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| 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) |
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| IntrinsicScaleOffsetDisto (const IntrinsicScaleOffsetDisto &other) |
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| void | assign (const IntrinsicBase &other) override |
| | Assign object. More...
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| bool | operator== (const IntrinsicBase &otherBase) const override |
| | compare to another intrinsic object More...
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| bool | equalTo (const IntrinsicBase &otherBase, bool ignoreDistortion) const |
| | compare to another intrinsic object More...
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void | setDistortionObject (std::shared_ptr< Distortion > object) |
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| bool | hasDistortion () const override |
| | Camera model handles a distortion field. More...
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| Vec2 | addDistortion (const Vec2 &p) const override |
| | Create a new point from a given point by adding distortion. More...
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| Vec2 | removeDistortion (const Vec2 &p) const override |
| | Create a new point from a given point by removing distortion. More...
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Vec2 | getUndistortedPixel (const Vec2 &p) const override |
| | Return the un-distorted pixel (with removed distortion)
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Vec2 | getDistortedPixel (const Vec2 &p) const override |
| | Return the distorted pixel (with added distortion)
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std::size_t | getDistortionParamsSize () const |
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std::vector< double > | getDistortionParams () const |
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void | setDistortionParams (const std::vector< double > &distortionParams) |
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template<class F > |
| void | setDistortionParamsFn (F &&callback) |
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template<class F > |
| void | setDistortionParamsFn (std::size_t count, F &&callback) |
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| std::vector< double > | getParameters () const override |
| | Get the intrinsic parameters. More...
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| std::size_t | getParametersSize () const override |
| | Get the count of intrinsic parameters. More...
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| bool | updateFromParams (const std::vector< double > ¶ms) override |
| | Update intrinsic parameters. More...
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float | getMaximalDistortion ([[maybe_unused]] double minRadius, double maxRadius) const override |
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Eigen::Matrix< double, 2, 2 > | getDerivativeAddDistoWrtPt (const Vec2 &pt) const |
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Eigen::Matrix< double, 2, 2 > | getDerivativeRemoveDistoWrtPt (const Vec2 &pt) const |
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Eigen::MatrixXd | getDerivativeAddDistoWrtDisto (const Vec2 &pt) const |
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Eigen::MatrixXd | getDerivativeRemoveDistoWrtDisto (const Vec2 &pt) const |
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virtual Eigen::Matrix< double, 2, Eigen::Dynamic > | getDerivativeTransformProjectWrtDistortion (const Eigen::Matrix4d &pose, const Vec4 &pt) const =0 |
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virtual Eigen::Matrix< double, 3, Eigen::Dynamic > | getDerivativeBackProjectUnitWrtDistortion (const Vec2 &pt2D) const =0 |
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| void | setDistortionInitializationMode (EInitMode distortionInitializationMode) override |
| | Set The intrinsic disto initialization mode. More...
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| EInitMode | getDistortionInitializationMode () const override |
| | Get the intrinsic disto initialization mode. More...
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std::shared_ptr< Distortion > | getDistortion () const |
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void | setUndistortionObject (std::shared_ptr< Undistortion > object) |
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std::shared_ptr< Undistortion > | getUndistortion () const |
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| IntrinsicScaleOffset (unsigned int w, unsigned int h, double scaleX, double scaleY, double offsetX, double offsetY) |
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void | copyFrom (const IntrinsicScaleOffset &other) |
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void | setScale (const Vec2 &scale) |
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Vec2 | getScale () const |
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void | setOffset (const Vec2 &offset) |
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Vec2 | getOffset () const |
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const Vec2 | getPrincipalPoint () const |
| | Principal point in image coordinate ((0,0) is image top-left).
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| Vec2 | cam2ima (const Vec2 &p) const override |
| | Transform a point from the camera plane to the image plane. More...
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virtual Eigen::Matrix2d | getDerivativeCam2ImaWrtScale (const Vec2 &p) const |
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virtual Eigen::Matrix2d | getDerivativeCam2ImaWrtPoint () const |
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virtual Eigen::Matrix2d | getDerivativeCam2ImaWrtPrincipalPoint () const |
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| Vec2 | ima2cam (const Vec2 &p) const override |
| | Transform a point from the image plane to the camera plane. More...
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virtual Eigen::Matrix< double, 2, 2 > | getDerivativeIma2CamWrtScale (const Vec2 &p) const |
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virtual Eigen::Matrix2d | getDerivativeIma2CamWrtPoint () const |
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virtual Eigen::Matrix2d | getDerivativeIma2CamWrtPrincipalPoint () const |
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| void | rescale (float factorW, float factorH) override |
| | Rescale intrinsics to reflect a rescale of the camera image. More...
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| bool | importFromParams (const std::vector< double > ¶ms, 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...
