Definition of a pinhole camera model. More...

Inheritance diagram for Ocean::PinholeCameraT< T >:

Data Structures
class	DistortionLookup
	This class encapsulates a lookup table for camera distortion offsets allowing for faster un-distortion of image points (which is than an approximated position only). More...

Public Types
enum	OptimizationStrategy { OS_NONE = 0 , OS_FOCAL_LENGTH = 1 , OS_FOCAL_LENGTHS = 2 , OS_INTRINSIC_PARAMETERS = 4 , OS_FOCAL_LENGTHS_DISTORTION = 6 , OS_SYMMETRIC_INTRINSIC_PARAMETERS_DISTORTIONS = 7 , OS_INTRINSIC_PARAMETERS_DISTORTIONS = 8 , OS_DISTORTION = 0x1000 \| 4 , OS_INTRINSIC_PARAMETERS_RADIAL_DISTORTION = 0x1000 \| 6 }
	Definition of individual optimization strategies for camera parameters. More...

typedef T	TScalar
	The scalar data type of this object. More...

typedef std::pair< T, T >	DistortionPair
	Definition of a pair of distortion values. More...

Public Member Functions
	PinholeCameraT ()=default
	Standard constructor. More...

	PinholeCameraT (const unsigned int width, const unsigned int height, const PinholeCameraT< T > &camera)
	Creates a new camera object with specified frame dimension and intrinsic camera parameters best matching to a given reference camera profile with different frame dimension. More...

	PinholeCameraT (const T subFrameLeft, const T subFrameTop, const unsigned int subFrameWidth, const unsigned int subFrameHeight, const PinholeCameraT< T > &camera)
	Creates a new sub-frame camera profile based on a camera profile of the entire camera frame. More...

	PinholeCameraT (const unsigned int width, const unsigned int height, const T focalX, const T focalY, const T principalX, const T principalY)
	Creates a new PinholeCameraT<T> object by it's given intrinsic parameters. More...

	PinholeCameraT (const unsigned int width, const unsigned int height, const T focalX, const T focalY, const T principalX, const T principalY, const DistortionPair &radial, const DistortionPair &tangential)
	Creates a new PinholeCameraT<T> object by it's given intrinsic parameters. More...

	PinholeCameraT (const unsigned int width, const unsigned int height, const T *parameters, const bool radialDistortion=true, const bool tangentialDistortion=true)
	Creates a new PinholeCameraT<T> object by it's given intrinsic parameters. More...

	PinholeCameraT (const SquareMatrixT3< T > &intrinsic)
	Creates a new PinholeCameraT<T> object by a given projection matrix with the intrinsic camera parameters. More...

	PinholeCameraT (const SquareMatrixT3< T > &intrinsic, const unsigned int width, const unsigned int height)
	Creates a new PinholeCameraT<T> object by the given intrinsic camera matrix and width and height of the camera. More...

	PinholeCameraT (const SquareMatrixT3< T > &intrinsic, const unsigned int width, const unsigned int height, const DistortionPair &radial, const DistortionPair &tangential)
	Creates a new PinholeCameraT<T> object by the given intrinsic camera matrix, the width and height and the radial distortion parameters. More...

	PinholeCameraT (const unsigned int width, const unsigned int height, const T fovX)
	Creates a new PinholeCameraT<T> object by the given width, height and field of view of a camera. More...

	PinholeCameraT (const unsigned int width, const unsigned int height, const T fovX, const T principalX, const T principalY)
	Creates a new PinholeCameraT<T> object by the given frame dimensions, the ideal field of view, and the camera's principal point. More...

template<typename U >
	PinholeCameraT (const PinholeCameraT< U > &pinholeCamera, const bool copyDistortionParameters=true)
	Copy constructor for a pinhole camera with difference element data type than T. More...

const SquareMatrixT3< T > &	intrinsic () const
	Returns the intrinsic camera matrix. More...

const SquareMatrixT3< T > &	invertedIntrinsic () const
	Returns the inverted intrinsic camera matrix. More...

const DistortionPair &	radialDistortion () const
	Returns the pair of radial distortion parameters. More...

const DistortionPair &	tangentialDistortion () const
	Returns the pair of tangential distortion parameters. 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...

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	fovXLeft () const
	Returns the left field of view in x direction. More...

T	fovXRight () const
	Returns the right field of view in x direction. More...

T	fovYTop () const
	Returns the top field of view in y direction. More...

T	fovYBottom () const
	Returns the bottom field of view in y direction. More...

