Namespace for operations related to the pin-hole model of a camera. More...

Detailed Description

Namespace for operations related to the pin-hole model of a camera.

The model incorporates radial distortion.

Functions
template<class V >
vec2	projectPointToNormalizedPlane (const V &v)
	Pin-hole canonical projection.
template<class V , class P >
void	projectPointToNormalizedPlane (const V &v, P &up, double &dist)
	Pin-hole canonical projection.
template<class V , class U , class MU_v >
void	projectPointToNormalizedPlane (const V &v, U &up, MU_v &UP_v)
	Pin-hole canonical projection, with jacobian.
template<class V , class U , class MU_v >
void	projectPointToNormalizedPlane (const V &v, U &up, double &dist, MU_v &UP_v)
	Pin-hole canonical projection, distance and with jacobian.
template<class U >
vec3	backprojectPointFromNormalizedPlane (const U &u, double depth=1)
	Canonical back-projection.
template<class U , class P , class MP_u , class MP_depth >
void	backprojectPointFromNormalizedPlane (const U &u, const double depth, P &p, MP_u &P_u, MP_depth &P_depth)
	Canonical back-projection.
template<class VD >
double	distortFactor (const VD &d, double r2)
	Distortion factor for the model s = 1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + ...
template<class VD , class VU >
jblas::vec2	distortPoint (const VD &d, const VU &up, double r2max)
	Radial distortion: ud = (1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + etc) * u.
template<class VD , class VUp , class VUd , class MUD_up >
void	distortPoint (const VD &d, const VUp &up, VUd &ud, double r2max, MUD_up &UD_up)
	Radial distortion: ud = (1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + etc) * u, with jacobians.
template<class VC , class VU >
jblas::vec2	undistortPoint (const VC &c, const VU &ud)
template<class VC , class VUd , class VUp , class MUP_ud >
void	undistortPoint (const VC &c, const VUd &ud, VUp &up, MUP_ud &UP_ud)
template<class VK , class VU >
jblas::vec2	pixellizePoint (const VK &k, const VU &ud)
	Pixellization from k = [u_0, v_0, a_u, a_v].
template<class VK , class VUd , class VU , class MU_ud >
void	pixellizePoint (const VK &k, const VUd &ud, VU &u, MU_ud &U_ud)
	Pixellization from k = [u_0, v_0, a_u, a_v] with jacobians.
template<class VK , class VU >
jblas::vec2	depixellizePoint (const VK &k, const VU &u)
	Depixellization from k = [u_0, v_0, a_u, a_v].
template<class VK , class VUd , class VU , class MUD_u >
void	depixellizePoint (const VK &k, const VU &u, VUd &ud, MUD_u &UD_u)
	Depixellization from k = [u_0, v_0, a_u, a_v], with Jacobians.
template<class VK , class VD , class V >
vec2	projectPoint (const VK &k, const VD &d, const V &v, double r2max)
	Project a point into a pin-hole camera with radial distortion.
template<class VK , class VD , class V , class U >
void	projectPoint (const VK &k, const VD &d, const V &v, U &u, double r2max, double &dist)
	Project a point into a pin-hole camera with radial distortion.
template<class VK , class VD , class V , class VU , class MU_v >
void	projectPoint (const VK &k, const VD &d, const V &v, VU &u, double r2max, MU_v &U_v)
	Project a point into a pin-hole camera with radial distortion.
template<class VK , class VD , class V , class VU , class MU_v >
void	projectPoint (const VK &k, const VD &d, const V &v, VU &u, double r2max, double &dist, MU_v &U_v)
	Project a point into a pin-hole camera with radial distortion.
template<class VK , class VC , class U >
vec3	backprojectPoint (const VK &k, const VC &c, const U &u, const double depth=1.0)
	Back-Project a point from a pin-hole camera with radial distortion.
template<class VK , class VC , class U , class P , class MP_u , class MP_depth >
void	backProjectPoint (const VK &k, const VC &c, const U &u, double depth, P &p, MP_u &P_u, MP_depth &P_depth)
	Back-Project a point from a pin-hole camera with radial distortion; give Jacobians.
template<class VPix >
bool	isInRoi (const VPix &pix, const int x, const int y, const int width, const int height)
	Determine if a pixel is inside the region of interest.
template<class VPix >
bool	isInImage (const VPix &pix, const int &width, const int &height)
	Determine if a pixel is inside the image.
template<class Vk , class Vd , class Vc >
void	computeCorrectionModel (const int width, const int height, const Vk &k, const Vd &d, Vc &c, double &r_max)
	Compute distortion correction parameters.

