This class implements a helper class allowing to check whether a 3D object point projects into the camera image (i.e., clipping against the camera's field of view). More...

#include <AnyCamera.h>

Public Member Functions
	AnyCameraClipperT ()=default
	Default constructor creating an invalid object.

	AnyCameraClipperT (const SharedAnyCameraT< T > &camera, const size_t segmentSteps=10)
	Creates a new clipper object for a specified camera model.

bool	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > &objectPoint, VectorT2< T > *imagePoint=nullptr) const
	Returns whether a 3D object point is located in front of the camera and projects into the camera image.

const SharedAnyCameraT< T > &	camera () const
	Returns the camera model of this clipper.

unsigned int	width () const
	Returns the width of the camera profile.

unsigned int	height () const
	Returns the height of the camera profile.

void	update (const SharedAnyCameraT< T > &camera, const size_t segmentSteps=10)
	Updates the clipper with a new camera model.

const FiniteLinesT2< T > &	cameraBoundarySegments () const
	Returns the 2D line segments defined in the camera's normalized image plane defining the camera's boundary.

bool	isValid () const
	Returns whether this clipper holds a valid camera model and is ready to be used.

Static Protected Member Functions
static bool	determineCameraBoundary (const AnyCameraT< T > &camera, FiniteLinesT2< T > &cameraBoundarySegments, const size_t segmentSteps)
	Determines the camera boundary of a given camera model in normalized image coordinates.

static bool	isInside (const FiniteLinesT2< T > &cameraBoundarySegments, const VectorT2< T > &normalizedImagePoint)
	Returns whether a given normalized image point lies inside the camera's boundary.

static bool	isValidForPoint (const AnyCameraT< T > &camera, const VectorT2< T > &imagePoint, const T maximalReprojectionError=T(1), const unsigned int additionalChecksTowardsPrincipalPoint=3u)
	Returns whether a given camera model is valid for a specified 2D image point in the camera image.

Protected Attributes
SharedAnyCameraT< T >	camera_
	The actual camera model this clipper is based on.

FiniteLinesT2< T >	cameraBoundarySegments_
	The 2D line segments defined in the camera's normalized image plane defining the camera's boundary, defined in the flipped camera coordinate system with y-axis down.

Detailed Description

template<typename T>
class Ocean::AnyCameraClipperT< T >

This class implements a helper class allowing to check whether a 3D object point projects into the camera image (i.e., clipping against the camera's field of view).

The clipper uses normalized coordinates when verifying the projection behavior to avoid numerical issues when object points project far outside the image area.
In contrast to AnyCamera::projectToImageIF() + AnyCamera::isInside(), the clipper is more precise but also more expensive.

Template Parameters

T	The data type of a scalar, 'float' or 'double'

Constructor & Destructor Documentation

◆ AnyCameraClipperT() [1/2]

template<typename T >

Ocean::AnyCameraClipperT< T >::AnyCameraClipperT ( )

default

Default constructor creating an invalid object.

◆ AnyCameraClipperT() [2/2]

template<typename T >

Ocean::AnyCameraClipperT< T >::AnyCameraClipperT	(	const SharedAnyCameraT< T > &	camera,
		const size_t	segmentSteps = `10`
	)

explicit

Creates a new clipper object for a specified camera model.

Parameters

camera	The camera model defining the projection, must be valid
segmentSteps	The number of segments to be used to determine the camera boundary, with range [2, infinity)

Member Function Documentation

◆ camera()

template<typename T >

const SharedAnyCameraT< T > & Ocean::AnyCameraClipperT< T >::camera ( ) const

Returns the camera model of this clipper.

Returns: The clipper's camera model, nullptr if no camera model has been set

◆ cameraBoundarySegments()

template<typename T >

const FiniteLinesT2< T > & Ocean::AnyCameraClipperT< T >::cameraBoundarySegments ( ) const

Returns the 2D line segments defined in the camera's normalized image plane defining the camera's boundary.

Returns: The camera boundary segments

◆ determineCameraBoundary()

template<typename T >

bool Ocean::AnyCameraClipperT< T >::determineCameraBoundary	(	const AnyCameraT< T > &	camera,
		FiniteLinesT2< T > &	cameraBoundarySegments,
		const size_t	segmentSteps
	)

staticprotected

Determines the camera boundary of a given camera model in normalized image coordinates.