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void | setInitialScale (const Vec2 &initialScale) |
| | Set the initial scale for the intrinsic (used to constrain minimization)
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| Vec2 | getInitialScale () const |
| | Get the intrinsic initial scale. More...
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| void | setRatioLocked (bool lock) |
| | Lock the ratio between fx and fy. More...
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bool | isRatioLocked () const |
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| void | setOffsetLocked (bool lock) |
| | Lock the offset. More...
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bool | isOffsetLocked () const |
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| void | setScaleLocked (bool lock) |
| | Lock the scale. More...
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bool | isScaleLocked () const |
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| double | getFocalLength () const |
| | get focal length in mm More...
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| double | getInitialFocalLength () const |
| | get initial focal length in mm More...
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| double | getPixelAspectRatio () const |
| | estimate the pixel aspect ratio More...
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| void | setFocalLength (double focalLengthMM, double pixelAspectRatio, bool useCompatibility=false) |
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| void | setInitialFocalLength (double initialFocalLengthMM, double pixelAspectRatio, bool useCompatibility=false) |
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| IntrinsicBase (unsigned int width, unsigned int height, const std::string &serialNumber="") |
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| bool | isLocked () const |
| | Get the lock state of the intrinsic. More...
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| unsigned int | w () const |
| | Get the intrinsic image width. More...
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| unsigned int | h () const |
| | Get the intrinsic image height. More...
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| double | sensorWidth () const |
| | Get the intrinsic sensor width. More...
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| double | sensorHeight () const |
| | Get the intrinsic sensor height. More...
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| const std::string & | serialNumber () const |
| | Get the intrinsic serial number. More...
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| EInitMode | getInitializationMode () const |
| | Get the intrinsic initialization mode. More...
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bool | operator!= (const IntrinsicBase &other) const |
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| 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...
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| 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...
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| 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...
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| 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...
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| Vec3 | backProjectUnit (const Vec2 &pt2D) const |
| | Back-projection of a 2D point on a unitsphere. More...
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Vec4 | getCartesianfromSphericalCoordinates (const Vec3 &pt) |
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Eigen::Matrix< double, 4, 3 > | getDerivativeCartesianfromSphericalCoordinates (const Vec3 &pt) |
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| 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...
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| 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...
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| virtual Eigen::Matrix< double, 3, Eigen::Dynamic > | getDerivativeBackProjectUnitWrtParams (const Vec2 &pt2D) const =0 |
| | Get the derivative of the unit sphere backprojection. More...
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| 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...
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| 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...
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void | lock () |
| | Lock the intrinsic.
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void | unlock () |
| | Unlock the intrinsic.
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| void | setWidth (unsigned int width) |
| | Set the intrinsic image width. More...
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| void | setHeight (unsigned int height) |
| | Set the intrinsic image height. More...
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| void | setSensorWidth (double width) |
| | Set the intrinsic sensor width. More...
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| void | setSensorHeight (double height) |
| | Set the intrinsic sensor height. More...
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| void | setSerialNumber (const std::string &serialNumber) |
| | Set the serial number. More...
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| void | setInitializationMode (EInitMode initializationMode) |
| | Set the intrinsic initialization mode. More...
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virtual IntrinsicBase * | clone () const =0 |
| | Polymorphic clone.
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| virtual EINTRINSIC | getType () const =0 |
| | Get embed camera type. More...
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| std::string | getTypeStr () const |
| | Get the string describing the intrinsic type. More...
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| virtual double | imagePlaneToCameraPlaneError (double value) const =0 |
| | Normalize a given unit pixel error to the camera plane. More...
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| virtual double | pixelProbability () const =0 |
| | What is the probability of a pixel wrt the whole fov. More...
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| virtual bool | isValid () const |
| | Return true if the intrinsic is valid. More...
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| virtual bool | isVisibleRay (const Vec3 &ray) const =0 |
| | Return true if this ray should be visible in the image. More...
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| virtual bool | isVisible (const Vec2 &pix) const |
| | Return true if these pixel coordinates should be visible in the image. More...
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| virtual bool | isVisible (const Vec2f &pix) const |
| | Return true if these pixel coordinates should be visible in the image. More...
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| 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...
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| virtual std::size_t | hashValue () const |
| | Generate an unique Hash from the camera parameters (used for grouping) More...
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| virtual Vec3 | toUnitSphere (const Vec2 &pt) const =0 |
| | Transform a given point (in pixels) to unit sphere in meters. More...
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| virtual double | getHorizontalFov () const =0 |
| | Get the horizontal FOV in radians. More...
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| virtual double | getVerticalFov () const =0 |
| | Get the vertical FOV in radians. More...
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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.
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| EEstimatorParameterState | getState () const |
| | accessor to estimator state More...
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| void | setState (EEstimatorParameterState state) |
| | mutator for the estimator state More...
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Public Member Functions inherited from aliceVision::camera::IntrinsicScaleOffset
1.8.17