Camera model class template for pinhole-like camera projections. More...

#include <camera_model.h>

Public Types
using	Distortion = TDistortion

using	Proj = TProj

using	PointCamera = Eigen::Matrix< TScalar, 3, 1 >

using	PixelImage = Eigen::Matrix< TScalar, 2, 1 >

using	ProjInCameraLifted = Eigen::Matrix< TScalar, 2, 1 >

using	Params = Eigen::Matrix< TScalar, kNumParams, 1 >

using	DistorationParams = Eigen::Matrix< TScalar, kNumDistortionParams, 1 >

Public Member Functions
	CameraModelT (ImageSize const &image_size, Params const &params)
	Constructs camera model from image size and set up parameters. More...

	CameraModelT ()

auto	focalLength () const -> PixelImage
	Focal length. More...

void	setFocalLength (PixelImage const &focal_length)
	Focal length. More...

auto	principalPoint () const -> PixelImage

void	setPrincipalPoint (PixelImage const &principal_point)
	Focal length. More...

auto	distortionParams () const -> DistorationParams
	Returns distortion parameters by value. More...

auto	params () -> Eigen::Matrix< TScalar, kNumParams, 1 > &
	Parameters mutator. More...

auto	params () const -> Eigen::Matrix< TScalar, kNumParams, 1 > const &
	Parameters accessor. More...

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

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

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

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

auto	scale (ImageSize const &image_size) const -> CameraModelT

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

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

auto	dxDistort (PixelImage const &pixel_in_image) const -> Eigen::Matrix< TScalar, 2, 2 >

auto	undistort (PixelImage const &pixel_in_image) const -> ProjInCameraLifted
	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	camProj (PointCamera const &point_in_camera) const -> PixelImage
	Projects 3-point in camera frame to a pixel in the image. More...

auto	dxCamProjX (PointCamera const &point_in_camera) const -> Eigen::Matrix< TScalar, 2, 3 >

auto	camUnproj (PixelImage const &pixel_in_image, double depth_z) const -> PointCamera
	Unprojects pixel in the image to point in camera frame. More...

auto	data () -> TScalar *
	Raw data access. To be used in ceres optimization only. More...

auto	imageSize () const -> ImageSize const &
	Accessor of image size. More...

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

auto	contains (PixelImage const &obs, TScalar border=TScalar(0)) const -> bool
	Returns true if obs is within image. More...

template<typename TScalar2 >
auto	cast () const -> CameraModelT< TScalar2, TDistortion, TProj >
	cast to different scalar type. More...

Static Public Member Functions
static auto	fromData (TScalar const *const ptr) -> CameraModelT
	Returns camera model from raw data pointer. To be used within ceres optimization only. More...

Static Public Attributes
static constexpr int	kNumDistortionParams = Distortion::kNumDistortionParams

static constexpr int	kNumParams = Distortion::kNumParams

static constexpr const std::string_view	kProjectionModel

Detailed Description

template<class TScalar, class TDistortion, class TProj = ProjectionZ1>
class sophus::CameraModelT< TScalar, TDistortion, TProj >

Camera model class template for pinhole-like camera projections.

Member Typedef Documentation

◆ DistorationParams

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

using sophus::CameraModelT< TScalar, TDistortion, TProj >::DistorationParams = Eigen::Matrix<TScalar, kNumDistortionParams, 1>

◆ Distortion

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

using sophus::CameraModelT< TScalar, TDistortion, TProj >::Distortion = TDistortion

◆ Params

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

using sophus::CameraModelT< TScalar, TDistortion, TProj >::Params = Eigen::Matrix<TScalar, kNumParams, 1>

◆ PixelImage

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

using sophus::CameraModelT< TScalar, TDistortion, TProj >::PixelImage = Eigen::Matrix<TScalar, 2, 1>

◆ PointCamera

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

using sophus::CameraModelT< TScalar, TDistortion, TProj >::PointCamera = Eigen::Matrix<TScalar, 3, 1>

◆ Proj

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

using sophus::CameraModelT< TScalar, TDistortion, TProj >::Proj = TProj

◆ ProjInCameraLifted

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

using sophus::CameraModelT< TScalar, TDistortion, TProj >::ProjInCameraLifted = Eigen::Matrix<TScalar, 2, 1>

Constructor & Destructor Documentation

◆ CameraModelT() [1/2]

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

sophus::CameraModelT< TScalar, TDistortion, TProj >::CameraModelT	(	ImageSize const &	image_size,
		Params const &	params
	)

inline

Constructs camera model from image size and set up parameters.

◆ CameraModelT() [2/2]

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

sophus::CameraModelT< TScalar, TDistortion, TProj >::CameraModelT ( )

inline

Member Function Documentation

◆ binDown()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::binDown ( ) const -> CameraModelT

inline

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()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::binUp ( ) const -> CameraModelT

inline

Bins pixel up, factor of 2.0.

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

◆ camProj()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::camProj ( PointCamera const & point_in_camera ) const -> PixelImage

inline

Projects 3-point in camera frame to a pixel in the image.

◆ camUnproj()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::camUnproj	(	PixelImage const &	pixel_in_image,
		double	depth_z
	)		const -> PointCamera

inline

Unprojects pixel in the image to point in camera frame.

The point is projected onto the xy-plane at z = depth_z.