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

bool	rotation (const VectorT2< T > &undistortedPosition, T &angleX, T &angleY) const
	Gets two rotation parameters of the viewing ray for a given undistorted 2D position in the camera image. More...

void	copyElements (T *arrayValues, const bool copyRadialDistortion=true, const bool copyTangentialDistortion=true) const
	Copies the elements of this camera to an array with 4 to 8 floating point values. More...

bool	setIntrinsic (const SquareMatrixT3< T > &intrinsic)
	Sets the intrinsic camera matrix. More...

void	setRadialDistortion (const DistortionPair &radial)
	Sets the radial distortion parameters. More...

void	setTangentialDistortion (const DistortionPair &tangential)
	Sets the tangential distortion parameters. More...

void	applyZoomFactor (const T relativeZoom)
	Applies a given (relative) zoom factor which mainly multiplies the focal length parameters by the given factor. More...

bool	isDistortionPlausible (const T symmetricFocalLengthRatio=T(1.05), const T modelAccuracy=T(0.001), const T symmetricDistortionRatio=T(1.08)) const
	Checks whether the distortion of this camera is plausible. More...

template<bool tUseBorderDistortionIfOutside>
VectorT2< T >	undistort (const VectorT2< T > &distorted, const unsigned int iterations=10u, const T zoom=T(1)) const
	Returns the undistorted position of a given distorted position defined in pixel coordinates. More...

VectorT2< T >	undistortDamped (const VectorT2< T > &distorted, const T dampingFactor=T(1), const unsigned int iterations=10u, const T zoom=T(1)) const
	Returns the undistorted position of a given distorted position defined in pixel coordinates. More...

template<bool tUseBorderDistortionIfOutside>
VectorT2< T >	distort (const VectorT2< T > &undistorted) const
	Returns the distorted position of a given undistorted position defined in pixel coordinates. More...

VectorT2< T >	distortDamped (const VectorT2< T > &undistorted, const T dampingFactor=T(1), const T zoom=T(1)) const
	Returns the distorted position of a given undistorted position defined in pixel coordinates. 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...

T	calculateAngleBetween (const VectorT2< T > &first, const VectorT2< T > &second) const
	Returns the viewing angle between two undistorted points on the camera's image plane. More...

T	calculateCosBetween (const VectorT2< T > &first, const VectorT2< T > &second) const
	Returns the cosine of the viewing angle between two undistorted points on the camera's image plane. More...

template<bool tUseBorderDistortionIfOutside>
VectorT2< T >	imagePoint2normalizedImagePoint (const VectorT2< T > &imagePoint, const bool undistortImagePoint) const
	Calculates the normalized image point corresponding to a given (distorted) image point. More...

VectorT2< T >	imagePoint2normalizedImagePointDamped (const VectorT2< T > &imagePoint, const bool undistortImagePoint) const
	Calculates the normalized image point corresponding to a given (distorted) image point. More...

template<bool tUseBorderDistortionIfOutside>
VectorT2< T >	normalizedImagePoint2imagePoint (const VectorT2< T > &normalizedImagePoint, const bool distortImagePoint) const
	Calculates the image point corresponding to a given normalized image point. More...

template<bool tUseBorderDistortionIfOutside>
void	normalizedImagePoints2imagePoints (const VectorT2< T > normalizedImagePoints, const size_t numberNormalizedImagePoints, const bool distortImagePoints, VectorT2< T > imagePoints) const
	Calculates the image points corresponding to a set of given normalized image points. More...

template<bool tUseBorderDistortionIfOutside>
VectorT2< T >	projectToImage (const HomogenousMatrixT4< T > &world_T_camera, const VectorT3< T > &worldObjectPoint, const bool distortImagePoint, const T zoom=T(1)) const
	Projects a 3D object point to the 2D image plane of the camera by a given camera pose. More...

template<bool tUseBorderDistortionIfOutside>
BoxT2< T >	projectToImage (const HomogenousMatrixT4< T > &world_T_camera, const BoxT3< T > &worldObjectBox, const bool distortImagePoint, const T zoom=T(1)) const
	Projects a 3D box to the 2D image plane of the camera by a given camera pose. More...

template<bool tUseBorderDistortionIfOutside>
TriangleT2< T >	projectToImage (const HomogenousMatrixT4< T > &world_T_camera, const TriangleT3< T > &worldObjectTriangle, const bool distortImagePoint, const T zoom=T(1)) const
	Projects a 3D triangle to the 2D image plane of the camera by a given camera pose. More...

