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mrpt::vision::CCamModel Class Reference
[mrpt-vision]

Detailed Description

This class represent a pinhole camera model for Monocular SLAM and implements some associated Jacobians.

The camera parameters are accessible in the public member CCamModel::cam

See also:
mrpt::utils::TCamera, CMonoSlam, the application camera-calib-gui for calibrating a camera

#include <mrpt/vision/CCamModel.h>

Inheritance diagram for mrpt::vision::CCamModel:
Inheritance graph
[legend]

List of all members.

Classes

struct  CameraTempVariables

Public Member Functions

 CCamModel ()
 Default Constructor.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method loads the options from a ".ini"-like file or memory-stored string list.
void dumpToTextStream (CStream &out) const
 This method displays clearly all the contents of the structure in textual form, sending it to a CStream.
 CCamModel (const mrpt::utils::CConfigFileBase &cfgIni)
 Constructor from a ini file.
void jacob_undistor_fm (const mrpt::vision::TPixelCoordf &uvd, math::CMatrixDouble &J_undist)
 Jacobian for undistortion the image coordinates.
void jacob_undistor (const mrpt::vision::TPixelCoordf &p, mrpt::math::CMatrixDouble &J_undist)
 Calculate the image coordinates undistorted.
void distort_a_point (const mrpt::vision::TPixelCoordf &p, mrpt::vision::TPixelCoordf &distorted_p)
 Return the pixel position distorted by the camera.
void undistort_point (const mrpt::vision::TPixelCoordf &p, mrpt::vision::TPixelCoordf &undistorted_p)
 Return the pixel position undistorted by the camera The input values 'col' and 'row' will be replace for the new values (undistorted)
void project_3D_point (const mrpt::math::TPoint3D &p3D, mrpt::vision::TPixelCoordf &distorted_p) const
 Return the (distorted) pixel position of a 3D point given in coordinates relative to the camera (+Z pointing forward, +X to the right)
void unproject_3D_point (const mrpt::vision::TPixelCoordf &distorted_p, mrpt::math::TPoint3D &p3D) const
 Return the 3D location of a point (at a fixed distance z=1), for the given (distorted) pixel position.
void jacobian_project_with_distortion (const mrpt::math::TPoint3D &p3D, math::CMatrixDouble &dh_dy) const
 Jacobian of the projection of 3D points (with distortion), as done in project_3D_point $ \frac{\partial h}{\partial y} $, evaluated at the point p3D (read below the full explanation)
void jacobian_unproject_with_distortion (const mrpt::vision::TPixelCoordf &p, math::CMatrixDouble &dy_dh) const
 Jacobian of the unprojection of a pixel (with distortion) back into a 3D point, as done in unproject_3D_point $ \frac{\partial y}{\partial h} $, evaluated at the pixel p.
template<typename T , typename POINT >
void getTemporaryVariablesForTransform (const POINT &p, CameraTempVariables< T > &v) const
template<typename T , typename POINT , typename PIXEL >
void getFullProjection (const POINT &pIn, PIXEL &pOut) const
template<typename T , typename PIXEL >
void getFullProjectionT (const CameraTempVariables< T > &tmp, PIXEL &pOut) const
template<typename T , typename POINT , typename MATRIX >
void getFullJacobian (const POINT &pIn, MATRIX &mOut) const
template<typename T , typename POINT , typename MATRIX >
void getFullJacobianT (const POINT &pIn, const CameraTempVariables< T > &tmp, MATRIX &mOut) const
template<typename POINTIN , typename POINTOUT , typename MAT22 >
void getFullInverseModelWithJacobian (const POINTIN &pIn, POINTOUT &pOut, MAT22 &jOut) const
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method saves the options to a ".ini"-like file or memory-stored string list.
void saveToConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
void dumpToConsole () const
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Public Attributes

mrpt::utils::TCamera cam
 The parameters of a camera.

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
static void dumpVar_float (CStream &out, const char *varName, float v)
static void dumpVar_double (CStream &out, const char *varName, double v)
static void dumpVar_bool (CStream &out, const char *varName, bool v)
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)

Private Member Functions

CMatrixFixedNumeric< double, 2, 2 > firstInverseJacobian () const
CMatrixFixedNumeric< double, 4, 2 > secondInverseJacobian () const
CMatrixFixedNumeric< double, 3, 4 > thirdInverseJacobian () const

Constructor & Destructor Documentation

mrpt::vision::CCamModel::CCamModel ( )

Default Constructor.

mrpt::vision::CCamModel::CCamModel ( const mrpt::utils::CConfigFileBase &  cfgIni)

Constructor from a ini file.

