Define a classic Pinhole camera. More...

#include <Pinhole.hpp>

Inheritance diagram for aliceVision::camera::Pinhole:

Public Member Functions
	Pinhole (unsigned int w, unsigned int h, const Mat3 &K)

	Pinhole (unsigned int w, unsigned int h, double focalLengthPixX, double focalLengthPixY, double offsetX, double offsetY, std::shared_ptr< Distortion > distortion=nullptr, std::shared_ptr< Undistortion > undistortion=nullptr)

Pinhole *	clone () const override
	Polymorphic clone.

void	assign (const IntrinsicBase &other) override
	Assign object. More...

double	getFocalLengthPixX () const

double	getFocalLengthPixY () const

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

EINTRINSIC	getType () const override
	Get embed camera type. More...

Mat3	K () const

void	setK (double focalLengthPixX, double focalLengthPixY, double ppx, double ppy)

void	setK (const Mat3 &K)

Vec2	transformProject (const geometry::Pose3 &pose, const Vec4 &pt3D, bool applyDistortion=true) const

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

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

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

Eigen::Matrix< double, 2, 2 >	getDerivativeTransformProjectWrtPrincipalPoint (const Eigen::Matrix4d &pose, const Vec4 &pt) const

Eigen::Matrix< double, 2, 2 >	getDerivativeTransformProjectWrtScale (const Eigen::Matrix4d &pose, const Vec4 &pt) const

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

Eigen::Matrix< double, 2, Eigen::Dynamic >	getDerivativeTransformProjectWrtDistortion (const Eigen::Matrix4d &pose, const Vec4 &pt) const override

Eigen::Matrix< double, 3, Eigen::Dynamic >	getDerivativeBackProjectUnitWrtDistortion (const Vec2 &pt2D) const override

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

Eigen::Matrix< double, 3, 2 >	getDerivativetoUnitSphereWrtPoint (const Vec2 &pt) const

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

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

Mat34	getProjectiveEquivalent (const geometry::Pose3 &pose) const

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

double	getHorizontalFov () const override
	Get the horizontal FOV in radians. More...

double	getVerticalFov () const override
	Get the vertical FOV in radians. More...

double	pixelProbability () const override
	how a one pixel change relates to an angular change More...

Public Member Functions inherited from aliceVision::camera::IntrinsicScaleOffsetDisto
	IntrinsicScaleOffsetDisto (unsigned int w, unsigned int h, double scaleX, double scaleY, double offsetX, double offsetY, std::shared_ptr< Distortion > distortion=nullptr, std::shared_ptr< Undistortion > undistortion=nullptr)

	IntrinsicScaleOffsetDisto (const IntrinsicScaleOffsetDisto &other)

bool	operator== (const IntrinsicBase &otherBase) const override
	compare to another intrinsic object More...

bool	equalTo (const IntrinsicBase &otherBase, bool ignoreDistortion) const
	compare to another intrinsic object More...

void	setDistortionObject (std::shared_ptr< Distortion > object)

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

Vec2	addDistortion (const Vec2 &p) const override
	Create a new point from a given point by adding distortion. More...

Vec2	removeDistortion (const Vec2 &p) const override
	Create a new point from a given point by removing distortion. More...

Vec2	getUndistortedPixel (const Vec2 &p) const override
	Return the un-distorted pixel (with removed distortion)

Vec2	getDistortedPixel (const Vec2 &p) const override
	Return the distorted pixel (with added distortion)

std::size_t	getDistortionParamsSize () const

std::vector< double >	getDistortionParams () const

void	setDistortionParams (const std::vector< double > &distortionParams)

template<class F >
void	setDistortionParamsFn (F &&callback)

template<class F >
void	setDistortionParamsFn (std::size_t count, F &&callback)

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

std::size_t	getParametersSize () const override
	Get the count of intrinsic parameters. More...