template<bool tUseBorderDistortionIfOutside>
void	projectToImage (const HomogenousMatrixT4< T > &world_T_camera, const VectorT3< T > worldObjectPoints, const size_t numberObjectPoints, const bool distortImagePoints, VectorT2< T > imagePoints, const T zoom=T(1)) const
	Projects a set of 3D object points onto an image plane of the camera by a given camera pose. More...

template<bool tUseBorderDistortionIfOutside>
LineT2< T >	projectToImage (const HomogenousMatrixT4< T > &world_T_camera, const LineT3< T > &worldLine, const bool distortProjectedLine, const T zoom=T(1)) const
	Projects a 3D line onto an image plane of the camera by a given camera pose. More...

template<bool tUseBorderDistortionIfOutside>
VectorT2< T >	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > &objectPoint, const bool distortImagePoint, const T zoom=T(1)) const
	Projects a 3D object point to the 2D image plane of the camera by a given inverse camera pose. More...

template<bool tDistortImagePoint, bool tUseBorderDistortionIfOutside>
VectorT2< T >	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > &worldObjectPoint, const T zoom=T(1)) const
	Projects a 3D object point to the 2D image plane of the camera by a given inverse camera pose. More...

template<bool tUseBorderDistortionIfOutside>
BoxT2< T >	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const BoxT3< T > &worldObjectBox, const bool distortImagePoint, const T zoom=T(1)) const
	Projects a 3D box to the 2D image plane of the camera by a given inverse camera pose. More...

template<bool tUseBorderDistortionIfOutside>
TriangleT2< T >	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const TriangleT3< T > &worldObjectTriangle, const bool distortImagePoint, const T zoom=T(1)) const
	Projects a 3D triangle to the 2D image plane of the camera by a given extrinsic camera pose. More...

template<bool tUseBorderDistortionIfOutside>
VectorT2< T >	projectToImageIF (const VectorT2< T > &normalizedObjectPoint, const bool distortImagePoint, const T zoom=T(1)) const
	Transforms a normalized object point (a 3D object point transformed by the inverted and flipped extrinsic camera matrix) into the camera pixel coordinate system. More...

template<bool tUseBorderDistortionIfOutside>
void	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const VectorT3< T > worldObjectPoints, const size_t numberObjectPoints, const bool distortImagePoints, VectorT2< T > imagePoints, const T zoom=T(1)) const
	Projects a set of 3D object points onto an image plane of the camera by a given inverse camera pose. More...

template<bool tUseBorderDistortionIfOutside>
LineT2< T >	projectToImageIF (const HomogenousMatrixT4< T > &flippedCamera_T_world, const LineT3< T > &worldLine, const bool distortProjectedLine, const T zoom=T(1)) const
	Projects a 3D line onto an image plane of the camera by a given inverse camera pose. More...

VectorT2< T >	projectToImageDamped (const HomogenousMatrixT4< T > &extrinsic, const VectorT3< T > &objectPoint, const bool distortImagePoint, const T dampingFactor=T(1), const T zoom=T(1)) const
	Projects a 3D object point to the 2D image plane of the camera by a given extrinsic camera matrix. More...

BoxT2< T >	projectToImageDamped (const HomogenousMatrixT4< T > &extrinsic, const BoxT3< T > &objectBox, const bool distortImagePoint, const T dampingFactor=T(1), const T zoom=T(1)) const
	Projects a 3D box to the 2D image plane of the camera by a given inverse extrinsic camera matrix. More...

TriangleT2< T >	projectToImageDamped (const HomogenousMatrixT4< T > &extrinsic, const TriangleT3< T > &objectTriangle, const bool distortImagePoint, const T dampingFactor=T(1), const T zoom=T(1)) const
	Projects a 3D triangle to the 2D image plane of the camera by a given extrinsic camera matrix. More...

void	projectToImageDamped (const HomogenousMatrixT4< T > &extrinsic, const VectorT3< T > objectPoints, const size_t numberObjectPoints, const bool distortImagePoints, VectorT2< T > imagePoints, const T dampingFactor=T(1), const T zoom=T(1)) const
	Projects a set of 3D object points onto an image plane of the camera by a given extrinsic camera matrix. More...

VectorT2< T >	projectToImageDampedIF (const HomogenousMatrixT4< T > &iFlippedExtrinsic, const VectorT3< T > &objectPoint, const bool distortImagePoint, const T dampingFactor=T(1), const T zoom=T(1)) const
	Projects a 3D object point to the 2D image plane of the camera by a given inverse extrinsic camera matrix. More...