Member Function Documentation

void mrpt::vision::CCamModel::distort_a_point ( const mrpt::vision::TPixelCoordf &  p,
mrpt::vision::TPixelCoordf &  distorted_p 
)

Return the pixel position distorted by the camera.

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const [inherited]

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

void mrpt::vision::CCamModel::dumpToTextStream ( CStream &  out) const [virtual]

This method displays clearly all the contents of the structure in textual form, sending it to a CStream.

Implements mrpt::utils::CLoadableOptions.

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream &  out,
const char *  varName,
bool  v 
) [static, protected, inherited]
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream &  out,
const char *  varName,
double  v 
) [static, protected, inherited]
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream &  out,
const char *  varName,
float  v 
) [static, protected, inherited]
static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream &  out,
const char *  varName,
int  v 
) [static, protected, inherited]

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream &  out,
const char *  varName,
const std::string &  v 
) [static, protected, inherited]
CMatrixFixedNumeric<double,2,2> mrpt::vision::CCamModel::firstInverseJacobian ( ) const [inline, private]

Definition at line 224 of file CCamModel.h.

template<typename POINTIN , typename POINTOUT , typename MAT22 >
void mrpt::vision::CCamModel::getFullInverseModelWithJacobian ( const POINTIN &  pIn,
POINTOUT &  pOut,
MAT22 &  jOut 
) const [inline]

Definition at line 251 of file CCamModel.h.

References mrpt::utils::square().

template<typename T , typename POINT , typename MATRIX >
void mrpt::vision::CCamModel::getFullJacobian ( const POINT &  pIn,
MATRIX &  mOut 
) const [inline]

Definition at line 179 of file CCamModel.h.

template<typename T , typename POINT , typename MATRIX >
void mrpt::vision::CCamModel::getFullJacobianT ( const POINT &  pIn,
const CameraTempVariables< T > &  tmp,
MATRIX &  mOut 
) const [inline]

Definition at line 185 of file CCamModel.h.

References mrpt::utils::square(), mrpt::vision::CCamModel::CameraTempVariables::R, mrpt::vision::CCamModel::CameraTempVariables::x_, mrpt::vision::CCamModel::CameraTempVariables::y_, and mrpt::vision::CCamModel::CameraTempVariables::K.

template<typename T , typename POINT , typename PIXEL >
void mrpt::vision::CCamModel::getFullProjection ( const POINT &  pIn,
PIXEL &  pOut 
) const [inline]

Definition at line 168 of file CCamModel.h.

template<typename T , typename PIXEL >
void mrpt::vision::CCamModel::getFullProjectionT ( const CameraTempVariables< T > &  tmp,
PIXEL &  pOut 
) const [inline]

Definition at line 174 of file CCamModel.h.

References mrpt::vision::CCamModel::CameraTempVariables::x__, and mrpt::vision::CCamModel::CameraTempVariables::y__.

template<typename T , typename POINT >
void mrpt::vision::CCamModel::getTemporaryVariablesForTransform ( const POINT &  p,
CameraTempVariables< T > &  v 
) const [inline]

Definition at line 156 of file CCamModel.h.

References mrpt::vision::CCamModel::CameraTempVariables::x_, mrpt::vision::CCamModel::CameraTempVariables::y_, mrpt::vision::CCamModel::CameraTempVariables::x_2, mrpt::utils::square(), mrpt::vision::CCamModel::CameraTempVariables::y_2, mrpt::vision::CCamModel::CameraTempVariables::R, mrpt::vision::CCamModel::CameraTempVariables::K, mrpt::vision::CCamModel::CameraTempVariables::x__, and mrpt::vision::CCamModel::CameraTempVariables::y__.

void mrpt::vision::CCamModel::jacob_undistor ( const mrpt::vision::TPixelCoordf &  p,
mrpt::math::CMatrixDouble &  J_undist 
)

Calculate the image coordinates undistorted.

void mrpt::vision::CCamModel::jacob_undistor_fm ( const mrpt::vision::TPixelCoordf &  uvd,
math::CMatrixDouble &  J_undist 
)

Jacobian for undistortion the image coordinates.

void mrpt::vision::CCamModel::jacobian_project_with_distortion ( const mrpt::math::TPoint3D &  p3D,
math::CMatrixDouble &  dh_dy 
) const

Jacobian of the projection of 3D points (with distortion), as done in project_3D_point $ \frac{\partial h}{\partial y} $, evaluated at the point p3D (read below the full explanation)

We define $ h = (h_x ~ h_y) $ as the projected point in pixels (origin at the top-left corner), and $ y=( y_x ~ y_y ~ y_z ) $ as the 3D point in space, in coordinates relative to the camera (+Z pointing forwards).

