Class UnifiedProjectionCamera

Inheritance Relationships

Base Type

Class Documentation

class aslam::UnifiedProjectionCamera : public aslam::Cloneable<Camera, UnifiedProjectionCamera>

An implementation of the unified projection camera model with (optional) distortion.

Intrinsic parameters ordering: xi, fu, fv, cu, cv

Reference: (1) C. Geyer and K. Daniilidis. A unifying theory for central panoramic systems and practical implications. In ECCV, pages 445461, 2000. (http://www.frc.ri.cmu.edu/users/cgeyer/papers/geyer_eccv00.pdf) (2) Joao P. Barreto and Helder Araujo. Issues on the geometry of central catadioptric image formation. In CVPR, volume 2, pages 422427, 2001. (http://home.isr.uc.pt/~jpbar/Publication_Source/cvpr2001.pdf)

Constructors/destructors and operators

friend friend std::ostream & operator<< (std::ostream &out, const UnifiedProjectionCamera &camera)

Convenience function to print the state using streams.

UnifiedProjectionCamera()

Empty constructor for serialization interface.

UnifiedProjectionCamera(const UnifiedProjectionCamera &other) = default

Copy constructor for clone operation.

void operator=(const UnifiedProjectionCamera&) = delete
UnifiedProjectionCamera(const Eigen::VectorXd &intrinsics, uint32_t image_width, uint32_t image_height, aslam::Distortion::UniquePtr &distortion)

Construct a camera with distortion.

Parameters

  • [in] intrinsics: vector containing the intrinsic parameters (xi,fu,fv,cu.cv)

  • [in] image_height: image height in pixels

  • [in] distortion: pointer to the distortion model

UnifiedProjectionCamera(const Eigen::VectorXd &intrinsics, uint32_t image_width, uint32_t image_height)

Construct a camera without distortion.

Parameters

  • [in] intrinsics: vector containing the intrinsic parameters (xi,fu,fv,cu.cv)

  • [in] image_width: image width in pixels

  • [in] image_height: image height in pixels

UnifiedProjectionCamera(double xi, double focallength_cols, double focallength_rows, double imagecenter_cols, double imagecenter_rows, uint32_t image_width, uint32_t image_height, aslam::Distortion::UniquePtr &distortion)

Construct a camera with distortion.

Parameters

  • [in] xi: mirror parameter

  • [in] focallength_cols: focal length in pixels; cols (width-direction)

  • [in] focallength_rows: focal length in pixels; rows (height-direction)

  • [in] imagecenter_cols: image center in pixels; cols (width-direction)

  • [in] imagecenter_rows: image center in pixels; rows (height-direction)

  • [in] image_width: image width in pixels

  • [in] image_height: image height in pixels

  • [in] distortion: pointer to the distortion model

UnifiedProjectionCamera(double xi, double focallength_cols, double focallength_rows, double imagecenter_cols, double imagecenter_rows, uint32_t image_width, uint32_t image_height)

Construct a camera without distortion.

Parameters

  • [in] xi: mirror parameter

  • [in] focallength_cols: focal length in pixels; cols (width-direction)

  • [in] focallength_rows: focal length in pixels; rows (height-direction)

  • [in] imagecenter_cols: image center in pixels; cols (width-direction)

  • [in] imagecenter_rows: image center in pixels; rows (height-direction)

  • [in] image_width: image width in pixels

  • [in] image_height: image height in pixels

inline virtual ~UnifiedProjectionCamera()

Methods to project and back-project euclidean points

virtual bool backProject3(const Eigen::Ref<const Eigen::Vector2d> &keypoint, Eigen::Vector3d *out_point_3d) const

Compute the 3d bearing vector in euclidean coordinates given a keypoint in image coordinates.

Uses the projection (& distortion) models. The result might be in normalized image plane for some camera implementations but not for the general case.

Parameters

  • [in] keypoint: Keypoint in image coordinates.

  • [out] out_point_3d: Bearing vector in euclidean coordinates

const ProjectionResult evaluateProjectionResult(const Eigen::Ref<const Eigen::Vector2d> &keypoint, const Eigen::Vector3d &point_3d) const

Checks the success of a projection operation and returns the result in a ProjectionResult object.

Return

The ProjectionResult object contains details about the success of the projection.

Parameters

  • [in] keypoint: Keypoint in image coordinates.