BoxT2< T >	projectToImageDampedIF (const HomogenousMatrixT4< T > &iFlippedExtrinsic, const BoxT3< T > &objectBox, const bool distortImagePoint, const T dampingFactor=T(1), const T zoom=T(1)) const
	Projects a 3D box to the 2D image plane of the camera by a given inverse extrinsic camera matrix. More...

TriangleT2< T >	projectToImageDampedIF (const HomogenousMatrixT4< T > &iFlippedExtrinsic, const TriangleT3< T > &objectTriangle, const bool distortImagePoint, const T dampingFactor=T(1), const T zoom=T(1)) const
	Projects a 3D triangle to the 2D image plane of the camera by a given inverse extrinsic camera matrix. More...

void	projectToImageDampedIF (const HomogenousMatrixT4< T > &invertedFlippedExtrinsic, const VectorT3< T > objectPoints, const size_t numberObjectPoints, const bool distortImagePoints, VectorT2< T > imagePoints, const T dampingFactor=T(1), const T zoom=T(1)) const
	Projects a set of 3D object points onto an image plane of the camera by a given inverse extrinsic camera matrix. More...

VectorT3< T >	vector (const VectorT2< T > &position, 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...

VectorT3< T >	vector (const VectorT2< T > &position, const T zoom, 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...

VectorT3< T >	vectorToPlane (const VectorT2< T > &position, const T distance) const
	Returns a vector starting at the camera's center and intersecting a given 2D point on the image plane. More...

VectorT3< T >	vectorToPlane (const VectorT2< T > &position, const T distance, const T zoom) const
	Returns a vector starting at the camera's center and intersecting a given 2D point on the image plane. More...

VectorT3< T >	vectorIF (const VectorT2< T > &position, 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...

VectorT3< T >	vectorIF (const VectorT2< T > &position, const T zoom, const bool makeUnitVector) 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...

LineT3< T >	ray (const VectorT2< T > &position, const HomogenousMatrixT4< T > &world_T_camera, const T zoom=T(1)) const
	Returns a ray starting at the camera's center and intersection a given 2D point on the image plane. More...

LineT3< T >	ray (const VectorT2< T > &position, const VectorT3< T > &world_t_camera, const QuaternionT< T > &world_Q_camera, const T zoom=T(1)) const
	Returns a ray starting at the camera's center and intersection a given 2D point on the image plane. More...

SquareMatrixT4< T >	frustumMatrix (const T nearDistance, const T farDistance) const
	Returns the 4x4 frustum projection matrix corresponding to this camera. More...

HomogenousMatrixT4< T >	transformationMatrixIF (const HomogenousMatrixT4< T > &iFlippedExtrinsic, const T zoom=T(1)) const
	Returns a 4x4 homogenous transformation matrix (corresponding to a 3x4 matrix) that covers an extrinsic (inverted and flipped) camera matrix and the intrinsic projection matrix of this camera object. More...

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

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

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

bool	operator== (const PinholeCameraT< T > &camera) const
	Returns whether two camera objects are identical up to a small epsilon. More...

bool	operator!= (const PinholeCameraT< T > &camera) const
	Returns whether two camera objects are not identical up to a small epsilon. More...

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

Private Member Functions
void	calculateInverseIntrinsic ()
	Determines the inverse of the intrinsic camera matrix. More...

template<bool tUseBorderDistortionIfOutside>
VectorT2< T >	distortNormalized (const VectorT2< T > &undistortedNormalized, const T invZoom) const
	Returns the distorted position of a given undistorted normalized position. More...

VectorT2< T >	distortNormalizedDamped (const VectorT2< T > &undistortedNormalized, const T dampingFactor, const T invZoom) const
	Returns the distorted position of a given undistorted normalized position. More...

VectorT2< T >	dampedNormalized (const VectorT2< T > &normalized, const T dampingFactor, const T invZoom) const
	Determines the damped normalized coordinate for a given normalized coordinate. More...

VectorT2< T >	dampedNormalized (const VectorT2< T > &normalized, const T dampingFactor, const T leftNormalizedBorder, const T rightNormalizedBorder, const T topNormalizedBorder, const T bottomNormalizedBorder) const
	Determines the damped normalized coordinate for a given normalized coordinate. More...

Private Attributes
SquareMatrixT3< T >	intrinsics_ = SquareMatrixT3<T>(false)
	Intrinsic camera matrix. More...

SquareMatrixT3< T >	invertedIntrinsics_ = SquareMatrixT3<T>(false)
	Inverted intrinsic camera matrix. More...

unsigned int	width_ = 0u
	Width of the camera image (in pixels). More...

unsigned int	height_ = 0u
	Height of the camera image (in pixels). More...

