Class representing a fisheye camera. More...

Inheritance diagram for Ocean::FisheyeCameraT< T >:

Public Types
enum	ParameterConfiguration { PC_UNKNOWN , PC_3_PARAMETERS_ONE_FOCAL_LENGTH , PC_4_PARAMETERS , PC_11_PARAMETERS_ONE_FOCAL_LENGTH , PC_12_PARAMETERS }
	Definition of individual parameter configurations. More...

typedef T	Type
	Definition of the used data type. More...

Public Member Functions
	FisheyeCameraT ()=default
	Default constructor creating an invalid camera object. More...

	FisheyeCameraT (const FisheyeCameraT< T > &fisheyeCamera)=default
	Copy constructor. More...

template<typename U >
	FisheyeCameraT (const FisheyeCameraT< U > &fisheyeCamera)
	Copy constructor for a fisheye camera with difference element data type than T. More...

	FisheyeCameraT (const unsigned int width, const unsigned int height, const T fovX)
	Creates a new camera object with known field of view. More...

	FisheyeCameraT (const unsigned int width, const unsigned int height, const T focalX, const T focalY, const T principalX, const T principalY)
	Creates a new camera object without distortion parameters. More...

template<typename TParameter >
	FisheyeCameraT (const unsigned int width, const unsigned int height, const TParameter focalX, const TParameter focalY, const TParameter principalX, const TParameter principalY, const TParameter radialDistortion, const TParameter tangentialDistortion)
	Creates a new camera object with distortion parameters. More...

template<typename TParameter >
	FisheyeCameraT (const unsigned int width, const unsigned int height, const ParameterConfiguration parameterConfiguration, const TParameter *parameters)
	Creates a new camera object with parameters with specific configuration. More...

bool	hasDistortionParameters () const
	Returns whether this camera object has specified distortion parameters. More...

unsigned int	width () const
	Returns the width of the camera image. More...

unsigned int	height () const
	Returns the height of the camera image. More...

VectorT2< T >	principalPoint () const
	Returns the coordinate of the principal point of the camera image in the pixel domain. More...

T	principalPointX () const
	Returns the x-value of the principal point of the camera image in the pixel domain. More...

T	principalPointY () const
	Returns the y-value of the principal point of the camera image in the pixel domain. More...

T	focalLengthX () const
	Returns the horizontal focal length parameter. More...

T	focalLengthY () const
	Returns the vertical focal length parameter. More...

T	inverseFocalLengthX () const
	Returns the inverse horizontal focal length parameter. More...

T	inverseFocalLengthY () const
	Returns the inverse vertical focal length parameter. More...

const T *	radialDistortion () const
	Returns the six radial distortion parameters of the camera model. More...

const T *	tangentialDistortion () const
	Returns the two tangential distortion parameters of the camera model. More...

T	fovX () const
	Returns the field of view in x direction of the camera. More...

T	fovY () const
	Returns the field of view in x direction of the camera. More...

T	fovDiagonal () const
	Returns the diagonal field of view of the camera. More...

template<typename TParameter >
void	copyParameters (unsigned int &width, unsigned int &height, std::vector< TParameter > &parameters, ParameterConfiguration &parameterConfiguration) const
	Copies the parameters of this camera. More...

bool	isInside (const VectorT2< T > &imagePoint, const T signedBorder=T(0)) const
	Returns whether a given 2D image point lies inside the camera frame. More...

template<bool tUseDistortionParameters = true>
VectorT2< T >	distortNormalized (const VectorT2< T > &undistortedNormalized) const
	Returns the normalized distorted position of a given undistorted normalized position. More...

template<bool tUseDistortionParameters = true>
VectorT2< T >	undistortNormalized (const VectorT2< T > &distortedNormalized) const
	Returns the normalized undistorted position of a given distorted normalized position. More...

template<bool tUseDistortionParameters = true>
VectorT2< T >	projectToImage (const VectorT3< T > &worldObjectPoint) const
	Projects a 3D object point into the camera's image of the fisheye camera. More...

template<bool tUseDistortionParameters = true>
VectorT2< T >	projectToImage (const HomogenousMatrixT4< T > &world_T_camera, const VectorT3< T > &worldObjectPoint) const
	Projects a 3D object point into the camera's image of the fisheye camera. More...

template<bool tUseDistortionParameters = true>
VectorT2< T >	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > &worldObjectPoint) const
	Projects a 3D object point to the 2D image plane of the fisheye camera by a given inverted (and flipped) extrinsic camera matrix. More...

template<bool tUseDistortionParameters = true>
VectorT2< T >	projectToImageIF (const VectorT3< T > &cameraFlippedObjectPoint) const
	Projects a 3D object point to the 2D image plane of the fisheye camera. More...

template<bool tUseDistortionParameters = true>
VectorT3< T >	vector (const VectorT2< T > &distortedImagePoint, const bool makeUnitVector=true) const
	Returns a unit vector (with length 1) starting at the camera's center and intersecting a given 2D point in the image. More...

template<bool tUseDistortionParameters = true>
VectorT3< T >	vectorIF (const VectorT2< T > &distortedImagePoint, const bool makeUnitVector=true) const
	Returns a normalized vector (with length 1) starting at the camera's center and intersecting a given 2D point on the image plane. More...

