Class with "focal" (scale) and center offset. More...

#include <IntrinsicScaleOffset.hpp>

Inheritance diagram for aliceVision::camera::IntrinsicScaleOffset:

Public Member Functions
	IntrinsicScaleOffset (unsigned int w, unsigned int h, double scaleX, double scaleY, double offsetX, double offsetY)

void	copyFrom (const IntrinsicScaleOffset &other)

bool	operator== (const IntrinsicBase &otherBase) const override
	operator == More...

void	setScale (const Vec2 &scale)

Vec2	getScale () const

void	setOffset (const Vec2 &offset)

Vec2	getOffset () const

const Vec2	getPrincipalPoint () const
	Principal point in image coordinate ((0,0) is image top-left).

Vec2	cam2ima (const Vec2 &p) const override
	Transform a point from the camera plane to the image plane. More...

virtual Eigen::Matrix2d	getDerivativeCam2ImaWrtScale (const Vec2 &p) const

virtual Eigen::Matrix2d	getDerivativeCam2ImaWrtPoint () const

virtual Eigen::Matrix2d	getDerivativeCam2ImaWrtPrincipalPoint () const

Vec2	ima2cam (const Vec2 &p) const override
	Transform a point from the image plane to the camera plane. More...

virtual Eigen::Matrix< double, 2, 2 >	getDerivativeIma2CamWrtScale (const Vec2 &p) const

virtual Eigen::Matrix2d	getDerivativeIma2CamWrtPoint () const

virtual Eigen::Matrix2d	getDerivativeIma2CamWrtPrincipalPoint () const

void	rescale (float factorW, float factorH) override
	Rescale intrinsics to reflect a rescale of the camera image. More...

bool	updateFromParams (const std::vector< double > &params) override
	Update intrinsic parameters. More...

bool	importFromParams (const std::vector< double > &params, const Version &inputVersion) override
	Import a vector of params loaded from a file. It is similar to updateFromParams but it deals with file compatibility. More...

void	setInitialScale (const Vec2 &initialScale)
	Set the initial scale for the intrinsic (used to constrain minimization)

Vec2	getInitialScale () const
	Get the intrinsic initial scale. More...

void	setRatioLocked (bool lock)
	Lock the ratio between fx and fy. More...

bool	isRatioLocked () const

void	setOffsetLocked (bool lock)
	Lock the offset. More...

bool	isOffsetLocked () const

void	setScaleLocked (bool lock)
	Lock the scale. More...

bool	isScaleLocked () const

double	getFocalLength () const
	get focal length in mm More...

double	getInitialFocalLength () const
	get initial focal length in mm More...

double	getPixelAspectRatio () const
	estimate the pixel aspect ratio More...

void	setFocalLength (double focalLengthMM, double pixelAspectRatio, bool useCompatibility=false)

void	setInitialFocalLength (double initialFocalLengthMM, double pixelAspectRatio, bool useCompatibility=false)

Public Member Functions inherited from aliceVision::camera::IntrinsicBase
	IntrinsicBase (unsigned int width, unsigned int height, const std::string &serialNumber="")

bool	isLocked () const
	Get the lock state of the intrinsic. More...

unsigned int	w () const
	Get the intrinsic image width. More...

unsigned int	h () const
	Get the intrinsic image height. More...

double	sensorWidth () const
	Get the intrinsic sensor width. More...

double	sensorHeight () const
	Get the intrinsic sensor height. More...

const std::string &	serialNumber () const
	Get the intrinsic serial number. More...

EInitMode	getInitializationMode () const
	Get the intrinsic initialization mode. More...

bool	operator!= (const IntrinsicBase &other) const

Vec2	transformProject (const geometry::Pose3 &pose, const Vec4 &pt3D, bool applyDistortion=true) const
	Projection of a 3D point into the camera plane (Apply pose, disto (if any) and Intrinsics) More...

virtual Vec2	transformProject (const Eigen::Matrix4d &pose, const Vec4 &pt3D, bool applyDistortion=true) const =0
	Projection of a 3D point into the camera plane (Apply pose, disto (if any) and Intrinsics) More...

virtual Vec2	project (const Vec4 &pt3D, bool applyDistortion=true) const =0
	Projection of a 3D point into the camera plane (Apply disto (if any) and Intrinsics) More...

