t_camera_models.hpp File Reference

Camera (un)projection C++ API for various camera models. More...

#include "math/m_vec2.h"
#include "math/m_matrix_2x2.h"
#include "math/m_mathinclude.h"
#include "t_tracking.h"
#include "tracking/t_camera_models.h"

Include dependency graph for t_camera_models.hpp:

Go to the source code of this file.

Data Structures
struct	xrt::auxiliary::tracking::camera_models::Vector2< T >
struct	xrt::auxiliary::tracking::camera_models::Matrix2x2< T >

Macros
#define	CAST(x)   static_cast<T>(x)

Functions
template<typename T >
static bool	xrt::auxiliary::tracking::camera_models::pinhole_project (const t_camera_model_params &dist, const T x, const T y, const T z, T &out_x, T &out_y)
template<typename T >
static bool	xrt::auxiliary::tracking::camera_models::pinhole_unproject (const t_camera_model_params &dist, const T x, const T y, T &out_x, T &out_y, T &out_z)
template<typename T >
static T	xrt::auxiliary::tracking::camera_models::kb4_calc_r_theta (const t_camera_model_params &dist, const T &theta, const T &theta2)
template<typename T >
static bool	xrt::auxiliary::tracking::camera_models::kb4_project (const t_camera_model_params &dist, const T &x, const T &y, const T &z, T &out_x, T &out_y)
template<typename T >
static T	xrt::auxiliary::tracking::camera_models::kb4_solve_theta (const t_camera_model_params &dist, const T &r_theta, T *d_func_d_theta)
template<typename T >
static bool	xrt::auxiliary::tracking::camera_models::kb4_unproject (const t_camera_model_params &dist, const T &x, const T &y, T &out_x, T &out_y, T &out_z)
template<typename T >
static void	xrt::auxiliary::tracking::camera_models::kb4_undistort (const t_camera_model_params &dist, const T &x, const T &y, T &out_x, T &out_y)
template<typename T >
static bool	xrt::auxiliary::tracking::camera_models::rt8_project (const t_camera_model_params &dist, const T &x, const T &y, const T &z, T &out_x, T &out_y)
template<typename T >
static void	xrt::auxiliary::tracking::camera_models::rt8_distort (const t_camera_model_params &params, const Vector2< T > &undist, Vector2< T > &out_dist, Matrix2x2< T > &out_d_dist_d_undist)
template<typename T >
static void	xrt::auxiliary::tracking::camera_models::rt8_undistort (const t_camera_model_params &params, const T &u, const T &v, T &out_x, T &out_y)
template<typename T >
static bool	xrt::auxiliary::tracking::camera_models::rt8_unproject (const t_camera_model_params &params, const T &u, const T &v, T &out_x, T &out_y, T &out_z)
template<typename T >
static T	xrt::auxiliary::tracking::camera_models::cv1_radial_undistort_scale (const t_camera_model_params &dist, const T &r)
	Radial undistortion scale s = |ray| / |p| for a distorted normalized image point of radius r.
template<typename T >
static void	xrt::auxiliary::tracking::camera_models::cv1_decentering_delta (const t_camera_model_params &dist, const T &qx, const T &qy, T &out_dx, T &out_dy)
	Tangential ("decentering") delta with the CV1 4th-order affine gain (p1, p2, g3, g4), for a scaled point q.
template<typename T >
static void	xrt::auxiliary::tracking::camera_models::cv1_undistort (const t_camera_model_params &dist, const T &x, const T &y, T &out_x, T &out_y)
	Maps a distorted image-space point (x, y) to a pinhole ray tangent (x/z, y/z).
template<typename T >
bool	xrt::auxiliary::tracking::camera_models::project (const t_camera_model_params &dist, const T &x, const T &y, const T &z, T &out_x, T &out_y)
template<typename T >
void	xrt::auxiliary::tracking::camera_models::undistort (const t_camera_model_params &dist, const T &x, const T &y, T &out_x, T &out_y)

Variables
static constexpr double	xrt::auxiliary::tracking::camera_models::kSqrtEpsilon = 0.00316

Detailed Description

Camera (un)projection C++ API for various camera models.

Author

Moshi Turner moshi.nosp@m.turn.nosp@m.er@pr.nosp@m.oton.nosp@m.mail..nosp@m.com

Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Function Documentation

cv1_decentering_delta()

template<typename T >

static void xrt::auxiliary::tracking::camera_models::cv1_decentering_delta ( const t_camera_model_params &  dist, const T &  qx, const T &  qy, T &  out_dx, T &  out_dy  )

inlinestatic

Tangential ("decentering") delta with the CV1 4th-order affine gain (p1, p2, g3, g4), for a scaled point q.

References xrt::auxiliary::tracking::camera_models::cv1_decentering_delta(), and gain.

Referenced by xrt::auxiliary::tracking::camera_models::cv1_decentering_delta(), and xrt::auxiliary::tracking::camera_models::cv1_undistort().

cv1_radial_undistort_scale()

template<typename T >

static T xrt::auxiliary::tracking::camera_models::cv1_radial_undistort_scale ( const t_camera_model_params &  dist, const T &  r  )

inlinestatic

Radial undistortion scale s = |ray| / |p| for a distorted normalized image point of radius r.

References xrt::auxiliary::tracking::camera_models::cv1_radial_undistort_scale().

Referenced by xrt::auxiliary::tracking::camera_models::cv1_radial_undistort_scale(), and xrt::auxiliary::tracking::camera_models::cv1_undistort().

cv1_undistort()

template<typename T >

static void xrt::auxiliary::tracking::camera_models::cv1_undistort ( const t_camera_model_params &  dist, const T &  x, const T &  y, T &  out_x, T &  out_y  )

inlinestatic

Maps a distorted image-space point (x, y) to a pinhole ray tangent (x/z, y/z).

References xrt::auxiliary::tracking::camera_models::cv1_decentering_delta(), xrt::auxiliary::tracking::camera_models::cv1_radial_undistort_scale(), and xrt::auxiliary::tracking::camera_models::cv1_undistort().

Referenced by xrt::auxiliary::tracking::camera_models::cv1_undistort().

kb4_unproject()

template<typename T >

static bool xrt::auxiliary::tracking::camera_models::kb4_unproject ( const t_camera_model_params &  dist, const T &  x, const T &  y, T &  out_x, T &  out_y, T &  out_z  )

inlinestatic

Todo:

I'm not 100% sure if kb4 is always non-injective. basalt-headers always returns true here, so it might be wrong too.

References xrt::auxiliary::tracking::camera_models::kb4_unproject().

Referenced by xrt::auxiliary::tracking::camera_models::kb4_unproject().

rt8_undistort()

template<typename T >

static void xrt::auxiliary::tracking::camera_models::rt8_undistort ( const t_camera_model_params &  params, const T &  u, const T &  v, T &  out_x, T &  out_y  )

inlinestatic

Todo:

Decide if besides rpmax, it could be useful to have an rppmax field. A good starting point to having this would be using the sqrt of the max rpp2 value computed in the optimization of computeRpmax().

References xrt::auxiliary::tracking::camera_models::rt8_undistort().

Referenced by xrt::auxiliary::tracking::camera_models::rt8_undistort().