template<bool tUseDistortionParameters = true>
LineT3< T >	ray (const VectorT2< T > &distortedImagePoint, const HomogenousMatrixT4< T > &world_T_camera) const
	Returns a ray starting at the camera's center and intersecting a given 2D point in the image. More...

template<bool tUseDistortionParameters = true>
LineT3< T >	ray (const VectorT2< T > &distortedImagePoint) const
	Returns a ray starting at the camera's center and intersecting a given 2D point in the image. More...

template<bool tUseDistortionParameters = true>
void	pointJacobian2x3IF (const VectorT3< T > &flippedCameraObjectPoint, T jx, T jy) const
	Calculates the 2x3 jacobian matrix for the 3D object point projection into the camera frame. More...

bool	isEqual (const FisheyeCameraT< T > &fisheyeCamera, const T eps=NumericT< T >::eps()) const
	Returns whether two camera profiles are identical up to a given epsilon. More...

bool	isValid () const
	Returns whether this camera is valid. More...

bool	operator== (const FisheyeCameraT< T > &fisheyeCamera) const
	Returns whether two fisheye cameras are identical. More...

bool	operator!= (const FisheyeCameraT< T > &fisheyeCamera) const
	Returns whether two fisheye cameras are not identical. More...

FisheyeCameraT< T > &	operator= (const FisheyeCameraT< T > &fisheyeCamera)=default
	Copy assignment operator. More...

	operator bool () const
	Returns whether the camera holds valid parameters. More...

Protected Member Functions
VectorT2< T >	tangentialFreeDistortion (const VectorT2< T > &distortedNormalized) const
	Calculates the tangential-free distortion of a normalized (distorted) image point. More...

Static Protected Member Functions
static OCEAN_FORCE_INLINE void	jacobianDistortNormalized2x2 (const T x, const T y, const T radialDistortion, const T tangentialDistortion, T jx, T jy)
	Determines the 2x2 Jacobian of distorting a normalized image point in a fisheye camera with radial and tangential distortion. More...

Protected Attributes
unsigned int	cameraWidth_ = 0u
	Width of the camera image, in pixel. More...

unsigned int	cameraHeight_ = 0u
	Height of the camera image, in pixel. More...

T	focalLengthX_ = T(0)
	The horizontal focal length of the camera, with range (0, infinity) More...

T	focalLengthY_ = T(0)
	The vertical focal length of the camera, with range (0, infinity) More...

T	invFocalLengthX_ = T(0)
	The horizontal inverse focal length of the camera, with range (0, infinity) More...

T	invFocalLengthY_ = T(0)
	The vertical inverse focal length of the camera, with range (0, infinity) More...

T	principalPointX_ = T(0)
	The horizontal principal point of the camera, in pixels, with range [0, width()) More...

T	principalPointY_ = T(0)
	The vertical principal point of the camera, in pixels, with range [0, width()) More...

bool	hasDistortionParameters_ = false
	True, if the distortion parameters are defined. More...

T	radialDistortion_ [6] = {T(0), T(0), T(0), T(0), T(0), T(0)}
	The six radial distortion parameters. More...

T	tangentialDistortion_ [2] = {T(0), T(0)}
	The two tangential distortion parameters. More...

Friends
template<typename U >
class	FisheyeCameraT

Additional Inherited Members
Static Public Member Functions inherited from Ocean::CameraT< T >
static T	fovX2Y (const T fovX, const T aspectRatio)
	Calculates the vertical FOV from the horizontal FOV and the aspect ratio of the camera image. More...

static T	fovY2X (const T fovY, const T aspectRatio)
	Calculates the horizontal FOV from the vertical FOV and the aspect ratio of the camera image. More...

static T	fieldOfViewToFocalLength (const unsigned int width, const T fovX)
	Converts field of view (and width) to the corresponding focal length. More...

static VectorT2< T >	objectPoint2normalizedImagePoint (const HomogenousMatrixT4< T > &extrinsic, const VectorT3< T > &objectPoint)
	Calculates the normalized image point (the normalized projected object point) for a of given object point with corresponding extrinsic camera matrix. More...

static VectorT2< T >	objectPoint2normalizedImagePointIF (const HomogenousMatrixT4< T > &iFlippedExtrinsic, const VectorT3< T > &objectPoint)
	Calculates the normalized image point (the normalized projected object point) for a given object point with corresponding inverse and flipped extrinsic camera matrix. More...

static void	objectPoints2normalizedImagePoints (const HomogenousMatrixT4< T > &extrinsic, const VectorT3< T > objectPoints, const size_t numberObjectPoints, VectorT2< T > normalizedImagePoints)
	Calculates the normalized image points (the normalized projected object points) for a set of given object points with corresponding extrinsic camera matrix. More...

static void	objectPoints2normalizedImagePointsIF (const HomogenousMatrixT4< T > &iFlippedExtrinsic, const VectorT3< T > objectPoints, const size_t numberObjectPoints, VectorT2< T > normalizedImagePoints)
	Calculates the normalized image points (the normalized projected object points) for a set of given object points with corresponding inverse and flipped extrinsic camera matrix. More...

template<typename U = T>
static SquareMatrixT3< U >	flipMatrix3 ()
	Returns the 3x3 transformation matrix flipping a transformation around the x-axis by 180 deg. More...

template<typename U = T>
static HomogenousMatrixT4< U >	flipMatrix4 ()
	Returns the 4x4 transformation matrix flipping a transformation around the x-axis by 180 deg. More...