Vec3	backprojectTransform (const Vec2 &pt2D, bool applyUndistortion=true, const geometry::Pose3 &pose=geometry::Pose3(), double depth=1.0) const
	Back-projection of a 2D point at a specific depth into a 3D point. More...

Vec3	backProjectUnit (const Vec2 &pt2D) const
	Back-projection of a 2D point on a unitsphere. More...

Vec4	getCartesianfromSphericalCoordinates (const Vec3 &pt)

Eigen::Matrix< double, 4, 3 >	getDerivativeCartesianfromSphericalCoordinates (const Vec3 &pt)

virtual Eigen::Matrix< double, 2, 3 >	getDerivativeTransformProjectWrtPoint3 (const Eigen::Matrix4d &pose, const Vec4 &pt3D) const =0
	Get the derivative of a projection of a 3D point into the camera plane. More...

virtual Eigen::Matrix< double, 2, Eigen::Dynamic >	getDerivativeTransformProjectWrtParams (const Eigen::Matrix4d &pos, const Vec4 &pt3D) const =0
	Get the derivative of a projection of a 3D point into the camera plane. More...

virtual Eigen::Matrix< double, 3, Eigen::Dynamic >	getDerivativeBackProjectUnitWrtParams (const Vec2 &pt2D) const =0
	Get the derivative of the unit sphere backprojection. More...

Vec2	residual (const geometry::Pose3 &pose, const Vec4 &X, const Vec2 &x, bool applyDistortion=true) const
	Compute the residual between the 3D projected point X and an image observation x. More...

Mat2X	residuals (const geometry::Pose3 &pose, const Mat3X &X, const Mat2X &x) const
	Compute the residuals between the 3D projected point X and an image observation x. More...

void	lock ()
	Lock the intrinsic.

void	unlock ()
	Unlock the intrinsic.

void	setWidth (unsigned int width)
	Set the intrinsic image width. More...

void	setHeight (unsigned int height)
	Set the intrinsic image height. More...

void	setSensorWidth (double width)
	Set the intrinsic sensor width. More...

void	setSensorHeight (double height)
	Set the intrinsic sensor height. More...

void	setSerialNumber (const std::string &serialNumber)
	Set the serial number. More...

void	setInitializationMode (EInitMode initializationMode)
	Set the intrinsic initialization mode. More...

virtual IntrinsicBase *	clone () const =0
	Polymorphic clone.

virtual void	assign (const IntrinsicBase &other)=0
	Assign object. More...

virtual EINTRINSIC	getType () const =0
	Get embed camera type. More...

std::string	getTypeStr () const
	Get the string describing the intrinsic type. More...

virtual std::vector< double >	getParameters () const =0
	Get the intrinsic parameters. More...

virtual std::size_t	getParametersSize () const =0
	Get the count of intrinsic parameters. More...

virtual bool	hasDistortion () const
	Camera model handles a distortion field. More...

virtual Vec2	addDistortion (const Vec2 &p) const =0
	Add the distortion field to a point (that is in normalized camera frame) More...

virtual Vec2	removeDistortion (const Vec2 &p) const =0
	Remove the distortion to a camera point (that is in normalized camera frame) More...

virtual Vec2	getUndistortedPixel (const Vec2 &p) const =0
	Return the undistorted pixel (with removed distortion) More...

virtual Vec2	getDistortedPixel (const Vec2 &p) const =0
	Return the distorted pixel (with added distortion) More...

virtual void	setDistortionInitializationMode (EInitMode distortionInitializationMode)=0
	Set The intrinsic disto initialization mode. More...

virtual EInitMode	getDistortionInitializationMode () const =0
	Get the intrinsic disto initialization mode. More...

