Returns name of the camera distortion model. More...

auto	modelVariant () -> CameraDistortionVariant &
	Distortion variant mutator. More...

auto	modelVariant () const -> CameraDistortionVariant const &
	Distortion variant accessor. More...

auto	distortionType () const -> CameraDistortionType
	Camera transform flag. More...

auto	focalLength () const -> Eigen::Vector2d

void	setFocalLength (Eigen::Vector2d const &focal_length)
	Focal length. More...

auto	principalPoint () const -> Eigen::Vector2d

void	setPrincipalPoint (Eigen::Vector2d const &principal_point)
	Focal length. More...

auto	params () const -> Eigen::VectorXd
	Returns `params` vector by value. More...

void	setParams (Eigen::VectorXd const &params)
	Sets `params` vector. More...

auto	distortionParams () const -> Eigen::VectorXd
	Returns distortion parameters vector by value. More...

auto	camProj (Eigen::Vector3d const &point_camera) const -> Eigen::Vector2d
	Given a point in 3D space in the camera frame, compute the corresponding pixel coordinates in the image. More...

auto	distort (Eigen::Vector2d const &point2_in_camera_lifted) const -> Eigen::Vector2d
	Maps a 2-point in the z=1 plane of the camera to a (distorted) pixel in the image. More...

auto	dxDistort (Eigen::Vector2d const &point2_in_camera_lifted) const -> Eigen::Matrix2d

auto	undistort (Eigen::Vector2d const &pixel_image) const -> Eigen::Vector2d
	Maps a pixel in the image to a 2-point in the z=1 plane of the camera. More...

auto	undistortTable () const -> MutImage< Eigen::Vector2f >

auto	dxCamProjX (Eigen::Vector3d const &point_in_camera) const -> Eigen::Matrix< double, 2, 3 >
	Derivative of camProj(x) with respect to x=0. More...

auto	dxCamProjExpXPointAt0 (Eigen::Vector3d const &point_in_camera) const -> Eigen::Matrix< double, 2, 6 >
	Derivative of camProj(exp(x) * point) with respect to x=0. More...

auto	camUnproj (Eigen::Vector2d const &pixel_image, double depth_z) const -> Eigen::Vector3d
	Given pixel coordinates in the distorted image, and a corresponding depth, reproject to a 3d point in the camera's reference frame. More...

auto	subsampleDown () const -> CameraModel
	Subsamples pixel down, factor of 0.5. More...

auto	subsampleUp () const -> CameraModel
	Subsamples pixel up, factor of 2.0. More...

auto	binDown () const -> CameraModel
	Bins pixel down, factor of 0.5. More...

auto	binUp () const -> CameraModel
	Bins pixel up, factor of 2.0. More...

auto	imageSize () const -> ImageSize const &
	Image size accessor. More...

auto	roi (Eigen::Vector2i const &top_left, ImageSize roi_size) const -> CameraModel
	Region of interest given `top_left` and ``roi_size`. More...

auto	contains (Eigen::Vector2i const &obs, int border=0) const -> bool
	Returns true if obs is within image. More...

auto	contains (Eigen::Vector2d const &obs, double border=0) const -> bool
	Returns true if obs is within image. More...

auto	scale (ImageSize image_size) const -> CameraModel

Static Public Member Functions
static auto	createDefaultPinholeModel (ImageSize image_size) -> CameraModel
	Creates default pinhole model from `image_size`. More...

Detailed Description

Concrete camera model class.

Constructor & Destructor Documentation

◆ CameraModel() [1/3]

sophus::CameraModel::CameraModel ( )

inline

◆ CameraModel() [2/3]

template<class TTransformModelT >

sophus::CameraModel::CameraModel ( TTransformModelT model )

inline

Constructs camera model from frame_name and concrete projection model.

◆ CameraModel() [3/3]

sophus::CameraModel::CameraModel	(	ImageSize	image_size,
		CameraDistortionType	projection_type,
		Eigen::VectorXd const &	params
	)

Constructs camera model from frame_name, image_size, projection_type flag and params vector.

Precondition: params.size() must match the number of parameters of the specified projection_type (TransformModel::kNumParams).

Member Function Documentation

◆ binDown()

auto sophus::CameraModel::binDown ( ) const -> CameraModel

Bins pixel down, factor of 0.5.

See for details: https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.elfm6123mecj

If the original width [height] is odd, the new width [height] will be: (width+1)/2 [height+1)/2].

◆ binUp()

auto sophus::CameraModel::binUp ( ) const -> CameraModel

Bins pixel up, factor of 2.0.

See for details: https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.elfm6123mecj

◆ camProj()

auto sophus::CameraModel::camProj ( Eigen::Vector3d const & point_camera ) const -> Eigen::Vector2d

Given a point in 3D space in the camera frame, compute the corresponding pixel coordinates in the image.

◆ camUnproj()

auto sophus::CameraModel::camUnproj	(	Eigen::Vector2d const &	pixel_image,
		double	depth_z
	)		const -> Eigen::Vector3d

Given pixel coordinates in the distorted image, and a corresponding depth, reproject to a 3d point in the camera's reference frame.

◆ contains() [1/2]

auto sophus::CameraModel::contains	(	Eigen::Vector2d const &	obs,
		double	border = `0`
	)		const -> bool

Returns true if obs is within image.

Positive border makes the image frame smaller.

◆ contains() [2/2]

auto sophus::CameraModel::contains	(	Eigen::Vector2i const &	obs,
		int	border = `0`
	)		const -> bool

Returns true if obs is within image.