template<typename U = T>
static QuaternionT< U >	flipQuaternion ()
	Returns the quaternion flipping a rotation around the x-axis by 180 deg. More...

template<typename U >
static HomogenousMatrixT4< U >	flippedTransformationLeftSide (const HomogenousMatrixT4< U > &left_T_right)
	Flips a transformation matrix around the x-axis by 180 degree. More...

template<typename U >
static HomogenousMatrixT4< U >	flippedTransformationRightSide (const HomogenousMatrixT4< U > &left_T_right)
	Flips a transformation matrix around the x-axis by 180 degree. More...

template<typename U >
static HomogenousMatrixT4< U >	flippedTransformationLeftAndRightSide (const HomogenousMatrixT4< U > &left_T_right)
	Flips a transformation matrix around the x-axis by 180 degree. More...

template<typename U >
static SquareMatrixT3< U >	flippedTransformationLeftSide (const SquareMatrixT3< U > &left_R_right)
	Flips a 3x3 rotation matrix around the x-axis by 180 degree. More...

template<typename U >
static SquareMatrixT3< U >	flippedTransformationRightSide (const SquareMatrixT3< U > &left_R_right)
	Flips a 3x3 rotation matrix around the x-axis by 180 degree. More...

template<typename U >
static SquareMatrixT3< U >	flippedTransformationLeftAndRightSide (const SquareMatrixT3< U > &left_R_right)
	Flips a 3x3 rotation matrix around the x-axis by 180 degree. More...

template<typename U >
static QuaternionT< U >	flippedTransformationLeftSide (const QuaternionT< U > &left_Q_right)
	Flips a quaternion around the x-axis by 180 degree. More...

template<typename U >
static QuaternionT< U >	flippedTransformationRightSide (const QuaternionT< U > &left_Q_right)
	Flips a quaternion around the x-axis by 180 degree. More...

template<typename U >
static QuaternionT< U >	flippedTransformationLeftAndRightSide (const QuaternionT< U > &left_Q_right)
	Flips a quaternion around the x-axis by 180 degree. More...

template<typename U >
static HomogenousMatrixT4< U >	standard2InvertedFlipped (const HomogenousMatrixT4< U > &world_T_camera)
	Transforms a standard homogenous 4x4 viewing (extrinsic camera) matrix into an inverted and flipped camera pose. More...

template<typename U >
static HomogenousMatricesT4< U >	standard2InvertedFlipped (const HomogenousMatrixT4< U > *world_T_cameras, const size_t number)
	Transforms standard homogenous 4x4 viewing (extrinsic camera) matrices into an inverted and flipped camera matrices. More...

template<typename U >
static void	standard2InvertedFlipped (const HomogenousMatrixT4< U > world_T_cameras, HomogenousMatrixT4< U > flippedCameras_T_world, const size_t number)
	Transforms standard homogenous 4x4 viewing (extrinsic camera) matrices into an inverted and flipped camera matrices. More...

template<typename U >
static HomogenousMatricesT4< U >	standard2InvertedFlipped (const HomogenousMatricesT4< U > &world_T_cameras)
	Transforms standard homogenous 4x4 viewing (extrinsic camera) matrices into an inverted and flipped camera matrices. More...

template<typename U >
static SquareMatrixT3< U >	standard2InvertedFlipped (const SquareMatrixT3< U > &world_R_camera)
	Transforms a standard 3x3 rotation matrix into an inverted and flipped rotation matrix. More...

template<typename U >
static QuaternionT< U >	standard2InvertedFlipped (const QuaternionT< U > &world_Q_camera)
	Transforms a standard rotation quaternion into an inverted and flipped rotation quaternion. More...

template<typename U >
static HomogenousMatrixT4< U >	invertedFlipped2Standard (const HomogenousMatrixT4< U > &flippedCamera_T_world)
	Transforms an inverted and flipped camera pose into a standard camera pose. More...

template<typename U >
static HomogenousMatricesT4< U >	invertedFlipped2Standard (const HomogenousMatrixT4< U > *flippedCameras_T_world, const size_t number)
	Transforms inverted and flipped camera matrices into standard viewing (extrinsic camera) matrices. More...

template<typename U >
static void	invertedFlipped2Standard (const HomogenousMatrixT4< U > flippedCameras_T_world, HomogenousMatrixT4< U > world_T_cameras, const size_t number)
	Transforms inverted and flipped camera matrices into standard viewing (extrinsic camera) matrices. More...

template<typename U >
static HomogenousMatricesT4< U >	invertedFlipped2Standard (const HomogenousMatricesT4< U > &flippedCameras_T_world)
	Transforms inverted and flipped camera matrices into standard viewing (extrinsic camera) matrices. More...

template<typename U >
static SquareMatrixT3< U >	invertedFlipped2Standard (const SquareMatrixT3< U > &flippedCamera_R_world)
	Transforms an inverted and flipped rotation matrix into a standard viewing rotation matrix. More...

template<typename U >
static QuaternionT< U >	invertedFlipped2Standard (const QuaternionT< U > &flippedCamera_Q_world)
	Transforms an inverted and flipped rotation quaternion into a standard viewing rotation quaternion. More...

static bool	isObjectPointInFrontIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > &objectPoint, const T epsilon=NumericT< T >::eps())
	Determines whether a given 3D object point lies in front of a camera while the location of the camera is defined by a 6-DOF pose. More...

static bool	isObjectPointInFrontIF (const SquareMatrixT3< T > &flippedCamera_R_world, const VectorT3< T > &objectPoint, const T epsilon=NumericT< T >::eps())
	Determines whether a given 3D object point lies in front of a camera while the location of the camera is defined by a 3-DOF orientation. More...