virtual double	imagePlaneToCameraPlaneError (double value) const =0
	Normalize a given unit pixel error to the camera plane. More...

virtual double	pixelProbability () const =0
	What is the probability of a pixel wrt the whole fov. More...

virtual bool	isValid () const
	Return true if the intrinsic is valid. More...

virtual bool	isVisibleRay (const Vec3 &ray) const =0
	Return true if this ray should be visible in the image. More...

virtual bool	isVisible (const Vec2 &pix) const
	Return true if these pixel coordinates should be visible in the image. More...

virtual bool	isVisible (const Vec2f &pix) const
	Return true if these pixel coordinates should be visible in the image. More...

virtual float	getMaximalDistortion (double minRadius, double maxRadius) const
	Assuming the distortion is a function of radius, estimate the maximal undistorted radius for a range of distorted radius. More...

virtual std::size_t	hashValue () const
	Generate an unique Hash from the camera parameters (used for grouping) More...

virtual Vec3	toUnitSphere (const Vec2 &pt) const =0
	Transform a given point (in pixels) to unit sphere in meters. More...

virtual double	getHorizontalFov () const =0
	Get the horizontal FOV in radians. More...

virtual double	getVerticalFov () const =0
	Get the vertical FOV in radians. More...

virtual void	initializeState ()
	Initialize state with default values The estimator state is used in the bundle adjustment to decide if we update it. It is set to constant if the intrinsic is locked It is set to refined if unlocked.

EEstimatorParameterState	getState () const
	accessor to estimator state More...

void	setState (EEstimatorParameterState state)
	mutator for the estimator state More...

Static Public Member Functions
static std::shared_ptr< IntrinsicScaleOffset >	cast (std::shared_ptr< IntrinsicBase > sptr)

Protected Attributes
bool	_ratioLocked {true}

bool	_offsetLocked {false}

bool	_scaleLocked {false}

Vec2	_scale {1.0, 1.0}

Vec2	_offset {0.0, 0.0}

Vec2	_initialScale {-1.0, -1.0}

Protected Attributes inherited from aliceVision::camera::IntrinsicBase
std::string	_serialNumber

double	_sensorWidth = 36.0

double	_sensorHeight = 24.0

unsigned int	_w = 0

unsigned int	_h = 0

EInitMode	_initializationMode = EInitMode::NONE
	initialization mode

bool	_locked = false
	intrinsic lock

EEstimatorParameterState	_state = EEstimatorParameterState::REFINED

Additional Inherited Members
Public Types inherited from aliceVision::camera::IntrinsicBase
using	sptr = std::shared_ptr< IntrinsicBase >

using	ptr = IntrinsicBase *

Detailed Description

Class with "focal" (scale) and center offset.

Member Function Documentation

◆ cam2ima()

Vec2 aliceVision::camera::IntrinsicScaleOffset::cam2ima ( const Vec2 & p ) const

overridevirtual

Transform a point from the camera plane to the image plane.

Parameters

[in] p A point from the camera plane

Returns: Image plane point

Implements aliceVision::camera::IntrinsicBase.

◆ getFocalLength()

double aliceVision::camera::IntrinsicScaleOffset::getFocalLength ( ) const

get focal length in mm

Returns: focal length in mm

◆ getInitialFocalLength()

double aliceVision::camera::IntrinsicScaleOffset::getInitialFocalLength ( ) const

get initial focal length in mm

Returns: initial focal length in mm

◆ getInitialScale()

Vec2 aliceVision::camera::IntrinsicScaleOffset::getInitialScale ( ) const

inline

Get the intrinsic initial scale.

Returns: The intrinsic initial scale

◆ getPixelAspectRatio()

double aliceVision::camera::IntrinsicScaleOffset::getPixelAspectRatio ( ) const

estimate the pixel aspect ratio

Returns: the pixel aspect ratio

◆ ima2cam()

Vec2 aliceVision::camera::IntrinsicScaleOffset::ima2cam ( const Vec2 & p ) const

overridevirtual

Transform a point from the image plane to the camera plane.