◆ cast()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

template<typename TScalar2 >

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::cast ( ) const -> CameraModelT<TScalar2, TDistortion, TProj>

inline

cast to different scalar type.

◆ contains() [1/2]

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::contains	(	Eigen::Vector2i const &	obs,
		int	border = `0`
	)		const -> bool

inline

Returns true if obs is within image.

Note: Positive border makes the image frame smaller.

◆ contains() [2/2]

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::contains	(	PixelImage const &	obs,
		TScalar	border = `TScalar(0)`
	)		const -> bool

inline

Returns true if obs is within image.

Note: Positive border makes the image frame smaller.

◆ data()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::data ( ) -> TScalar*

inline

Raw data access. To be used in ceres optimization only.

◆ distort()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::distort ( ProjInCameraLifted const & point2_in_camera_lifted ) const -> PixelImage

inline

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

◆ distortionParams()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::distortionParams ( ) const -> DistorationParams

inline

Returns distortion parameters by value.

◆ dxCamProjX()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::dxCamProjX ( PointCamera const & point_in_camera ) const -> Eigen::Matrix<TScalar, 2, 3>

inline

◆ dxDistort()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::dxDistort ( PixelImage const & pixel_in_image ) const -> Eigen::Matrix<TScalar, 2, 2>

inline

◆ focalLength()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::focalLength ( ) const -> PixelImage

inline

Focal length.

◆ fromData()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

static auto sophus::CameraModelT< TScalar, TDistortion, TProj >::fromData ( TScalar const *const ptr ) -> CameraModelT

inlinestatic

Returns camera model from raw data pointer. To be used within ceres optimization only.

◆ imageSize()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::imageSize ( ) const -> ImageSize const&

inline

Accessor of image size.

◆ params() [1/2]

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::params ( ) -> Eigen::Matrix<TScalar, kNumParams, 1>&

inline

Parameters mutator.

◆ params() [2/2]

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::params ( ) const -> Eigen::Matrix<TScalar, kNumParams, 1> const&

inline

Parameters accessor.

◆ principalPoint()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::principalPoint ( ) const -> PixelImage

inline

◆ roi()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::roi	(	Eigen::Vector2i const &	top_left,
		ImageSize	roi_size
	)		const -> CameraModelT

inline

Region of interest given top_left and `roi_size.

◆ scale()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::scale ( ImageSize const & image_size ) const -> CameraModelT

inline

◆ setFocalLength()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

void sophus::CameraModelT< TScalar, TDistortion, TProj >::setFocalLength ( PixelImage const & focal_length )

inline

Focal length.

◆ setPrincipalPoint()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

void sophus::CameraModelT< TScalar, TDistortion, TProj >::setPrincipalPoint ( PixelImage const & principal_point )

inline

Focal length.

◆ subsampleDown()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::subsampleDown ( ) const -> CameraModelT

inline

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()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::subsampleUp ( ) const -> CameraModelT

inline

Subsamples pixel up, factor of 2.0.

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

◆ undistort()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::undistort ( PixelImage const & pixel_in_image ) const -> ProjInCameraLifted

inline

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

◆ undistortTable()

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

auto sophus::CameraModelT< TScalar, TDistortion, TProj >::undistortTable ( ) const -> MutImage<Eigen::Vector2f>

inline

Member Data Documentation

◆ kNumDistortionParams

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

constexpr int sophus::CameraModelT< TScalar, TDistortion, TProj >::kNumDistortionParams = Distortion::kNumDistortionParams

staticconstexpr

◆ kNumParams

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

constexpr int sophus::CameraModelT< TScalar, TDistortion, TProj >::kNumParams = Distortion::kNumParams

staticconstexpr

◆ kProjectionModel

template<class TScalar , class TDistortion , class TProj = ProjectionZ1>

constexpr const std::string_view sophus::CameraModelT< TScalar, TDistortion, TProj >::kProjectionModel

staticconstexpr

Initial value:

=

Distortion::kProjectionModel

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

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

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Detailed Description

template<class TScalar, class TDistortion, class TProj = ProjectionZ1> class sophus::CameraModelT< TScalar, TDistortion, TProj >

Member Typedef Documentation

◆ DistorationParams

◆ Distortion

◆ Params

◆ PixelImage

◆ PointCamera

◆ Proj

◆ ProjInCameraLifted

Constructor & Destructor Documentation

◆ CameraModelT() [1/2]

◆ CameraModelT() [2/2]

Member Function Documentation

◆ binDown()

◆ binUp()

◆ camProj()

◆ camUnproj()

◆ cast()

◆ contains() [1/2]

◆ contains() [2/2]

◆ data()

◆ distort()

◆ distortionParams()

◆ dxCamProjX()

◆ dxDistort()

◆ focalLength()

◆ fromData()

◆ imageSize()

◆ params() [1/2]

◆ params() [2/2]

◆ principalPoint()

◆ roi()

◆ scale()

◆ setFocalLength()

◆ setPrincipalPoint()

◆ subsampleDown()

◆ subsampleUp()

◆ undistort()

◆ undistortTable()

Member Data Documentation

◆ kNumDistortionParams

◆ kNumParams

◆ kProjectionModel

template<class TScalar, class TDistortion, class TProj = ProjectionZ1>
class sophus::CameraModelT< TScalar, TDistortion, TProj >