Detailed Description

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

Class representing a fisheye camera.

The class holds the intrinsic and distortion parameters of a camera.

The camera holds:

1) Width and height of the camera image.

2) Intrinsic camera matrix:
| Fx  0 mx |
|  0 Fy my |
|  0  0  1 |
with mx and my as principal point,
and with Fx = f / sx, Fy = f / sy, with focus f and pixel sizes sx and sy.

3) Six radial distortion parameters k3, k5, k7, k9, k11, k13

4) Two tangential distortion parameters p1 and p2.

An undistorted image point (x, y), is transformed to the corresponding distorted image point (x', y') as follows:
x' = x_r + x_t
y' = y_r + y_t

radial distortion:
x_r = x * (theta + k3 * theta^3 + k5 * theta^5 + k7 * theta^7 + k9 * theta^9 + k11 * theta^11 + k13 * theta^13) / r
y_r = y * (theta + k3 * theta^3 + k5 * theta^5 + k7 * theta^7 + k9 * theta^9 + k11 * theta^11 + k13 * theta^13) / r

tangential distortion:
x_t = p1 * (2 * x_r^2 + radial^2) + p2 * 2 * x_r * y_r,
y_t = p2 * (2 * y_r^2 + radial^2) + p1 * 2 * x_r * y_r.

with
r = sqrt(x^2 + y^2)
theta = atan(r)
radial^2 = x_r^2 + y_r^2

With x, y undistorted normalized coordinates
With x', y' distorted normalized coordinates

Template Parameters

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

Member Typedef Documentation

◆ Type

template<typename T >

typedef T Ocean::FisheyeCameraT< T >::Type

Definition of the used data type.

Member Enumeration Documentation

◆ ParameterConfiguration

template<typename T >

enum Ocean::FisheyeCameraT::ParameterConfiguration

Definition of individual parameter configurations.

Enumerator
PC_UNKNOWN	An unknown parameter configuration.
PC_3_PARAMETERS_ONE_FOCAL_LENGTH	3 parameters with order: focal length (one identical value for horizontal and vertical direction), horizontal principal point, vertical principal point
PC_4_PARAMETERS	4 parameters with order: horizontal focal length, vertical focal length, horizontal principal point, vertical principal point
PC_11_PARAMETERS_ONE_FOCAL_LENGTH	11 parameters with order: focal length (one identical value for horizontal and vertical direction), horizontal principal point, vertical principal point, six radial distortion parameters k3, k5, k7, k9, k11, k13 two tangential distortion parameters p1, p2
PC_12_PARAMETERS	12 parameters with order: horizontal focal length, vertical focal length, horizontal principal point, vertical principal point, six radial distortion parameters k3, k5, k7, k9, k11, k13 two tangential distortion parameters p1, p2

Constructor & Destructor Documentation

◆ FisheyeCameraT() [1/7]

template<typename T >

Ocean::FisheyeCameraT< T >::FisheyeCameraT ( )

default

Default constructor creating an invalid camera object.

◆ FisheyeCameraT() [2/7]

template<typename T >

Ocean::FisheyeCameraT< T >::FisheyeCameraT ( const FisheyeCameraT< T > & fisheyeCamera )

default

Copy constructor.

Parameters

fisheyeCamera The fisheye camera profile to be copied

◆ FisheyeCameraT() [3/7]

template<typename T >

template<typename U >

Ocean::FisheyeCameraT< T >::FisheyeCameraT ( const FisheyeCameraT< U > & fisheyeCamera )

inlineexplicit

Copy constructor for a fisheye camera with difference element data type than T.

Parameters

fisheyeCamera The fisheye camera profile to be copied

Template Parameters

U	The element data type of the given fisheye camera

◆ FisheyeCameraT() [4/7]

template<typename T >

Ocean::FisheyeCameraT< T >::FisheyeCameraT	(	const unsigned int	width,
		const unsigned int	height,
		const T	fovX
	)

inline

Creates a new camera object with known field of view.

Parameters

width	The width of the camera image (in pixel), with range [1, infinity)
height	The height of the camera image (in pixel), with range [1, infinity)
fovX	Field of view in x-direction (in radian), with range (0, PI]

◆ FisheyeCameraT() [5/7]

template<typename T >

Ocean::FisheyeCameraT< T >::FisheyeCameraT	(	const unsigned int	width,
		const unsigned int	height,
		const T	focalX,
		const T	focalY,
		const T	principalX,
		const T	principalY
	)

inline

Creates a new camera object without distortion parameters.

Parameters

width	The width of the camera image (in pixel), with range [1, infinity)
height	The height of the camera image (in pixel), with range [1, infinity)
focalX	Focal parameter of the horizontal axis, with range (0, infinity)
focalY	Focal parameter of the vertical axis, with range (0, infinity)
principalX	Principal point of the horizontal axis (in pixel)
principalY	Principal point of the vertical axis (in pixel)

◆ FisheyeCameraT() [6/7]

template<typename T >

template<typename TParameter >

Ocean::FisheyeCameraT< T >::FisheyeCameraT	(	const unsigned int	width,
		const unsigned int	height,
		const TParameter	focalX,
		const TParameter	focalY,
		const TParameter	principalX,
		const TParameter	principalY,
		const TParameter *	radialDistortion,
		const TParameter *	tangentialDistortion
	)

inline

Creates a new camera object with distortion parameters.