Parameters

camera	The camera model for which the boundary will be determined, must be valid
cameraBoundarySegments	The resulting 2D line segments defining the camera's boundary
segmentSteps	The number of segments to be used to determine the camera boundary, with range [1, infinity)

Returns: True, if succeeded

◆ height()

template<typename T >

unsigned int Ocean::AnyCameraClipperT< T >::height ( ) const

inline

Returns the height of the camera profile.

Returns: The camera image height in pixel, with range [0, infinity), 0 if no camera has been set

◆ isInside()

template<typename T >

bool Ocean::AnyCameraClipperT< T >::isInside	(	const FiniteLinesT2< T > &	cameraBoundarySegments,
		const VectorT2< T > &	normalizedImagePoint
	)

staticprotected

Returns whether a given normalized image point lies inside the camera's boundary.

Parameters

cameraBoundarySegments	The 2D line segments defining the camera's boundary, at least three
normalizedImagePoint	The normalized image point to be checked

Returns: True, if if so

◆ isValid()

template<typename T >

bool Ocean::AnyCameraClipperT< T >::isValid ( ) const

Returns whether this clipper holds a valid camera model and is ready to be used.

Returns: True, if so

◆ isValidForPoint()

template<typename T >

bool Ocean::AnyCameraClipperT< T >::isValidForPoint	(	const AnyCameraT< T > &	camera,
		const VectorT2< T > &	imagePoint,
		const T	maximalReprojectionError = `T(1)`,
		const unsigned int	additionalChecksTowardsPrincipalPoint = `3u`
	)

staticprotected

Returns whether a given camera model is valid for a specified 2D image point in the camera image.

The function does not only check whether the provided image point re-projects back to the same image point but also whether additional image points sampled towards the principal point have the same behavior.

Parameters

camera	The camera model to be checked, must be valid
imagePoint	The 2D image point to be checked, defined in the camera image, with range [0, width()]x[0, height()]
maximalReprojectionError	The maximal allowed re-projection error in pixel, with range [0, infinity)
additionalChecksTowardsPrincipalPoint	The number of additional image points sampled towards the principal point to be checked, with range [1, infinity)

Returns: True, if the camera model is valid for the specified image point

◆ projectToImageIF()

template<typename T >

bool Ocean::AnyCameraClipperT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const VectorT3< T > &	objectPoint,
		VectorT2< T > *	imagePoint = `nullptr`
	)		const

Returns whether a 3D object point is located in front of the camera and projects into the camera image.

Parameters

flippedCamera_T_world	The inverted and flipped camera pose, the default flipped camera is looking into the positive z-space with y-axis down, transforming world to flipped camera, must be valid
objectPoint	The 3D object point to be checked, defined in world
imagePoint	Optional resulting 2D projected image point inside the camera image, nullptr if not of interest

Returns: True, if the object point projects into the camera image; False, if the object point is behind the camera or projects outside the camera image

◆ update()

template<typename T >

void Ocean::AnyCameraClipperT< T >::update	(	const SharedAnyCameraT< T > &	camera,
		const size_t	segmentSteps = `10`
	)

Updates the clipper with a new camera model.

If the new camera is equal to the current camera, the function will return immediately without any updates.

Parameters

camera	The camera model defining the projection, must be valid
segmentSteps	The number of segments to be used to determine the camera boundary, with range [1, infinity)

◆ width()

template<typename T >

unsigned int Ocean::AnyCameraClipperT< T >::width ( ) const

inline

Returns the width of the camera profile.

Returns: The camera image width in pixel, with range [0, infinity), 0 if no camera has been set

Field Documentation

◆ camera_

template<typename T >

SharedAnyCameraT<T> Ocean::AnyCameraClipperT< T >::camera_

protected

The actual camera model this clipper is based on.

◆ cameraBoundarySegments_

template<typename T >

FiniteLinesT2<T> Ocean::AnyCameraClipperT< T >::cameraBoundarySegments_

protected

The 2D line segments defined in the camera's normalized image plane defining the camera's boundary, defined in the flipped camera coordinate system with y-axis down.

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

AnyCamera.h

Public Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AnyCameraClipperT() [1/2]

◆ AnyCameraClipperT() [2/2]

Member Function Documentation

◆ camera()

◆ cameraBoundarySegments()

◆ determineCameraBoundary()

◆ height()

◆ isInside()

◆ isValid()

◆ isValidForPoint()

◆ projectToImageIF()

◆ update()

◆ width()

Field Documentation

◆ camera_

◆ cameraBoundarySegments_