Function Documentation

template<class VK , class VC , class U >

vec3 jafar::rtslam::pinhole::backprojectPoint	(	const VK &	k,
		const VC &	c,
		const U &	u,
		const double	depth = `1.0`
	)

Back-Project a point from a pin-hole camera with radial distortion.

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
c	the radial undistortion parameters vector
u	the 2D pixel
depth	the depth prior

Returns:: the back-projected 3D point

Definition at line 471 of file pinholeTools.hpp.

References backprojectPointFromNormalizedPlane(), and depixellizePoint().

template<class VK , class VC , class U , class P , class MP_u , class MP_depth >

void jafar::rtslam::pinhole::backProjectPoint	(	const VK &	k,
		const VC &	c,
		const U &	u,
		double	depth,
		P &	p,
		MP_u &	P_u,
		MP_depth &	P_depth
	)

Back-Project a point from a pin-hole camera with radial distortion; give Jacobians.

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
c	the radial undistortion parameters vector
u	the 2D pixel
depth	the depth prior
p	the back-projected 3D point
P_u	Jacobian of p wrt u
P_depth	Jacobian of p wrt depth

Definition at line 486 of file pinholeTools.hpp.

References backprojectPointFromNormalizedPlane(), and depixellizePoint().

template<class U >

vec3 jafar::rtslam::pinhole::backprojectPointFromNormalizedPlane	(	const U &	u,
		double	depth = `1`
	)

Canonical back-projection.

Parameters:

u	the 2D point in the image plane
depth	point's depth orthogonal to image plane. Defaults to 1.0

Returns:: the 3D point

Definition at line 115 of file pinholeTools.hpp.

Referenced by backprojectPoint(), backProjectPoint(), and backprojectPointFromNormalizedPlane().

template<class U , class P , class MP_u , class MP_depth >

void jafar::rtslam::pinhole::backprojectPointFromNormalizedPlane	(	const U &	u,
		const double	depth,
		P &	p,
		MP_u &	P_u,
		MP_depth &	P_depth
	)

Canonical back-projection.

Parameters:

u	the 2D point in the image plane.
depth	point's depth orthogonal to image plane.
p	the 3D point.
P_u	Jacobian of p wrt u.
P_depth	Jacobian of p wrt depth.

Definition at line 133 of file pinholeTools.hpp.

References backprojectPointFromNormalizedPlane().

template<class Vk , class Vd , class Vc >

void jafar::rtslam::pinhole::computeCorrectionModel	(	const int	width,
		const int	height,
		const Vk &	k,
		const Vd &	d,
		Vc &	c,
		double &	r_max
	)

Compute distortion correction parameters.

This method follows the one in Joan Sola's thesis [1], pag 46--49.

Parameters:

size,:	the size of the desired correction vector.
r_max,:	return r_max to be used to avoid bringing back landmarks outside of the image inside because of invalidity of model

Definition at line 529 of file pinholeTools.hpp.

References distortFactor().

Referenced by jafar::rtslam::SensorImageParameters::setIntrinsicCalibration().

template<class VK , class VU >

jblas::vec2 jafar::rtslam::pinhole::depixellizePoint	(	const VK &	k,
		const VU &	u
	)

Depixellization from k = [u_0, v_0, a_u, a_v].