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

float	getMaximalDistortion ([[maybe_unused]] double minRadius, double maxRadius) const override

Eigen::Matrix< double, 2, 2 >	getDerivativeAddDistoWrtPt (const Vec2 &pt) const

Eigen::Matrix< double, 2, 2 >	getDerivativeRemoveDistoWrtPt (const Vec2 &pt) const

Eigen::MatrixXd	getDerivativeAddDistoWrtDisto (const Vec2 &pt) const

Eigen::MatrixXd	getDerivativeRemoveDistoWrtDisto (const Vec2 &pt) const

void	setDistortionInitializationMode (EInitMode distortionInitializationMode) override
	Set The intrinsic disto initialization mode. More...

EInitMode	getDistortionInitializationMode () const override
	Get the intrinsic disto initialization mode. More...

std::shared_ptr< Distortion >	getDistortion () const

void	setUndistortionObject (std::shared_ptr< Undistortion > object)

std::shared_ptr< Undistortion >	getUndistortion () const

Public Member Functions inherited from aliceVision::camera::IntrinsicScaleOffset
	IntrinsicScaleOffset (unsigned int w, unsigned int h, double scaleX, double scaleY, double offsetX, double offsetY)

void	copyFrom (const IntrinsicScaleOffset &other)

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	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...

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)

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...

std::string	getTypeStr () const
	Get the string describing the intrinsic type. 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 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< Pinhole >	cast (std::shared_ptr< IntrinsicBase > sptr)

Static Public Member Functions inherited from aliceVision::camera::IntrinsicScaleOffsetDisto
static std::shared_ptr< IntrinsicScaleOffsetDisto >	cast (std::shared_ptr< IntrinsicBase > sptr)

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

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

using	ptr = IntrinsicBase *

Protected Member Functions inherited from aliceVision::camera::IntrinsicScaleOffsetDisto
void	throwSetDistortionParamsCountError (std::size_t expected, std::size_t received)

Protected Attributes inherited from aliceVision::camera::IntrinsicScaleOffsetDisto
std::shared_ptr< Distortion >	_pDistortion

std::shared_ptr< Undistortion >	_pUndistortion

EInitMode	_distortionInitializationMode = EInitMode::NONE

Protected Attributes inherited from aliceVision::camera::IntrinsicScaleOffset
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

Detailed Description

Define a classic Pinhole camera.

Member Function Documentation

◆ assign()

void aliceVision::camera::Pinhole::assign ( const IntrinsicBase & other )

inlineoverridevirtual

Assign object.

Parameters

[in] other

Reimplemented from aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ getDerivativeBackProjectUnitWrtParams()

Eigen::Matrix< double, 3, Eigen::Dynamic > aliceVision::camera::Pinhole::getDerivativeBackProjectUnitWrtParams ( const Vec2 & pt2D ) const

overridevirtual

Get the derivative of the unit sphere backprojection.

Parameters

[in] pt2D The 2D point

Returns: The backproject jacobian with respect to the pose

Implements aliceVision::camera::IntrinsicBase.

◆ getDerivativeTransformProjectWrtParams()

Eigen::Matrix< double, 2, Eigen::Dynamic > aliceVision::camera::Pinhole::getDerivativeTransformProjectWrtParams	(	const Eigen::Matrix4d &	pos,
		const Vec4 &	pt3D
	)		const

overridevirtual

Get the derivative of a projection of a 3D point into the camera plane.

Parameters

[in]	pose	The pose
[in]	pt3D	The 3D point

Returns: The projection jacobian with respect to the params

Implements aliceVision::camera::IntrinsicBase.

◆ getDerivativeTransformProjectWrtPoint3()

Eigen::Matrix< double, 2, 3 > aliceVision::camera::Pinhole::getDerivativeTransformProjectWrtPoint3	(	const Eigen::Matrix4d &	pose,
		const Vec4 &	pt3D
	)		const

overridevirtual

Get the derivative of a projection of a 3D point into the camera plane.