Parameters

[in] p A point from the image plane

Returns: Camera plane point

Implements aliceVision::camera::IntrinsicBase.

◆ importFromParams()

bool aliceVision::camera::IntrinsicScaleOffset::importFromParams	(	const std::vector< double > &	params,
		const Version &	inputVersion
	)

overridevirtual

Import a vector of params loaded from a file. It is similar to updateFromParams but it deals with file compatibility.

Parameters

[in]	params	a vector containing the intrinsic's parameters
[in]	inputVersion

Returns: True if the parameters were correctly updated, false otherwise

Implements aliceVision::camera::IntrinsicBase.

◆ operator==()

bool aliceVision::camera::IntrinsicScaleOffset::operator== ( const IntrinsicBase & other ) const

overridevirtual

operator ==

Parameters

[in] other

Returns: True if equals

Reimplemented from aliceVision::camera::IntrinsicBase.

Reimplemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ rescale()

void aliceVision::camera::IntrinsicScaleOffset::rescale	(	float	factorW,
		float	factorH
	)

overridevirtual

Rescale intrinsics to reflect a rescale of the camera image.

Parameters

factorW	a scale factor for Width
factorH	a scale factor for Height

Reimplemented from aliceVision::camera::IntrinsicBase.

◆ setFocalLength()

void aliceVision::camera::IntrinsicScaleOffset::setFocalLength	(	double	focalLengthMM,
		double	pixelAspectRatio,
		bool	useCompatibility = `false`
	)

@Brief set scale given focal length and pixelaspectratio

Parameters

focalLengthMM	focal length in mm
pixelAspectRatio	pixel aspect ratio (image with = pixelAspectRatio * realwidth)
usePixelRatioForX	use pixel ratio

◆ setInitialFocalLength()

void aliceVision::camera::IntrinsicScaleOffset::setInitialFocalLength	(	double	initialFocalLengthMM,
		double	pixelAspectRatio,
		bool	useCompatibility = `false`
	)

@Brief set initial scale given initial focal length and pixelaspectratio

Parameters

initialFocalLengthMM	initial focal length in mm
pixelAspectRatio	pixel aspect ratio (image with = pixelAspectRatio * realwidth)
useCompability	make sure compatibility mode is used

◆ setOffsetLocked()

void aliceVision::camera::IntrinsicScaleOffset::setOffsetLocked ( bool lock )

inline

Lock the offset.

Parameters

lock	True if the offset is locked, false otherwise

◆ setRatioLocked()

void aliceVision::camera::IntrinsicScaleOffset::setRatioLocked ( bool lock )

inline

Lock the ratio between fx and fy.

Parameters

lock	True if the ratio is locked, false otherwise

◆ setScaleLocked()

void aliceVision::camera::IntrinsicScaleOffset::setScaleLocked ( bool lock )

inline

Lock the scale.

Parameters

lock	True if the scale is locked, false otherwise

◆ updateFromParams()

bool aliceVision::camera::IntrinsicScaleOffset::updateFromParams ( const std::vector< double > & params )

overridevirtual

Update intrinsic parameters.

Parameters

[in] intrinsic parameters

Returns: True if the parameters were successfully updated, false otherwise

Implements aliceVision::camera::IntrinsicBase.

Reimplemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

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

/home/docs/checkouts/readthedocs.org/user_builds/alicevision/checkouts/latest/src/aliceVision/camera/IntrinsicScaleOffset.hpp
/home/docs/checkouts/readthedocs.org/user_builds/alicevision/checkouts/latest/src/aliceVision/camera/IntrinsicScaleOffset.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ cam2ima()

◆ getFocalLength()

◆ getInitialFocalLength()

◆ getInitialScale()

◆ getPixelAspectRatio()

◆ ima2cam()

◆ importFromParams()

◆ operator==()

◆ rescale()

◆ setFocalLength()

◆ setInitialFocalLength()

◆ setOffsetLocked()

◆ setRatioLocked()

◆ setScaleLocked()

◆ updateFromParams()