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
u	the point to depixellize, in pixels

Returns:: the depixellized point, adimensional

Definition at line 354 of file pinholeTools.hpp.

Referenced by backprojectPoint(), backProjectPoint(), and depixellizePoint().

template<class VK , class VUd , class VU , class MUD_u >

void jafar::rtslam::pinhole::depixellizePoint	(	const VK &	k,
		const VU &	u,
		VUd &	ud,
		MUD_u &	UD_u
	)

Depixellization from k = [u_0, v_0, a_u, a_v], with Jacobians.

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
u	the point to depixellize, in pixels
ud	the depixellized point
UD_u	the Jacobian of ud wrt u

Definition at line 374 of file pinholeTools.hpp.

References depixellizePoint().

template<class VD >

double jafar::rtslam::pinhole::distortFactor	(	const VD &	d,
		double	r2
	)

Distortion factor for the model s = 1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + ...

Parameters:

r2	the square of the radius to evaluate, r2 = r^2.

Returns:: the distortion factor so that rd = s*r

Definition at line 154 of file pinholeTools.hpp.

Referenced by computeCorrectionModel(), and distortPoint().

template<class VD , class VU >

jblas::vec2 jafar::rtslam::pinhole::distortPoint	(	const VD &	d,
		const VU &	up,
		double	r2max
	)

Radial distortion: ud = (1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + etc) * u.

Parameters:

d	the distortion parameters vector
up	the point to distort

Returns:: the distorted point

Definition at line 173 of file pinholeTools.hpp.

References distortFactor().

Referenced by projectPoint().

template<class VD , class VUp , class VUd , class MUD_up >

void jafar::rtslam::pinhole::distortPoint	(	const VD &	d,
		const VUp &	up,
		VUd &	ud,
		double	r2max,
		MUD_up &	UD_up
	)

Radial distortion: ud = (1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + etc) * u, with jacobians.

Parameters:

d	the radial distortion parameters vector
up	the point to distort
ud	the distorted point
UD_up	the Jacobian of ud wrt up

Definition at line 200 of file pinholeTools.hpp.

template<class VPix >

bool jafar::rtslam::pinhole::isInImage	(	const VPix &	pix,
		const int &	width,
		const int &	height
	)

Determine if a pixel is inside the image.

Parameters:

pix	the pixel to test
width	the image width, in pixels
height	the image height, in pixels

Definition at line 515 of file pinholeTools.hpp.

References isInRoi().

template<class VPix >

bool jafar::rtslam::pinhole::isInRoi	(	const VPix &	pix,
		const int	x,
		const int	y,
		const int	width,
		const int	height
	)

Determine if a pixel is inside the region of interest.

Parameters:

pix	the pixel to test
roi	the region of interest, in pixels

Definition at line 504 of file pinholeTools.hpp.

Referenced by isInImage().

template<class VK , class VU >

jblas::vec2 jafar::rtslam::pinhole::pixellizePoint	(	const VK &	k,
		const VU &	ud
	)

Pixellization from k = [u_0, v_0, a_u, a_v].

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
ud	the point to pixellize, adimensional

Returns:: the point in pixels coordinates

Definition at line 312 of file pinholeTools.hpp.

Referenced by pixellizePoint(), and projectPoint().

template<class VK , class VUd , class VU , class MU_ud >

void jafar::rtslam::pinhole::pixellizePoint	(	const VK &	k,
		const VUd &	ud,
		VU &	u,
		MU_ud &	U_ud
	)

Pixellization from k = [u_0, v_0, a_u, a_v] with jacobians.

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
ud	the point to pixellize, adimensional
u	the pixellized point
U_ud	the Jacobian of u wrt ud

Definition at line 332 of file pinholeTools.hpp.

References pixellizePoint().

template<class VK , class VD , class V >

vec2 jafar::rtslam::pinhole::projectPoint	(	const VK &	k,
		const VD &	d,
		const V &	v,
		double	r2max
	)

Project a point into a pin-hole camera with radial distortion.