Parameters

width	The width of the camera image (in pixel), with range [1, infinity)
height	The height of the camera image (in pixel), with range [1, infinity)
focalX	Focal parameter of the horizontal axis, with range (0, infinity)
focalY	Focal parameter of the vertical axis, with range (0, infinity)
principalX	Principal point of the horizontal axis (in pixel), with range (0, width)
principalY	Principal point of the vertical axis (in pixel), with range (0, height)
radialDistortion	Six radial distortion values, with order k3, k5, k7, k9, k11, 13, must be valid
tangentialDistortion	Two tangential distortion values, with order p1, p2, must be valid

Template Parameters

TParameter The scalar data type in which the intrinsic camera parameters are provided, will be converted to 'T' internally, 'float' or 'double'

◆ FisheyeCameraT() [7/7]

template<typename T >

template<typename TParameter >

Ocean::FisheyeCameraT< T >::FisheyeCameraT	(	const unsigned int	width,
		const unsigned int	height,
		const ParameterConfiguration	parameterConfiguration,
		const TParameter *	parameters
	)

inline

Creates a new camera object with parameters with specific configuration.

Parameters

width	The width of the camera image (in pixel), with range [1, infinity)
height	The height of the camera image (in pixel), with range [1, infinity)
parameterConfiguration	The configuration of the given parameter, must be valid
parameters	The parameters matching with the specific configuration, must be valid

Template Parameters

TParameter The scalar data type in which the intrinsic camera parameters are provided, will be converted to 'T' internally, 'float' or 'double'

Member Function Documentation

◆ copyParameters()

template<typename T >

template<typename TParameter >

void Ocean::FisheyeCameraT< T >::copyParameters	(	unsigned int &	width,
		unsigned int &	height,
		std::vector< TParameter > &	parameters,
		ParameterConfiguration &	parameterConfiguration
	)		const

Copies the parameters of this camera.

Parameters

width	The resulting width of the camera, in pixel, with range [0, infinity)
height	The resulting height of the camera, in pixel, with range [0, infinity)
parameters	The resulting parameters of the camera
parameterConfiguration	The resulting configuration of the resulting parameters

◆ distortNormalized()

template<typename T >

template<bool tUseDistortionParameters>

VectorT2< T > Ocean::FisheyeCameraT< T >::distortNormalized ( const VectorT2< T > & undistortedNormalized ) const

Returns the normalized distorted position of a given undistorted normalized position.

Parameters

undistortedNormalized Undistorted normalized position to be distorted

Returns: Resulting distorted normalized position

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

◆ focalLengthX()

template<typename T >

T Ocean::FisheyeCameraT< T >::focalLengthX

inline

Returns the horizontal focal length parameter.

Returns: Horizontal focal length parameter

◆ focalLengthY()

template<typename T >

T Ocean::FisheyeCameraT< T >::focalLengthY

inline

Returns the vertical focal length parameter.

Returns: Vertical focal length parameter

◆ fovDiagonal()

template<typename T >

T Ocean::FisheyeCameraT< T >::fovDiagonal

Returns the diagonal field of view of the camera.

Returns: Diagonal field of view (in radian), with range (0, PI]

◆ fovX()

template<typename T >

T Ocean::FisheyeCameraT< T >::fovX

Returns the field of view in x direction of the camera.

The fov is the sum of the left and right part of the camera.

Returns: Field of view (in radian), with range (0, PI]

x = Fx * X / Z + mx

(x - mx) / Fx = X / Z

◆ fovY()

template<typename T >

T Ocean::FisheyeCameraT< T >::fovY

Returns the field of view in x direction of the camera.

The fov is the sum of the top and bottom part of the camera.

Returns: Field of view (in radian), with range (0, PI)

y = Fy * Y / Z + my

(y - my) / Fy = Y / Z

◆ hasDistortionParameters()

template<typename T >

bool Ocean::FisheyeCameraT< T >::hasDistortionParameters

inline

Returns whether this camera object has specified distortion parameters.

Returns: True, if so

◆ height()

template<typename T >

unsigned int Ocean::FisheyeCameraT< T >::height

inline

Returns the height of the camera image.

Returns: Height of the camera image, in pixel, with range [0, infinity)

◆ inverseFocalLengthX()

template<typename T >

T Ocean::FisheyeCameraT< T >::inverseFocalLengthX

inline

Returns the inverse horizontal focal length parameter.

Returns: Inverse horizontal focal length parameter

◆ inverseFocalLengthY()

template<typename T >

T Ocean::FisheyeCameraT< T >::inverseFocalLengthY

inline

Returns the inverse vertical focal length parameter.

Returns: Inverse vertical focal length parameter

◆ isEqual()

template<typename T >

bool Ocean::FisheyeCameraT< T >::isEqual	(	const FisheyeCameraT< T > &	fisheyeCamera,
		const T	eps = `NumericT<T>::eps()`
	)		const

Returns whether two camera profiles are identical up to a given epsilon.

The image resolution must always be identical.

