Basis class for all intrinsic parameters of a camera. More...

#include <IntrinsicBase.hpp>

Inheritance diagram for aliceVision::camera::IntrinsicBase:

Public Types
using	sptr = std::shared_ptr< IntrinsicBase >

using	ptr = IntrinsicBase *

Public Member Functions
	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...

virtual bool	operator== (const IntrinsicBase &other) const
	operator == 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	updateFromParams (const std::vector< double > &params)=0
	Update intrinsic parameters. More...

virtual bool	importFromParams (const std::vector< double > &params, const Version &inputVersion)=0
	Import intrinsic parameters from external array. More...

virtual Vec2	cam2ima (const Vec2 &p) const =0
	Transform a point from the camera plane to the image plane. More...

virtual Vec2	ima2cam (const Vec2 &p) const =0
	Transform a point from the image plane to the camera plane. 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 void	rescale (float factorW, float factorH)
	Rescale intrinsics to reflect a rescale of the camera image. 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...

Protected Attributes
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

Basis class for all intrinsic parameters of a camera.

Store the image size & define all basis optical modelization of a camera

Member Function Documentation

◆ addDistortion()

virtual Vec2 aliceVision::camera::IntrinsicBase::addDistortion ( const Vec2 & p ) const

pure virtual

Add the distortion field to a point (that is in normalized camera frame)

Parameters

[in] p The point

Returns: The point with added distortion field

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ assign()

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

pure virtual

Assign object.

Parameters

[in] other

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::IntrinsicScaleOffsetDisto, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ backprojectTransform()

Vec3 aliceVision::camera::IntrinsicBase::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.

Parameters

[in]	pt2D	The 2D point
[in]	applyDistortion	If true, apply the distortion if there is any
[in]	pose	The camera pose
[in]	depth	The depth

Returns: The 3D point

◆ backProjectUnit()

Vec3 aliceVision::camera::IntrinsicBase::backProjectUnit ( const Vec2 & pt2D ) const

Back-projection of a 2D point on a unitsphere.

Parameters

[in] pt2D The 2D point

Returns: The 3D point

◆ cam2ima()

virtual Vec2 aliceVision::camera::IntrinsicBase::cam2ima ( const Vec2 & p ) const

pure virtual

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

Parameters

[in] p A point from the camera plane

Returns: Image plane point

Implemented in aliceVision::camera::Equidistant, and aliceVision::camera::IntrinsicScaleOffset.

◆ getDerivativeBackProjectUnitWrtParams()

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

pure virtual

Get the derivative of the unit sphere backprojection.

Parameters

[in] pt2D The 2D point

Returns: The backproject jacobian with respect to the pose

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ getDerivativeTransformProjectWrtParams()

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

pure virtual

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

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ getDerivativeTransformProjectWrtPoint3()

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

pure virtual

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

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ getDistortedPixel()

virtual Vec2 aliceVision::camera::IntrinsicBase::getDistortedPixel ( const Vec2 & p ) const

pure virtual

Return the distorted pixel (with added distortion)

Parameters

[in] p The undistorted point

Returns: The distorted pixel

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ getDistortionInitializationMode()

virtual EInitMode aliceVision::camera::IntrinsicBase::getDistortionInitializationMode ( ) const

pure virtual

Get the intrinsic disto initialization mode.

Returns: The intrinsic disto initialization mode

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ getHorizontalFov()

virtual double aliceVision::camera::IntrinsicBase::getHorizontalFov ( ) const

pure virtual

Get the horizontal FOV in radians.

Returns: Horizontal FOV in radians

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ getInitializationMode()

EInitMode aliceVision::camera::IntrinsicBase::getInitializationMode ( ) const

inline

Get the intrinsic initialization mode.

Returns: The intrinsic initialization mode

◆ getMaximalDistortion()

float aliceVision::camera::IntrinsicBase::getMaximalDistortion	(	double	minRadius,
		double	maxRadius
	)		const

virtual

Assuming the distortion is a function of radius, estimate the maximal undistorted radius for a range of distorted radius.

Parameters

minRadius	the minimal radius to consider
maxRadius	the maximal radius to consider

Returns: The maximal undistorted radius

◆ getParameters()

virtual std::vector<double> aliceVision::camera::IntrinsicBase::getParameters ( ) const

pure virtual

Get the intrinsic parameters.

Returns: Intrinsic parameters as a vector

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ getParametersSize()

virtual std::size_t aliceVision::camera::IntrinsicBase::getParametersSize ( ) const

pure virtual

Get the count of intrinsic parameters.

Returns: The number of intrinsic parameters

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ getState()

EEstimatorParameterState aliceVision::camera::IntrinsicBase::getState ( ) const

inline

accessor to estimator state

Returns: a state

◆ getType()

virtual EINTRINSIC aliceVision::camera::IntrinsicBase::getType ( ) const

pure virtual

Get embed camera type.

Returns: EINTRINSIC enum value

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ getTypeStr()

std::string aliceVision::camera::IntrinsicBase::getTypeStr ( ) const

inline

Get the string describing the intrinsic type.