Then this method computes the 2x3 Jacobian:

\[ \frac{\partial h}{\partial y} = \frac{\partial h}{\partial u} \frac{\partial u}{\partial y} \]

With:

\[ \frac{\partial u}{\partial y} = \left( \begin{array}{ccc} \frac{f_x}{y_z} & 0 & - y \frac{f_x}{y_z^2} \\ 0 & \frac{f_y}{y_z} & - y \frac{f_y}{y_z^2} \\ \end{array} \right) \]

where $ f_x, f_y $ is the focal length in units of pixel sizes in x and y, respectively. And, if we define:

\[ f = 1+ 2 k_1 (u_x^2+u_y^2) \]

then:

\[ \frac{\partial h}{\partial u} = \left( \begin{array}{cc} \frac{ 1+2 k_1 u_y^2 }{f^{3/2}} & -\frac{2 u_x u_y k_1 }{f^{3/2}} \\ -\frac{2 u_x u_y k_1 }{f^{3/2}} & \frac{ 1+2 k_1 u_x^2 }{f^{3/2}} \end{array} \right) \]

Note:
JLBC: Added in March, 2009. Should be equivalent to Davison's WideCamera::ProjectionJacobian
See also:
project_3D_point
void mrpt::vision::CCamModel::jacobian_unproject_with_distortion ( const mrpt::vision::TPixelCoordf &  p,
math::CMatrixDouble &  dy_dh 
) const

Jacobian of the unprojection of a pixel (with distortion) back into a 3D point, as done in unproject_3D_point $ \frac{\partial y}{\partial h} $, evaluated at the pixel p.

Note:
JLBC: Added in March, 2009. Should be equivalent to Davison's WideCamera::UnprojectionJacobian
See also:
unproject_3D_point
void mrpt::vision::CCamModel::loadFromConfigFile ( const mrpt::utils::CConfigFileBase &  source,
const std::string &  section 
) [virtual]

This method loads the options from a ".ini"-like file or memory-stored string list.

Implements mrpt::utils::CLoadableOptions.

void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
) [inherited]

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also:
loadFromConfigFile
void mrpt::vision::CCamModel::project_3D_point ( const mrpt::math::TPoint3D &  p3D,
mrpt::vision::TPixelCoordf &  distorted_p 
) const

Return the (distorted) pixel position of a 3D point given in coordinates relative to the camera (+Z pointing forward, +X to the right)

See also:
unproject_3D_point
virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase &  source,
const std::string &  section 
) [inline, virtual, inherited]

This method saves the options to a ".ini"-like file or memory-stored string list.

See also:
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.

Definition at line 87 of file CLoadableOptions.h.

References THROW_EXCEPTION.

void mrpt::utils::CLoadableOptions::saveToConfigFileName ( const std::string &  config_file,
const std::string &  section 
) [inherited]

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also:
saveToConfigFile, loadFromConfigFileName
CMatrixFixedNumeric<double,4,2> mrpt::vision::CCamModel::secondInverseJacobian ( ) const [inline, private]

Definition at line 230 of file CCamModel.h.

CMatrixFixedNumeric<double,3,4> mrpt::vision::CCamModel::thirdInverseJacobian ( ) const [inline, private]

Definition at line 238 of file CCamModel.h.

void mrpt::vision::CCamModel::undistort_point ( const mrpt::vision::TPixelCoordf &  p,
mrpt::vision::TPixelCoordf &  undistorted_p 
)

Return the pixel position undistorted by the camera The input values 'col' and 'row' will be replace for the new values (undistorted)

void mrpt::vision::CCamModel::unproject_3D_point ( const mrpt::vision::TPixelCoordf &  distorted_p,
mrpt::math::TPoint3D &  p3D 
) const

Return the 3D location of a point (at a fixed distance z=1), for the given (distorted) pixel position.

See also:
project_3D_point
Note:
Of course, there is a depth ambiguity, so the returned 3D point must be considered a direction from the camera focus, or a vector, rather than a meaninful physical point.

Member Data Documentation

mrpt::utils::TCamera mrpt::vision::CCamModel::cam

The parameters of a camera.

Definition at line 54 of file CCamModel.h.



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