Parameters

fisheyeCamera	The second camera profile to be used for comparison, can be invalid
eps	The epsilon threshold to be used, with range [0, infinity)

Returns: True, if so

◆ isInside()

template<typename T >

bool Ocean::FisheyeCameraT< T >::isInside	(	const VectorT2< T > &	imagePoint,
		const T	signedBorder = `T(0)`
	)		const

inline

Returns whether a given 2D image point lies inside the camera frame.

Optional an explicit border can be defined to allow points slightly outside the camera image, or further inside the image.
Defined a negative border size to allow image points outside the camera frame, or a positive border size to prevent points within the camera frame but close to the boundary.

Parameters

imagePoint	Image point to be checked, must be valid
signedBorder	The optional border increasing or decreasing the rectangle in which the image point must be located, in pixels, with range (-infinity, std::min(width() / 2, height() / 2)

Returns: True, if the image point lies in the ranges [0, width())x[0, height())

◆ isValid()

template<typename T >

bool Ocean::FisheyeCameraT< T >::isValid

inline

Returns whether this camera is valid.

Returns: True, if so

◆ jacobianDistortNormalized2x2()

template<typename T >

OCEAN_FORCE_INLINE void Ocean::FisheyeCameraT< T >::jacobianDistortNormalized2x2	(	const T	x,
		const T	y,
		const T *	radialDistortion,
		const T *	tangentialDistortion,
		T *	jx,
		T *	jy
	)

staticprotected

Determines the 2x2 Jacobian of distorting a normalized image point in a fisheye camera with radial and tangential distortion.

The resulting jacobian has the following form:

| dfx / dx, dfx / dy |
| dfy / dx, dfy / dy |

Parameters

x	The horizontal coordinate of the normalized image point to be distorted
y	The vertical coordinate of the normalized image point to be distorted
radialDistortion	The six radial distortion parameters, must be valid
tangentialDistortion	The two radial distortion parameters, must be valid
jx	First row of the jacobian, with 2 column entries, must be valid
jy	Second row of the jacobian, with 2 column entries, must be valid

◆ operator bool()

template<typename T >

Ocean::FisheyeCameraT< T >::operator bool

inlineexplicit

Returns whether the camera holds valid parameters.

Returns: True, if so

◆ operator!=()

template<typename T >

bool Ocean::FisheyeCameraT< T >::operator!= ( const FisheyeCameraT< T > & fisheyeCamera ) const

inline

Returns whether two fisheye cameras are not identical.

Parameters

fisheyeCamera The second fisheye camera to be check

Returns: True, if so

◆ operator=()

template<typename T >

FisheyeCameraT<T>& Ocean::FisheyeCameraT< T >::operator= ( const FisheyeCameraT< T > & fisheyeCamera )

default

Copy assignment operator.

Parameters

fisheyeCamera The fisheye camera profile to be copied

Returns: A reference to this object

◆ operator==()

template<typename T >

bool Ocean::FisheyeCameraT< T >::operator== ( const FisheyeCameraT< T > & fisheyeCamera ) const

Returns whether two fisheye cameras are identical.

Parameters

fisheyeCamera The second fisheye camera to be check

Returns: True, if so

◆ pointJacobian2x3IF()

template<typename T >

template<bool tUseDistortionParameters>

void Ocean::FisheyeCameraT< T >::pointJacobian2x3IF	(	const VectorT3< T > &	flippedCameraObjectPoint,
		T *	jx,
		T *	jy
	)		const

inline

Calculates the 2x3 jacobian matrix for the 3D object point projection into the camera frame.

The resulting jacobian matrix has the following layout:

| dfu / dx, dfu / dy, dfu / dz |
| dfv / dx, dfv / dy, dfv / dz |
with projection function
q = f(p)
q_u = fu(p), q_y = fv(p)
with 2D image point q = (q_u, q_v) and 3D object point p = (x, y, z)

Parameters

flippedCameraObjectPoint	The 3D object point defined in relation to the inverted and flipped camera pose (camera looking into the positive z-space with y-axis pointing down).
jx	The resulting first row of the Jacobian matrix, must contain three elements, must be valid
jy	The resulting second row of the Jacobian matrix, must contain three elements, must be valid

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

◆ principalPoint()

template<typename T >

VectorT2< T > Ocean::FisheyeCameraT< T >::principalPoint

inline

Returns the coordinate of the principal point of the camera image in the pixel domain.

Returns: The 2D location of the principal point, with range [0, width)x[0, height)

◆ principalPointX()

template<typename T >

T Ocean::FisheyeCameraT< T >::principalPointX

inline

Returns the x-value of the principal point of the camera image in the pixel domain.

Returns: x-value of the principal point, with range [0, width)

◆ principalPointY()

template<typename T >

T Ocean::FisheyeCameraT< T >::principalPointY

inline

Returns the y-value of the principal point of the camera image in the pixel domain.

Returns: y-value of the principal point, with range [0, height)

◆ projectToImage() [1/2]

template<typename T >

template<bool tUseDistortionParameters>

VectorT2< T > Ocean::FisheyeCameraT< T >::projectToImage	(	const HomogenousMatrixT4< T > &	world_T_camera,
		const VectorT3< T > &	worldObjectPoint
	)		const

inline

Projects a 3D object point into the camera's image of the fisheye camera.

The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates (world from camera).
The default viewing direction of the camera is into the negative z-space with x-axis to the right, and y-axis upwards.