  • [in] point_3d: Projected point in euclidean.

bool isUndistortedKeypointValid(const double &rho2_d, const double &xi) const

Checks whether an undistorted keypoint lies in the valid range.

Parameters

  • [in] keypoint: Squared norm of the normalized undistorted keypoint.

  • [in] xi: Mirror parameter

bool isLiftable(const Eigen::Ref<const Eigen::Vector2d> &keypoint) const

Checks whether a keypoint is liftable to the unit sphere.

Parameters

  • [in] keypoint: Keypoint in image coordinates.

Functional methods to project and back-project points

virtual const ProjectionResult project3Functional(const Eigen::Ref<const Eigen::Vector3d> &point_3d, const Eigen::VectorXd *intrinsics_external, const Eigen::VectorXd *distortion_coefficients_external, Eigen::Vector2d *out_keypoint, Eigen::Matrix<double, 2, 3> *out_jacobian_point, Eigen::Matrix<double, 2, Eigen::Dynamic> *out_jacobian_intrinsics, Eigen::Matrix<double, 2, Eigen::Dynamic> *out_jacobian_distortion) const

This function projects a point into the image using the intrinsic parameters that are passed in as arguments.

If any of the Jacobians are nonnull, they should be filled in with the Jacobian with respect to small changes in the argument.

Return

Contains information about the success of the projection. Check ProjectionResult for more information.

Parameters

  • [in] point_3d: The point in euclidean coordinates.

  • [in] intrinsics_external: External intrinsic parameter vector. NOTE: If nullptr, use internal distortion parameters.

  • [in] distortion_coefficients_external: External distortion parameter vector. Parameter is ignored is no distortion is active. NOTE: If nullptr, use internal distortion parameters.

  • [out] out_keypoint: The keypoint in image coordinates.

  • [out] out_jacobian_point: The Jacobian wrt. to changes in the euclidean point. nullptr: calculation is skipped.

  • [out] out_jacobian_intrinsics: The Jacobian wrt. to changes in the intrinsics. nullptr: calculation is skipped.

  • [out] out_jacobian_distortion: The Jacobian wrt. to changes in the distortion parameters. nullptr: calculation is skipped.

Methods to support unit testing.

virtual Eigen::Vector2d createRandomKeypoint() const

Creates a random valid keypoint..

virtual Eigen::Vector3d createRandomVisiblePoint(double depth) const

Creates a random visible point.

Negative depth means random between 0 and 100 meters.

Methods to access intrinsics.

inline Eigen::Matrix3d getCameraMatrix() const

Returns the camera matrix for the projection.

inline double xi() const

The horizontal focal length in pixels.

inline double fu() const

The horizontal focal length in pixels.

inline double fv() const

The vertical focal length in pixels.

inline double cu() const

The horizontal image center in pixels.

inline double cv() const

The vertical image center in pixels.

inline double fov_parameter(double xi) const

Returns the fov parameter.

virtual bool intrinsicsValid(const Eigen::VectorXd &intrinsics) const

Function to check wheter the given intrinic parameters are valid for this model.

inline virtual int getParameterSize() const

The number of intrinsic parameters.

virtual void printParameters(std::ostream &out, const std::string &text) const

Print the internal parameters of the camera in a human-readable form Print to the ostream that is passed in.

The text is extra text used by the calling function to distinguish cameras

static inline constexpr int parameterCount()

Returns the number of intrinsic parameters used in this camera model.

static bool areParametersValid(const Eigen::VectorXd &parameters)

Static function that checks whether the given intrinsic parameters are valid for this model.

Public Types

enum [anonymous]

Values:

enumerator CLASS_SERIALIZATION_VERSION
enum Parameters

Values:

enumerator kXi
enumerator kFu
enumerator kFv
enumerator kCu
enumerator kCv

Public Functions

ASLAM_POINTER_TYPEDEFS(UnifiedProjectionCamera)

Public Static Functions

template<typename DistortionType>
static inline UnifiedProjectionCamera::Ptr createTestCamera()

Create a test camera object for unit testing.

template<typename DistortionType>
static inline UnifiedProjectionCamera::UniquePtr createTestCameraUnique()

Create a test camera object for unit testing.

static UnifiedProjectionCamera::Ptr createTestCamera()

Create a test camera object for unit testing. (without distortion)