Ocean::CameraProjectionCheckerT< T > Class Template Reference

This class implements a helper class allowing to check whether a 3D object point projects into the camera image. More...

#include <AnyCamera.h>

Public Member Functions
	CameraProjectionCheckerT ()=default
	Default constructor creating an invalid object.
	CameraProjectionCheckerT (const SharedAnyCameraT< T > &camera, const size_t segmentSteps=10)
	Creates a new checker 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 checker.
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 checker 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 > &imagePoint)
	Returns whether a given normalized image point lies inside the camera's boundary.

Protected Attributes
SharedAnyCameraT< T >	camera_
	The actual camera model this checker is based on.
FiniteLinesT2< T >	cameraBoundarySegments_
	The 2D line segments defined in the camera's normalized image plane defining the camera's boundary.

Detailed Description

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

This class implements a helper class allowing to check whether a 3D object point projects into the camera image.

The checker 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::ptojectToImageIF() + AnyCamera::isInside(), the checker is more precise but also more expensive.

Template Parameters

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

Constructor & Destructor Documentation

CameraProjectionCheckerT() [1/2]

template<typename T >

Ocean::CameraProjectionCheckerT< T >::CameraProjectionCheckerT ( )

default

Default constructor creating an invalid object.

CameraProjectionCheckerT() [2/2]

template<typename T >

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

explicit

Creates a new checker 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::CameraProjectionCheckerT< T >::camera

(

)

const

Returns the camera model of this checker.

Returns

The checker's camera model, nullptr if no camera model has been set

cameraBoundarySegments()

template<typename T >

const FiniteLinesT2< T > & Ocean::CameraProjectionCheckerT< 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::CameraProjectionCheckerT< 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

isInside()

template<typename T >

bool Ocean::CameraProjectionCheckerT< T >::isInside ( const FiniteLinesT2< T > &  cameraBoundarySegments, const VectorT2< T > &  imagePoint  )

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
imagePoint	The normalized image point to be checked

Returns

True, if if so

isValid()

template<typename T >

bool Ocean::CameraProjectionCheckerT< T >::isValid

(

)

const

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

Returns

True, if so

projectToImageIF()

template<typename T >

bool Ocean::CameraProjectionCheckerT< 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

Field Documentation

camera_

template<typename T >

SharedAnyCameraT<T> Ocean::CameraProjectionCheckerT< T >::camera_

protected

The actual camera model this checker is based on.

cameraBoundarySegments_

template<typename T >

FiniteLinesT2<T> Ocean::CameraProjectionCheckerT< T >::cameraBoundarySegments_

protected

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

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

• AnyCamera.h