Parameters

world_T_camera	The extrinsic camera matrix, must be valid
worldObjectPoint	3D object point which is located in the world

Returns: Resulting 2D image point within the camera frame

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

See also: projectToImageIF().

◆ projectToImage() [2/2]

template<typename T >

template<bool tUseDistortionParameters>

VectorT2< T > Ocean::FisheyeCameraT< T >::projectToImage ( const VectorT3< T > & worldObjectPoint ) const

inline

Projects a 3D object point into the camera's image of the fisheye camera.

The 3D object point must be defined in relation to the (standard) camera coordinate system.
The default viewing direction of the standard camera is into the negative z-space with x-axis to the right, and y-axis upwards.

Parameters

worldObjectPoint 3D object point which is located in the world

Returns: Resulting 2D image point within the camera frame

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

See also: projectToImageIF().

◆ projectToImageIF() [1/2]

template<typename T >

template<bool tUseDistortionParameters>

VectorT2< T > Ocean::FisheyeCameraT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const VectorT3< T > &	worldObjectPoint
	)		const

Projects a 3D object point to the 2D image plane of the fisheye camera by a given inverted (and flipped) extrinsic camera matrix.

The inverted (and flipped) extrinsic matrix transforms a 3D point given in 3D world coordinates into 3D (flipped) camera coordinates (flipped camera from world).
The default viewing direction of the flipped camera is into the positive z-space with x-axis to the right, and y-axis downwards.

Parameters

flippedCamera_T_world	Inverted and flipped extrinsic camera matrix, must be valid
worldObjectPoint	3D object point which is located in the world

Returns: Resulting 2D image point within the camera frame

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

See also: projectToImage().

◆ projectToImageIF() [2/2]

template<typename T >

template<bool tUseDistortionParameters>

VectorT2< T > Ocean::FisheyeCameraT< T >::projectToImageIF ( const VectorT3< T > & cameraFlippedObjectPoint ) const

Projects a 3D object point to the 2D image plane of the fisheye camera.

The 3D object point must be defined in relation to the (flipped) camera coordinate system.
The default viewing direction of the flipped camera is into the positive z-space with x-axis to the right, and y-axis downwards.

Parameters

cameraFlippedObjectPoint 3D object point which is located in the flipped camera coordinate system

Returns: Resulting 2D image point within the camera frame

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

See also: projectToImage().

◆ radialDistortion()

template<typename T >

const T * Ocean::FisheyeCameraT< T >::radialDistortion

inline

Returns the six radial distortion parameters of the camera model.

Returns: The six radial distortion parameters, with order k3, k5, k7, k9, k11, k13

◆ ray() [1/2]

template<typename T >

template<bool tUseDistortionParameters>

LineT3< T > Ocean::FisheyeCameraT< T >::ray ( const VectorT2< T > & distortedImagePoint ) const

inline

Returns a ray starting at the camera's center and intersecting a given 2D point in the image.

Parameters

distortedImagePoint 2D (distorted) position within the image, with range [0, width())x[0, height())

Returns: The specified ray with direction pointing into the camera's negative z-space

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

See also: vector().

◆ ray() [2/2]

template<typename T >

template<bool tUseDistortionParameters>

LineT3< T > Ocean::FisheyeCameraT< T >::ray	(	const VectorT2< T > &	distortedImagePoint,
		const HomogenousMatrixT4< T > &	world_T_camera
	)		const

inline

Returns a ray starting at the camera's center and intersecting a given 2D point in the image.

Parameters

distortedImagePoint	2D (distorted) position within the image, with range [0, width())x[0, height())
world_T_camera	The pose of the camera, the extrinsic camera matrix, must be valid

Returns: The specified ray with direction pointing into the camera's negative z-space

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

See also: vector().

◆ tangentialDistortion()

template<typename T >

const T * Ocean::FisheyeCameraT< T >::tangentialDistortion

inline

Returns the two tangential distortion parameters of the camera model.

Returns: The two tangential distortion parameters, with order p1, p2

◆ tangentialFreeDistortion()

template<typename T >

VectorT2< T > Ocean::FisheyeCameraT< T >::tangentialFreeDistortion ( const VectorT2< T > & distortedNormalized ) const

protected

Calculates the tangential-free distortion of a normalized (distorted) image point.

Parameters

distortedNormalized The distorted normalized image point from which the tangential distortion will be removed

Returns: The normalized image point containing radial distortion only

◆ undistortNormalized()

template<typename T >

template<bool tUseDistortionParameters>

VectorT2< T > Ocean::FisheyeCameraT< T >::undistortNormalized ( const VectorT2< T > & distortedNormalized ) const

Returns the normalized undistorted position of a given distorted normalized position.

Parameters

distortedNormalized Distorted normalized position to be undistorted

Returns: Resulting undistorted normalized position

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

◆ vector()

template<typename T >

template<bool tUseDistortionParameters>

VectorT3< T > Ocean::FisheyeCameraT< T >::vector	(	const VectorT2< T > &	distortedImagePoint,
		const bool	makeUnitVector = `true`
	)		const

inline

Returns a unit vector (with length 1) starting at the camera's center and intersecting a given 2D point in the image.

The vector is determined for the default camera looking into the negative z-space with y-axis up.

Parameters

distortedImagePoint	2D (distorted) position within the image, with range [0, width())x[0, height())
makeUnitVector	True, to return a vector with length 1; False, to return a vector with any length

Returns: Unit vector pointing into the negative z-space

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

See also: vectorIF(), ray().

