xrt::auxiliary::tracking::NormalizedCoordsCache Class Reference

Provides cached, precomputed normalized image coordinates from original, distorted ones. More...

#include <tracking/t_calibration_opencv.hpp>

Public Member Functions
	NormalizedCoordsCache (cv::Size size, const cv::Matx33d &intrinsics, const cv::Matx< double, 5, 1 > &distortion)
	Set up the precomputed cache for a given camera. More...
	NormalizedCoordsCache (cv::Size size, const cv::Matx33d &intrinsics, const cv::Matx< double, 5, 1 > &distortion, const cv::Matx33d &rectification, const cv::Matx33d &new_camera_matrix)
	Set up the precomputed cache for a given camera (overload for rectification and new camera matrix) More...
	NormalizedCoordsCache (cv::Size size, const cv::Matx33d &intrinsics, const cv::Matx< double, 5, 1 > &distortion, const cv::Matx33d &rectification, const cv::Matx< double, 3, 4 > &new_projection_matrix)
	Set up the precomputed cache for a given camera. More...
	NormalizedCoordsCache (cv::Size size, const cv::Mat &intrinsics, const cv::Mat &distortion)
	Set up the precomputed cache for a given camera. More...
cv::Vec2f	getNormalizedImageCoords (cv::Point2f origCoords) const
	Get normalized, undistorted coordinates from a point in the original (distorted, etc.) image. More...
cv::Vec3f	getNormalizedVector (cv::Point2f origCoords) const
	Get normalized vector in the camera-space direction corresponding to the original (distorted, etc.) image coordinates. More...

Detailed Description

Provides cached, precomputed normalized image coordinates from original, distorted ones.

Populates internal structures using cv::undistortPoints() and performs subpixel sampling to interpolate for each query. Essentially, this class lets you perform cv::undistortPoints() while caching the initial setup work required for that function.

Constructor & Destructor Documentation

NormalizedCoordsCache() [1/4]

xrt::auxiliary::tracking::NormalizedCoordsCache::NormalizedCoordsCache	(	cv::Size	size,
		const cv::Matx33d &	intrinsics,
		const cv::Matx< double, 5, 1 > &	distortion
	)

Set up the precomputed cache for a given camera.

Parameters

size	Size of the image in pixels
intrinsics	Camera intrinsics matrix
distortion	Distortion coefficients

This overload applies no rectification (R) and uses a normalized/identity new camera matrix (P).

References xrt::auxiliary::tracking::generateInputCoordsAndReserveOutputCoords(), and xrt::auxiliary::tracking::populateCacheMats().

NormalizedCoordsCache() [2/4]

xrt::auxiliary::tracking::NormalizedCoordsCache::NormalizedCoordsCache	(	cv::Size	size,
		const cv::Matx33d &	intrinsics,
		const cv::Matx< double, 5, 1 > &	distortion,
		const cv::Matx33d &	rectification,
		const cv::Matx33d &	new_camera_matrix
	)

Set up the precomputed cache for a given camera (overload for rectification and new camera matrix)

Parameters

size	Size of the image in pixels
intrinsics	Camera intrinsics matrix
distortion	Distortion coefficients
rectification	Rectification matrix - corresponds to parameter R to cv::undistortPoints().
new_camera_matrix	A 3x3 new camera matrix - corresponds to parameter P to cv::undistortPoints().

References xrt::auxiliary::tracking::generateInputCoordsAndReserveOutputCoords(), and xrt::auxiliary::tracking::populateCacheMats().

NormalizedCoordsCache() [3/4]

xrt::auxiliary::tracking::NormalizedCoordsCache::NormalizedCoordsCache	(	cv::Size	size,
		const cv::Matx33d &	intrinsics,
		const cv::Matx< double, 5, 1 > &	distortion,
		const cv::Matx33d &	rectification,
		const cv::Matx< double, 3, 4 > &	new_projection_matrix
	)

Set up the precomputed cache for a given camera.

(overload for rectification and new projection matrix)

Parameters

size	Size of the image in pixels
intrinsics	Camera intrinsics matrix
distortion	Distortion coefficients
rectification	Rectification matrix - corresponds to parameter R to cv::undistortPoints().
new_projection_matrix	A 3x4 new projection matrix - corresponds to parameter P to cv::undistortPoints().

References xrt::auxiliary::tracking::generateInputCoordsAndReserveOutputCoords(), and xrt::auxiliary::tracking::populateCacheMats().

NormalizedCoordsCache() [4/4]

xrt::auxiliary::tracking::NormalizedCoordsCache::NormalizedCoordsCache	(	cv::Size	size,
		const cv::Mat &	intrinsics,
		const cv::Mat &	distortion
	)

Set up the precomputed cache for a given camera.

Less-strongly-typed overload.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

This overload applies no rectification (R) and uses a normalized/identity new camera matrix (P).

References xrt::auxiliary::tracking::generateInputCoordsAndReserveOutputCoords(), and xrt::auxiliary::tracking::populateCacheMats().

Member Function Documentation

getNormalizedImageCoords()

cv::Vec2f xrt::auxiliary::tracking::NormalizedCoordsCache::getNormalizedImageCoords

(

cv::Point2f

origCoords

)

const

Get normalized, undistorted coordinates from a point in the original (distorted, etc.) image.

Parameters

origCoords

Image coordinates in original image

Returns

Corresponding undistorted coordinates in a "normalized" image

getNormalizedVector()

cv::Vec3f xrt::auxiliary::tracking::NormalizedCoordsCache::getNormalizedVector

(

cv::Point2f

origCoords

)

const

Get normalized vector in the camera-space direction corresponding to the original (distorted, etc.) image coordinates.

Note that the Z component will be negative by convention.

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

• auxiliary/tracking/t_calibration_opencv.hpp
• auxiliary/tracking/t_calibration.cpp