Returns: The string describing the intrinsic type

◆ getUndistortedPixel()

virtual Vec2 aliceVision::camera::IntrinsicBase::getUndistortedPixel ( const Vec2 & p ) const

pure virtual

Return the undistorted pixel (with removed distortion)

Parameters

[in] p The point

Returns: The undistorted pixel

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ getVerticalFov()

virtual double aliceVision::camera::IntrinsicBase::getVerticalFov ( ) const

pure virtual

Get the vertical FOV in radians.

Returns: Vertical FOV in radians

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ h()

unsigned int aliceVision::camera::IntrinsicBase::h ( ) const

inline

Get the intrinsic image height.

Returns: The intrinsic image height

◆ hasDistortion()

virtual bool aliceVision::camera::IntrinsicBase::hasDistortion ( ) const

inlinevirtual

Camera model handles a distortion field.

Returns: True if the camera model handles a distortion field

Reimplemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ hashValue()

std::size_t aliceVision::camera::IntrinsicBase::hashValue ( ) const

virtual

Generate an unique Hash from the camera parameters (used for grouping)

Returns: Unique Hash from the camera parameters

◆ ima2cam()

virtual Vec2 aliceVision::camera::IntrinsicBase::ima2cam ( const Vec2 & p ) const

pure virtual

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

Parameters

[in] p A point from the image plane

Returns: Camera plane point

Implemented in aliceVision::camera::Equidistant, and aliceVision::camera::IntrinsicScaleOffset.

◆ imagePlaneToCameraPlaneError()

virtual double aliceVision::camera::IntrinsicBase::imagePlaneToCameraPlaneError ( double value ) const

pure virtual

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

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ importFromParams()

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

pure virtual

Import intrinsic parameters from external array.

Parameters

[in]	intrinsic	parameters
[in]	inputVersion	input source version (for optional transformation)

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

Implemented in aliceVision::camera::IntrinsicScaleOffset.

◆ isLocked()

bool aliceVision::camera::IntrinsicBase::isLocked ( ) const

inline

Get the lock state of the intrinsic.

Returns: True if the intrinsic is locked, false otherwise

◆ isValid()

virtual bool aliceVision::camera::IntrinsicBase::isValid ( ) const

inlinevirtual

Return true if the intrinsic is valid.

Returns: True if the intrinsic is valid

Reimplemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ isVisible() [1/2]

bool aliceVision::camera::IntrinsicBase::isVisible ( const Vec2 & pix ) const

virtual

Return true if these pixel coordinates should be visible in the image.

Parameters

pix	input pixel coordinates to check for visibility

Returns: True if visible

◆ isVisible() [2/2]

bool aliceVision::camera::IntrinsicBase::isVisible ( const Vec2f & pix ) const

virtual

Return true if these pixel coordinates should be visible in the image.

Parameters

pix	input pixel coordinates to check for visibility

Returns: True if visible

◆ isVisibleRay()

virtual bool aliceVision::camera::IntrinsicBase::isVisibleRay ( const Vec3 & ray ) const

pure virtual

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

Parameters

ray	input ray to check for visibility

Returns: True if this ray is visible theoretically

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ operator==()

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

virtual

operator ==

Parameters

[in] other

Returns: True if equals

Reimplemented in aliceVision::camera::IntrinsicScaleOffsetDisto, and aliceVision::camera::IntrinsicScaleOffset.

◆ pixelProbability()

virtual double aliceVision::camera::IntrinsicBase::pixelProbability ( ) const

pure virtual

What is the probability of a pixel wrt the whole fov.

Returns: a value in radians

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ project()

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

pure virtual

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

Implemented in aliceVision::camera::Equidistant, aliceVision::camera::Pinhole, and aliceVision::camera::Equirectangular.

◆ removeDistortion()

virtual Vec2 aliceVision::camera::IntrinsicBase::removeDistortion ( const Vec2 & p ) const

pure virtual

Remove the distortion to a camera point (that is in normalized camera frame)

Parameters

[in] p The point

Returns: The point with removed distortion field

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ rescale()

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

virtual

Rescale intrinsics to reflect a rescale of the camera image.

Parameters

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

Reimplemented in aliceVision::camera::IntrinsicScaleOffset.

◆ residual()

Vec2 aliceVision::camera::IntrinsicBase::residual	(	const geometry::Pose3 &	pose,
		const Vec4 &	X,
		const Vec2 &	x,
		bool	applyDistortion = `true`
	)		const

inline

Compute the residual between the 3D projected point X and an image observation x.

Parameters

[in]	pose	The pose
[in]	X	The 3D projected point
[in]	x	The image observation
[in]	applyDistortion	If true, apply the distortion if there is any

Returns: residual between the 3D projected point and the image observation

◆ residuals()

Mat2X aliceVision::camera::IntrinsicBase::residuals	(	const geometry::Pose3 &	pose,
		const Mat3X &	X,
		const Mat2X &	x
	)		const

inline

Compute the residuals between the 3D projected point X and an image observation x.

Parameters

[in]	pose	The pose
[in]	X	The 3D projection
[in]	x	The image observation

Returns: residuals between the 3D projected point and the image observation

◆ sensorHeight()

double aliceVision::camera::IntrinsicBase::sensorHeight ( ) const

inline

Get the intrinsic sensor height.

