This class implements fisheye epipolar geometry functionality. More...

#include <FisheyeEpipolarGeometry.h>

Public Types
enum	CameraIdentifier : unsigned int { CI_CAMERA0 = 0u , CI_CAMERA1 }
	Definition of camera identifiers. More...

using	EpipolarLine = std::vector< Vector2 >
	Definition of an epipolar line as a vector of 2D points.

using	EpipolarLines = std::vector< EpipolarLine >
	Definition of a vector holding epipolar lines.

Public Member Functions
	FisheyeEpipolarGeometry ()=default
	Default constructor creating an invalid epipolar geometry object.

	FisheyeEpipolarGeometry (const SharedAnyCamera &camera0, const SharedAnyCamera &camera1, const HomogenousMatrix4 &camera0_T_camera1)
	Creates a new fisheye epipolar geometry object.

bool	isValid () const
	Returns whether this epipolar geometry object is valid.

bool	updateCameras (const SharedAnyCamera &camera0, const SharedAnyCamera &camera1, const HomogenousMatrix4 &camera0_T_camera1)
	Updates the cameras and transformation of this epipolar geometry object.

bool	epipolarLine (const Vector2 &sourcePointFisheye, Vectors2 &fisheyeEpipolarLineSegments, const CameraIdentifier sourceCameraIdentifier=CI_CAMERA0, const Scalar lineStep=Scalar(70), const size_t maxNumberLineSegments=100u) const
	Computes the epipolar line in the target camera corresponding to a point in the source camera.

bool	isOnEpipolarLine (const CameraIdentifier sourceCameraIdentifier, const Vector2 &sourcePointFisheye, const Vector2 &targetPointFisheye, const Scalar maxDistance=Scalar(2)) const
	Determines whether a target point lies on the epipolar line corresponding to a source point.

Scalar	squareDistanceToEpipolarLine (const CameraIdentifier sourceCameraIdentifier, const Vector2 &sourcePointFisheye, const Vector2 &targetPointFisheye) const
	Computes the squared distance from a target point to the epipolar line corresponding to a source point.

Protected Member Functions
Vector2	reprojectPoint (const AnyCamera &sourceCamera, const AnyCamera &targetCamera, const Vector2 &sourcePoint) const
	Reprojects a point from one camera to another.

bool	epipolarLine (const CameraIdentifier sourceCameraIdentifier, const Vector2 &sourcePointFisheye, Line2 &epipolarLinePinhole) const
	Computes the epipolar line in the target camera corresponding to a point in the source camera (in pinhole space).

Protected Attributes
SharedAnyCamera	fisheyeCamera0_
	The first fisheye camera.

SharedAnyCamera	fisheyeCamera1_
	The second fisheye camera.

SharedAnyCamera	pinholeCamera0_
	The first pinhole camera.

SharedAnyCamera	pinholeCamera1_
	The second pinhole camera.

HomogenousMatrix4	camera0_T_camera1_
	The transformation from camera 1 to camera 0.

SquareMatrix3	camera1_E_camera0_
	The essential matrix from camera 0 to camera 1.

SquareMatrix3	camera1_F_camera0_
	The fundamental matrix from camera 0 to camera 1.

Detailed Description

This class implements fisheye epipolar geometry functionality.

Member Typedef Documentation

◆ EpipolarLine

using Ocean::Geometry::FisheyeEpipolarGeometry::EpipolarLine = std::vector<Vector2>

Definition of an epipolar line as a vector of 2D points.

◆ EpipolarLines

using Ocean::Geometry::FisheyeEpipolarGeometry::EpipolarLines = std::vector<EpipolarLine>

Definition of a vector holding epipolar lines.

Member Enumeration Documentation

◆ CameraIdentifier

enum Ocean::Geometry::FisheyeEpipolarGeometry::CameraIdentifier : unsigned int

Definition of camera identifiers.

Enumerator
CI_CAMERA0	Camera 0.
CI_CAMERA1	Camera 1.