Parameters

[in]	pose	The pose
[in]	pt3D	The 3D point

Returns: The projection jacobian with respect to the point

Implements aliceVision::camera::IntrinsicBase.

◆ getHorizontalFov()

double aliceVision::camera::Pinhole::getHorizontalFov ( ) const

overridevirtual

Get the horizontal FOV in radians.

Returns: Horizontal FOV in radians

Implements aliceVision::camera::IntrinsicBase.

◆ getType()

EINTRINSIC aliceVision::camera::Pinhole::getType ( ) const

overridevirtual

Get embed camera type.

Returns: EINTRINSIC enum value

Implements aliceVision::camera::IntrinsicBase.

◆ getVerticalFov()

double aliceVision::camera::Pinhole::getVerticalFov ( ) const

overridevirtual

Get the vertical FOV in radians.

Returns: Vertical FOV in radians

Implements aliceVision::camera::IntrinsicBase.

◆ imagePlaneToCameraPlaneError()

double aliceVision::camera::Pinhole::imagePlaneToCameraPlaneError ( double value ) const

overridevirtual

Normalize a given unit pixel error to the camera plane.

Parameters

[in] value Given unit pixel error

Returns: Normalized unit pixel error to the camera plane

Implements aliceVision::camera::IntrinsicBase.

◆ isValid()

bool aliceVision::camera::Pinhole::isValid ( ) const

inlineoverridevirtual

Return true if the intrinsic is valid.

Returns: True if the intrinsic is valid

Reimplemented from aliceVision::camera::IntrinsicBase.

◆ isVisibleRay()

bool aliceVision::camera::Pinhole::isVisibleRay ( const Vec3 & ray ) const

overridevirtual

Return true if this ray should be visible in the image.

Parameters

[in] ray the ray that may or may not be visible in the image

Returns: True if this ray is visible theoretically, false otherwise

Implements aliceVision::camera::IntrinsicBase.

◆ pixelProbability()

double aliceVision::camera::Pinhole::pixelProbability ( ) const

overridevirtual

how a one pixel change relates to an angular change

Returns: a value in radians

Implements aliceVision::camera::IntrinsicBase.

◆ project()

Vec2 aliceVision::camera::Pinhole::project	(	const Vec4 &	pt3D,
		bool	applyDistortion = `true`
	)		const

overridevirtual

Projection of a 3D point into the camera plane (Apply disto (if any) and Intrinsics)

Parameters

[in]	pt3D	The 3D point
[in]	applyDistortion	If true, apply the distortion if there is any

Returns: The 2D projection in the camera plane

Implements aliceVision::camera::IntrinsicBase.

◆ toUnitSphere()

Vec3 aliceVision::camera::Pinhole::toUnitSphere ( const Vec2 & pt ) const

overridevirtual

Transform a given point (in pixels) to unit sphere in meters.

Parameters

pt	the input point

Returns: A point on the unit sphere

Implements aliceVision::camera::IntrinsicBase.

◆ transformProject()

Vec2 aliceVision::camera::Pinhole::transformProject	(	const Eigen::Matrix4d &	pose,
		const Vec4 &	pt3D,
		bool	applyDistortion = `true`
	)		const

overridevirtual

Projection of a 3D point into the camera plane (Apply pose, disto (if any) and Intrinsics)

Parameters

[in]	pose	The pose
[in]	pt3D	The 3D point
[in]	applyDistortion	If true, apply the distortion if there is any

Returns: The 2D projection in the camera plane

Implements aliceVision::camera::IntrinsicBase.

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

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

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ assign()

◆ getDerivativeBackProjectUnitWrtParams()

◆ getDerivativeTransformProjectWrtParams()

◆ getDerivativeTransformProjectWrtPoint3()

◆ getHorizontalFov()

◆ getType()

◆ getVerticalFov()

◆ imagePlaneToCameraPlaneError()

◆ isValid()

◆ isVisibleRay()

◆ pixelProbability()

◆ project()

◆ toUnitSphere()

◆ transformProject()