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

#include <tracking/t_calibration_opencv.hpp>

Public Member Functions
	NormalizedCoordsCache (cv::Size size, t_camera_distortion_model distortion_model, cv::InputArray intrinsics, cv::InputArray distortion, cv::InputArray rectification=cv::noArray(), cv::InputArray new_camera_or_projection_matrix=cv::noArray())
	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()

xrt::auxiliary::tracking::NormalizedCoordsCache::NormalizedCoordsCache	(	cv::Size	size,
		t_camera_distortion_model	distortion_model,
		cv::InputArray	intrinsics,
		cv::InputArray	distortion,
		cv::InputArray	rectification = `cv::noArray()`,
		cv::InputArray	new_camera_or_projection_matrix = `cv::noArray()`
	)

Set up the precomputed cache for a given camera.

Parameters

size	Size of the image in pixels
distortion_model	Model used with `distortion`
intrinsics	Camera intrinsics matrix
distortion	Distortion coefficients
rectification	Rectification matrix - corresponds to parameter `R` to cv::undistortPoints().
new_camera_or_projection_matrix	A new 3x3 camera matrix or 3x4 projection matrix - corresponds to parameter `P` to cv::undistortPoints().

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.

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