Constructor & Destructor Documentation

◆ FisheyeEpipolarGeometry() [1/2]

Ocean::Geometry::FisheyeEpipolarGeometry::FisheyeEpipolarGeometry ( )

default

Default constructor creating an invalid epipolar geometry object.

◆ FisheyeEpipolarGeometry() [2/2]

Ocean::Geometry::FisheyeEpipolarGeometry::FisheyeEpipolarGeometry	(	const SharedAnyCamera &	camera0,
		const SharedAnyCamera &	camera1,
		const HomogenousMatrix4 &	camera0_T_camera1
	)

Creates a new fisheye epipolar geometry object.

Parameters

camera0	The first camera, must be valid
camera1	The second camera, must be valid
camera0_T_camera1	The transformation from camera 1 to camera 0, must be valid

Member Function Documentation

◆ epipolarLine() [1/2]

bool Ocean::Geometry::FisheyeEpipolarGeometry::epipolarLine	(	const CameraIdentifier	sourceCameraIdentifier,
		const Vector2 &	sourcePointFisheye,
		Line2 &	epipolarLinePinhole
	)		const

protected

Computes the epipolar line in the target camera corresponding to a point in the source camera (in pinhole space).

Parameters

sourceCameraIdentifier	The identifier of the source camera, either CI_CAMERA0 or CI_CAMERA1
sourcePointFisheye	The point in the source camera (fisheye space), with range [0, sourceCamera.width())x[0, sourceCamera.height())
epipolarLinePinhole	The resulting epipolar line in the target camera (pinhole space)

Returns: True, if succeeded

◆ epipolarLine() [2/2]

bool Ocean::Geometry::FisheyeEpipolarGeometry::epipolarLine	(	const Vector2 &	sourcePointFisheye,
		Vectors2 &	fisheyeEpipolarLineSegments,
		const CameraIdentifier	sourceCameraIdentifier = `CI_CAMERA0`,
		const Scalar	lineStep = `Scalar(70)`,
		const size_t	maxNumberLineSegments = `100u`
	)		const

Computes the epipolar line in the target camera corresponding to a point in the source camera.

Parameters

sourcePointFisheye	The point in the source camera, with range [0, sourceCamera.width())x[0, sourceCamera.height())
fisheyeEpipolarLineSegments	The resulting epipolar line in the target camera as a sequence of connected points
sourceCameraIdentifier	The identifier of the source camera, either CI_CAMERA0 or CI_CAMERA1
lineStep	The step size along the epipolar line, in pixels, with range (0, infinity)
maxNumberLineSegments	The maximum number of line segments to compute, with range [1, infinity)

Returns: True, if succeeded

◆ isOnEpipolarLine()

bool Ocean::Geometry::FisheyeEpipolarGeometry::isOnEpipolarLine	(	const CameraIdentifier	sourceCameraIdentifier,
		const Vector2 &	sourcePointFisheye,
		const Vector2 &	targetPointFisheye,
		const Scalar	maxDistance = `Scalar(2)`
	)		const

Determines whether a target point lies on the epipolar line corresponding to a source point.

Parameters

sourceCameraIdentifier	The identifier of the source camera, either CI_CAMERA0 or CI_CAMERA1
sourcePointFisheye	The point in the source camera, with range [0, sourceCamera.width())x[0, sourceCamera.height())
targetPointFisheye	The point in the target camera to check, with range [0, targetCamera.width())x[0, targetCamera.height())
maxDistance	The maximum allowed distance from the epipolar line, in pixels, with range [0, infinity)

Returns: True, if the target point lies on the epipolar line

◆ isValid()

bool Ocean::Geometry::FisheyeEpipolarGeometry::isValid ( ) const

Returns whether this epipolar geometry object is valid.