Note: Positive border makes the image frame smaller.

◆ createDefaultPinholeModel()

auto sophus::CameraModel::createDefaultPinholeModel ( ImageSize image_size ) -> CameraModel

static

Creates default pinhole model from image_size.

◆ distort()

auto sophus::CameraModel::distort ( Eigen::Vector2d const & point2_in_camera_lifted ) const -> Eigen::Vector2d

Maps a 2-point in the z=1 plane of the camera to a (distorted) pixel in the image.

◆ distortionModelName()

auto sophus::CameraModel::distortionModelName ( ) const -> std::string_view

Returns name of the camera distortion model.

◆ distortionParams()

auto sophus::CameraModel::distortionParams ( ) const -> Eigen::VectorXd

Returns distortion parameters vector by value.

◆ distortionType()

auto sophus::CameraModel::distortionType ( ) const -> CameraDistortionType

Camera transform flag.

◆ dxCamProjExpXPointAt0()

auto sophus::CameraModel::dxCamProjExpXPointAt0 ( Eigen::Vector3d const & point_in_camera ) const -> Eigen::Matrix<double, 2, 6>

Derivative of camProj(exp(x) * point) with respect to x=0.

◆ dxCamProjX()

auto sophus::CameraModel::dxCamProjX ( Eigen::Vector3d const & point_in_camera ) const -> Eigen::Matrix<double, 2, 3>

Derivative of camProj(x) with respect to x=0.

◆ dxDistort()

auto sophus::CameraModel::dxDistort ( Eigen::Vector2d const & point2_in_camera_lifted ) const -> Eigen::Matrix2d

◆ focalLength()

auto sophus::CameraModel::focalLength ( ) const -> Eigen::Vector2d

◆ imageSize()

auto sophus::CameraModel::imageSize ( ) const -> ImageSize const&

Image size accessor.

◆ isEmpty()

auto sophus::CameraModel::isEmpty ( ) const -> bool

inline

Returns true if this camera remains default-initialized with zero image dimensions.

◆ modelVariant() [1/2]

auto sophus::CameraModel::modelVariant ( ) -> CameraDistortionVariant&

inline

Distortion variant mutator.

◆ modelVariant() [2/2]

auto sophus::CameraModel::modelVariant ( ) const -> CameraDistortionVariant const&

inline

Distortion variant accessor.

◆ params()

auto sophus::CameraModel::params ( ) const -> Eigen::VectorXd

Returns params vector by value.

◆ principalPoint()

auto sophus::CameraModel::principalPoint ( ) const -> Eigen::Vector2d

◆ roi()

auto sophus::CameraModel::roi	(	Eigen::Vector2i const &	top_left,
		ImageSize	roi_size
	)		const -> CameraModel

Region of interest given top_left and `roi_size.

◆ scale()

auto sophus::CameraModel::scale ( ImageSize image_size ) const -> CameraModel

◆ setFocalLength()

void sophus::CameraModel::setFocalLength ( Eigen::Vector2d const & focal_length )

Focal length.

◆ setParams()

void sophus::CameraModel::setParams ( Eigen::VectorXd const & params )

Sets params vector.

Precontion: params.size() must match the number of parameters of the specified projection_type (TransformModel::kNumParams).

◆ setPrincipalPoint()

void sophus::CameraModel::setPrincipalPoint ( Eigen::Vector2d const & principal_point )

Focal length.

◆ subsampleDown()

auto sophus::CameraModel::subsampleDown ( ) const -> CameraModel

Subsamples pixel down, factor of 0.5.

See for details: https://docs.google.com/document/d/1xmhCMWklP2UoQMGaMqFnsoPWoeMvBfXN7S8-ie9k0UA/edit#heading=h.97r8rr8owwpc

If the original width [height] is odd, the new width [height] will be: (width+1)/2 [height+1)/2].

◆ subsampleUp()

auto sophus::CameraModel::subsampleUp ( ) const -> CameraModel

Subsamples pixel up, factor of 2.0.

◆ undistort()

auto sophus::CameraModel::undistort ( Eigen::Vector2d const & pixel_image ) const -> Eigen::Vector2d

Maps a pixel in the image to a 2-point in the z=1 plane of the camera.

◆ undistortTable()

auto sophus::CameraModel::undistortTable ( ) const -> MutImage<Eigen::Vector2f>

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

projects/farm-ng-core/cpp/sophus/sensor/camera_model.h
projects/farm-ng-core/cpp/sophus/sensor/camera_model.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CameraModel() [1/3]

◆ CameraModel() [2/3]

◆ CameraModel() [3/3]

Member Function Documentation

◆ binDown()

◆ binUp()

◆ camProj()

◆ camUnproj()

◆ contains() [1/2]

◆ contains() [2/2]

◆ createDefaultPinholeModel()

◆ distort()

◆ distortionModelName()

◆ distortionParams()

◆ distortionType()

◆ dxCamProjExpXPointAt0()

◆ dxCamProjX()

◆ dxDistort()

◆ focalLength()

◆ imageSize()

◆ isEmpty()

◆ modelVariant() [1/2]

◆ modelVariant() [2/2]

◆ params()

◆ principalPoint()

◆ roi()

◆ scale()

◆ setFocalLength()

◆ setParams()

◆ setPrincipalPoint()

◆ subsampleDown()

◆ subsampleUp()

◆ undistort()

◆ undistortTable()