◆ vectorIF()

template<typename T >

template<bool tUseDistortionParameters>

VectorT3< T > Ocean::FisheyeCameraT< T >::vectorIF	(	const VectorT2< T > &	distortedImagePoint,
		const bool	makeUnitVector = `true`
	)		const

inline

Returns a normalized vector (with length 1) starting at the camera's center and intersecting a given 2D point on the image plane.

The vector is determined for the default camera looking into the positive z-space with y-axis down.

Parameters

distortedImagePoint	2D (distorted) position within the image, with range [0, width())x[0, height())
makeUnitVector	True, to return a vector with length 1; False, to return a vector with any length

Returns: Normalized vector into the negative z-space

Template Parameters

tUseDistortionParameters True, to use the camera's distortion parameter; False, to just scale the normalized image due to theta

See also: vector().

◆ width()

template<typename T >

unsigned int Ocean::FisheyeCameraT< T >::width

inline

Returns the width of the camera image.

Returns: Width of the camera image, in pixel, with range [0, infinity)

Friends And Related Function Documentation

◆ FisheyeCameraT

template<typename T >

template<typename U >

friend class FisheyeCameraT

friend

Field Documentation

◆ cameraHeight_

template<typename T >

unsigned int Ocean::FisheyeCameraT< T >::cameraHeight_ = 0u

protected

Height of the camera image, in pixel.

◆ cameraWidth_

template<typename T >

unsigned int Ocean::FisheyeCameraT< T >::cameraWidth_ = 0u

protected

Width of the camera image, in pixel.

◆ focalLengthX_

template<typename T >

T Ocean::FisheyeCameraT< T >::focalLengthX_ = T(0)

protected

The horizontal focal length of the camera, with range (0, infinity)

◆ focalLengthY_

template<typename T >

T Ocean::FisheyeCameraT< T >::focalLengthY_ = T(0)

protected

The vertical focal length of the camera, with range (0, infinity)

◆ hasDistortionParameters_

template<typename T >

bool Ocean::FisheyeCameraT< T >::hasDistortionParameters_ = false

protected

True, if the distortion parameters are defined.

◆ invFocalLengthX_

template<typename T >

T Ocean::FisheyeCameraT< T >::invFocalLengthX_ = T(0)

protected

The horizontal inverse focal length of the camera, with range (0, infinity)

◆ invFocalLengthY_

template<typename T >

T Ocean::FisheyeCameraT< T >::invFocalLengthY_ = T(0)

protected

The vertical inverse focal length of the camera, with range (0, infinity)

◆ principalPointX_

template<typename T >

T Ocean::FisheyeCameraT< T >::principalPointX_ = T(0)

protected

The horizontal principal point of the camera, in pixels, with range [0, width())

◆ principalPointY_

template<typename T >

T Ocean::FisheyeCameraT< T >::principalPointY_ = T(0)

protected

The vertical principal point of the camera, in pixels, with range [0, width())

◆ radialDistortion_

template<typename T >

T Ocean::FisheyeCameraT< T >::radialDistortion_[6] = {T(0), T(0), T(0), T(0), T(0), T(0)}

protected

The six radial distortion parameters.

◆ tangentialDistortion_

template<typename T >

T Ocean::FisheyeCameraT< T >::tangentialDistortion_[2] = {T(0), T(0)}

protected

The two tangential distortion parameters.

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

FisheyeCamera.h

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Type

Member Enumeration Documentation

◆ ParameterConfiguration

Constructor & Destructor Documentation

◆ FisheyeCameraT() [1/7]

◆ FisheyeCameraT() [2/7]

◆ FisheyeCameraT() [3/7]

◆ FisheyeCameraT() [4/7]

◆ FisheyeCameraT() [5/7]

◆ FisheyeCameraT() [6/7]

◆ FisheyeCameraT() [7/7]

Member Function Documentation

◆ copyParameters()

◆ distortNormalized()

◆ focalLengthX()

◆ focalLengthY()

◆ fovDiagonal()

◆ fovX()

◆ fovY()

◆ hasDistortionParameters()

◆ height()

◆ inverseFocalLengthX()

◆ inverseFocalLengthY()

◆ isEqual()

◆ isInside()

◆ isValid()

◆ jacobianDistortNormalized2x2()

◆ operator bool()

◆ operator!=()

◆ operator=()

◆ operator==()

◆ pointJacobian2x3IF()

◆ principalPoint()

◆ principalPointX()

◆ principalPointY()

◆ projectToImage() [1/2]

◆ projectToImage() [2/2]

◆ projectToImageIF() [1/2]

◆ projectToImageIF() [2/2]

◆ radialDistortion()

◆ ray() [1/2]

◆ ray() [2/2]

◆ tangentialDistortion()

◆ tangentialFreeDistortion()

◆ undistortNormalized()

◆ vector()

◆ vectorIF()

◆ width()

Friends And Related Function Documentation

◆ FisheyeCameraT

Field Documentation

◆ cameraHeight_

◆ cameraWidth_

◆ focalLengthX_

◆ focalLengthY_

◆ hasDistortionParameters_

◆ invFocalLengthX_

◆ invFocalLengthY_

◆ principalPointX_

◆ principalPointY_

◆ radialDistortion_

◆ tangentialDistortion_

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