Returns: True, if so

◆ reprojectPoint()

Vector2 Ocean::Geometry::FisheyeEpipolarGeometry::reprojectPoint	(	const AnyCamera &	sourceCamera,
		const AnyCamera &	targetCamera,
		const Vector2 &	sourcePoint
	)		const

protected

Reprojects a point from one camera to another.

Parameters

sourceCamera	The source camera, must be valid
targetCamera	The target camera, must be valid
sourcePoint	The point in the source camera

Returns: The reprojected point in the target camera

◆ squareDistanceToEpipolarLine()

Scalar Ocean::Geometry::FisheyeEpipolarGeometry::squareDistanceToEpipolarLine	(	const CameraIdentifier	sourceCameraIdentifier,
		const Vector2 &	sourcePointFisheye,
		const Vector2 &	targetPointFisheye
	)		const

Computes the squared distance from a target point to the epipolar line corresponding to a source point.

Parameters

sourceCameraIdentifier	The identifier of the source camera, either CI_CAMERA0 or CI_CAMERA1
sourcePointFisheye	The point in the source camera, with range [0, sourceCamera.width())x[0, sourceCamera.height())
targetPointFisheye	The point in the target camera, with range [0, targetCamera.width())x[0, targetCamera.height())

Returns: The squared distance from the target point to the epipolar line, in pixels^2, with range [0, infinity), or -1 if the computation fails

◆ updateCameras()

bool Ocean::Geometry::FisheyeEpipolarGeometry::updateCameras	(	const SharedAnyCamera &	camera0,
		const SharedAnyCamera &	camera1,
		const HomogenousMatrix4 &	camera0_T_camera1
	)

Updates the cameras and transformation of this epipolar geometry object.

Parameters

camera0	The first camera, must be valid
camera1	The second camera, must be valid
camera0_T_camera1	The transformation from camera 1 to camera 0, must be valid

Returns: True, if succeeded

Field Documentation

◆ camera0_T_camera1_

HomogenousMatrix4 Ocean::Geometry::FisheyeEpipolarGeometry::camera0_T_camera1_

protected

The transformation from camera 1 to camera 0.

◆ camera1_E_camera0_

SquareMatrix3 Ocean::Geometry::FisheyeEpipolarGeometry::camera1_E_camera0_

protected

The essential matrix from camera 0 to camera 1.

◆ camera1_F_camera0_

SquareMatrix3 Ocean::Geometry::FisheyeEpipolarGeometry::camera1_F_camera0_

protected

The fundamental matrix from camera 0 to camera 1.

◆ fisheyeCamera0_

SharedAnyCamera Ocean::Geometry::FisheyeEpipolarGeometry::fisheyeCamera0_

protected

The first fisheye camera.

◆ fisheyeCamera1_

SharedAnyCamera Ocean::Geometry::FisheyeEpipolarGeometry::fisheyeCamera1_

protected

The second fisheye camera.

◆ pinholeCamera0_

SharedAnyCamera Ocean::Geometry::FisheyeEpipolarGeometry::pinholeCamera0_

protected

The first pinhole camera.

◆ pinholeCamera1_

SharedAnyCamera Ocean::Geometry::FisheyeEpipolarGeometry::pinholeCamera1_

protected

The second pinhole camera.

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

FisheyeEpipolarGeometry.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ EpipolarLine

◆ EpipolarLines

Member Enumeration Documentation

◆ CameraIdentifier

Constructor & Destructor Documentation

◆ FisheyeEpipolarGeometry() [1/2]

◆ FisheyeEpipolarGeometry() [2/2]

Member Function Documentation

◆ epipolarLine() [1/2]

◆ epipolarLine() [2/2]

◆ isOnEpipolarLine()

◆ isValid()

◆ reprojectPoint()

◆ squareDistanceToEpipolarLine()

◆ updateCameras()

Field Documentation

◆ camera0_T_camera1_

◆ camera1_E_camera0_

◆ camera1_F_camera0_

◆ fisheyeCamera0_

◆ fisheyeCamera1_

◆ pinholeCamera0_

◆ pinholeCamera1_