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
d	the radial distortion parameters vector
v	the 3D point to project, or the 3D director vector

Returns:: the projected and distorted point

Definition at line 397 of file pinholeTools.hpp.

References distortPoint(), pixellizePoint(), and projectPointToNormalizedPlane().

template<class VK , class VD , class V , class U >

void jafar::rtslam::pinhole::projectPoint	(	const VK &	k,
		const VD &	d,
		const V &	v,
		U &	u,
		double	r2max,
		double &	dist
	)

Project a point into a pin-hole camera with radial distortion.

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
d	the radial distortion parameters vector
v	the 3D point to project, or the 3D director vector
u	the projected and distorted point

Definition at line 409 of file pinholeTools.hpp.

References distortPoint(), pixellizePoint(), and projectPointToNormalizedPlane().

template<class VK , class VD , class V , class VU , class MU_v >

void jafar::rtslam::pinhole::projectPoint	(	const VK &	k,
		const VD &	d,
		const V &	v,
		VU &	u,
		double	r2max,
		MU_v &	U_v
	)

Project a point into a pin-hole camera with radial distortion.

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
d	the radial distortion parameters vector
v	the 3D point to project, or the 3D director vector
u	the projected and distorted point
U_v	the Jacobian of u wrt v

Definition at line 425 of file pinholeTools.hpp.

References distortPoint(), pixellizePoint(), and projectPointToNormalizedPlane().

template<class VK , class VD , class V , class VU , class MU_v >

void jafar::rtslam::pinhole::projectPoint	(	const VK &	k,
		const VD &	d,
		const V &	v,
		VU &	u,
		double	r2max,
		double &	dist,
		MU_v &	U_v
	)

Project a point into a pin-hole camera with radial distortion.

Parameters:

k	the vector of intrinsic parameters, k = [u0, v0, au, av]
d	the radial distortion parameters vector
v	the 3D point to project, or the 3D director vector
u	the projected and distorted point
dist	the distance from the camera to the point
U_v	the Jacobian of u wrt v

Definition at line 448 of file pinholeTools.hpp.

References distortPoint(), pixellizePoint(), and projectPointToNormalizedPlane().

template<class V >

vec2 jafar::rtslam::pinhole::projectPointToNormalizedPlane ( const V & v )

Pin-hole canonical projection.

Returns:: the projected point in the normalized 2D plane

Parameters:

v	a 3D point

Definition at line 44 of file pinholeTools.hpp.

Referenced by projectPoint(), and projectPointToNormalizedPlane().

template<class V , class P >

void jafar::rtslam::pinhole::projectPointToNormalizedPlane	(	const V &	v,
		P &	up,
		double &	dist
	)

Pin-hole canonical projection.

Give distance.

Parameters:

v	a 3D point
up	the projected point in the normalized 2D plane
dist	the distance from the camera to the point

Definition at line 59 of file pinholeTools.hpp.

template<class V , class U , class MU_v >

void jafar::rtslam::pinhole::projectPointToNormalizedPlane	(	const V &	v,
		U &	up,
		MU_v &	UP_v
	)

Pin-hole canonical projection, with jacobian.

Parameters:

v	the 3D point to project
up	the projected 2D point
UP_v	the Jacibian of u wrt v

Definition at line 74 of file pinholeTools.hpp.

References projectPointToNormalizedPlane().

template<class V , class U , class MU_v >

void jafar::rtslam::pinhole::projectPointToNormalizedPlane	(	const V &	v,
		U &	up,
		double &	dist,
		MU_v &	UP_v
	)

Pin-hole canonical projection, distance and with jacobian.

Parameters:

v	the 3D point to project
up	the projected 2D point
dist	the distance from the camera to the point
UP_v	the Jacibian of u wrt v

Definition at line 95 of file pinholeTools.hpp.

References projectPointToNormalizedPlane().

Detailed Description

Functions

Function Documentation