Returns: The intrinsic sensor height

◆ sensorWidth()

double aliceVision::camera::IntrinsicBase::sensorWidth ( ) const

inline

Get the intrinsic sensor width.

Returns: The intrinsic sensor width

◆ serialNumber()

const std::string& aliceVision::camera::IntrinsicBase::serialNumber ( ) const

inline

Get the intrinsic serial number.

Returns: The intrinsic serial number

◆ setDistortionInitializationMode()

virtual void aliceVision::camera::IntrinsicBase::setDistortionInitializationMode ( EInitMode distortionInitializationMode )

pure virtual

Set The intrinsic disto initialization mode.

Parameters

[in] distortionInitializationMode The intrintrinsic distortion initialization mode enum

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto.

◆ setHeight()

void aliceVision::camera::IntrinsicBase::setHeight ( unsigned int height )

inline

Set the intrinsic image height.

Parameters

[in] height The image height

◆ setInitializationMode()

void aliceVision::camera::IntrinsicBase::setInitializationMode ( EInitMode initializationMode )

inline

Set the intrinsic initialization mode.

Parameters

[in] initializationMode The intrintrinsic initialization mode enum value

◆ setSensorHeight()

void aliceVision::camera::IntrinsicBase::setSensorHeight ( double height )

inline

Set the intrinsic sensor height.

Parameters

[in] height The sensor height

◆ setSensorWidth()

void aliceVision::camera::IntrinsicBase::setSensorWidth ( double width )

inline

Set the intrinsic sensor width.

Parameters

[in] width The sensor width

◆ setSerialNumber()

void aliceVision::camera::IntrinsicBase::setSerialNumber ( const std::string & serialNumber )

inline

Set the serial number.

Parameters

[in] serialNumber The serial number

◆ setState()

void aliceVision::camera::IntrinsicBase::setState ( EEstimatorParameterState state )

inline

mutator for the estimator state

Parameters

state the new state of the intrinsic

◆ setWidth()

void aliceVision::camera::IntrinsicBase::setWidth ( unsigned int width )

inline

Set the intrinsic image width.

Parameters

[in] width The image width

◆ toUnitSphere()

virtual Vec3 aliceVision::camera::IntrinsicBase::toUnitSphere ( const Vec2 & pt ) const

pure virtual

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

Parameters

pt	the input point

Returns: A point on the unit sphere

Implemented in aliceVision::camera::Pinhole, aliceVision::camera::Equidistant, and aliceVision::camera::Equirectangular.

◆ transformProject() [1/2]

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

pure virtual

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

Implemented in aliceVision::camera::Pinhole, aliceVision::camera::Equidistant, and aliceVision::camera::Equirectangular.

◆ transformProject() [2/2]

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

inline

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

◆ updateFromParams()

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

pure virtual

Update intrinsic parameters.

Parameters

[in] intrinsic parameters

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

Implemented in aliceVision::camera::IntrinsicScaleOffsetDisto, and aliceVision::camera::IntrinsicScaleOffset.

◆ w()

unsigned int aliceVision::camera::IntrinsicBase::w ( ) const

inline

Get the intrinsic image width.

Returns: The intrinsic image width

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

/home/docs/checkouts/readthedocs.org/user_builds/alicevision/checkouts/stable/src/aliceVision/camera/IntrinsicBase.hpp
/home/docs/checkouts/readthedocs.org/user_builds/alicevision/checkouts/stable/src/aliceVision/camera/IntrinsicBase.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ addDistortion()

◆ assign()

◆ backprojectTransform()

◆ backProjectUnit()

◆ cam2ima()

◆ getDerivativeBackProjectUnitWrtParams()

◆ getDerivativeTransformProjectWrtParams()

◆ getDerivativeTransformProjectWrtPoint3()

◆ getDistortedPixel()

◆ getDistortionInitializationMode()

◆ getHorizontalFov()

◆ getInitializationMode()

◆ getMaximalDistortion()

◆ getParameters()

◆ getParametersSize()

◆ getState()

◆ getType()

◆ getTypeStr()

◆ getUndistortedPixel()

◆ getVerticalFov()

◆ h()

◆ hasDistortion()

◆ hashValue()

◆ ima2cam()

◆ imagePlaneToCameraPlaneError()

◆ importFromParams()

◆ isLocked()

◆ isValid()

◆ isVisible() [1/2]

◆ isVisible() [2/2]

◆ isVisibleRay()

◆ operator==()

◆ pixelProbability()

◆ project()

◆ removeDistortion()

◆ rescale()

◆ residual()

◆ residuals()

◆ sensorHeight()

◆ sensorWidth()

◆ serialNumber()

◆ setDistortionInitializationMode()

◆ setHeight()

◆ setInitializationMode()

◆ setSensorHeight()

◆ setSensorWidth()

◆ setSerialNumber()

◆ setState()

◆ setWidth()

◆ toUnitSphere()

◆ transformProject() [1/2]

◆ transformProject() [2/2]

◆ updateFromParams()

◆ w()