DistortionPair	radialDistortion_ = DistortionPair(T(0), T(0))
	Pair of radial distortion parameters for r^2 and r^4. More...

DistortionPair	tangentialDistortion_ = DistortionPair(T(0), T(0))
	Pair of tangential distortion parameters. More...

Friends
template<typename U >
class	PinholeCameraT

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::PinholeCameraT< T >

Definition of a pinhole camera model.

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) Two radial distortion parameters k1, and k2 for r^2 and r^4:
4) Two tangential distortion parameters p1 and p2.
An distortion free (undistorted) image point is transformed to the corresponding distorted image position as follows:
x' = x + x * (k1 * r^2 + k2 * r^4) + p1 * 2 * x * y + p2 * (r^2 + 2 * x^2),
y' = y + y * (k1 * r^2 + k2 * r^4) + p2 * 2 * x * y + p1 * (r^2 + 2 * y^2).
With: Undistorted and normalized image coordinates (x, y) and distorted and normalized image coordinates (x', y'),
r^2 is defined by: r^2 = (x^2 + y^2), while r^4 = (x^2 + y^2)^2.
The normalized image coordinate is obtained from a 3D object point by application of the perspective division.
Normalized image coordinates may be transformed into the pixel coordinate system by applying the focal length and the principal point.

This class provides several distort, undistort or projection functions of image points or object points.
Points lying outside the camera frame, may be distorted or undistorted due to the given position or due to the nearest position lying on the camera frame's border.
The larger the distance to the principal point of the camera, the more irregular the un-/distortion of the distortion model of this camera.

Template Parameters

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

Member Typedef Documentation

◆ DistortionPair

template<typename T >

typedef std::pair<T, T> Ocean::PinholeCameraT< T >::DistortionPair

Definition of a pair of distortion values.

◆ TScalar

template<typename T >

typedef T Ocean::PinholeCameraT< T >::TScalar

The scalar data type of this object.

Member Enumeration Documentation

◆ OptimizationStrategy

template<typename T >

enum Ocean::PinholeCameraT::OptimizationStrategy

Definition of individual optimization strategies for camera parameters.

Enumerator
OS_NONE	No optimization.
OS_FOCAL_LENGTH	Optimization of one focal length parameter (the same/identical parameter for horizontal and vertical focal length).
OS_FOCAL_LENGTHS	Optimization of two focal length parameters: Horizontal focal length and vertical focal length.
OS_INTRINSIC_PARAMETERS	Optimization of the four (basic) intrinsic camera parameters: Horizontal focal length, vertical focal length, horizontal principal point, vertical principal point.
OS_FOCAL_LENGTHS_DISTORTION	Optimization of six parameters: Horizontal focal length, vertical focal length, two radial distortion parameters, two tangential distortion parameters.
OS_SYMMETRIC_INTRINSIC_PARAMETERS_DISTORTIONS	Optimization of all camera parameters while the horizontal and vertical focal length parameter is identical.
OS_INTRINSIC_PARAMETERS_DISTORTIONS	Optimization of all 8 intrinsic camera parameters including the distortion parameters: (2x focal length, 2x principal point, 2x radial distortion, 2x tangential distortion).
OS_DISTORTION	Optimization of four distortion parameters: Two radial distortion parameters, two tangential distortion parameters.
OS_INTRINSIC_PARAMETERS_RADIAL_DISTORTION	Optimization of four (basic) intrinsic camera parameters: Horizontal focal length, vertical focal length, horizontal principal point, vertical principal point and two radial distortion parameters.

Constructor & Destructor Documentation

◆ PinholeCameraT() [1/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT ( )

default

Standard constructor.

Creates a new PinholeCameraT<T> object with all internal parameters as zero. The resulting camera object is invalid.

◆ PinholeCameraT() [2/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT	(	const unsigned int	width,
		const unsigned int	height,
		const PinholeCameraT< T > &	camera
	)

Creates a new camera object with specified frame dimension and intrinsic camera parameters best matching to a given reference camera profile with different frame dimension.

Beware: The dimension aspect ratio between the new camera and the given reference camera profile should be almost similar.

Parameters

width	The width of the camera dimension in pixel, with range [1, infinity)
height	The height of the camera dimension in pixel, with range [1, infinity)
camera	The camera profile that is used to adopt the intrinsic (and distortion) parameters

◆ PinholeCameraT() [3/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT	(	const T	subFrameLeft,
		const T	subFrameTop,
		const unsigned int	subFrameWidth,
		const unsigned int	subFrameHeight,
		const PinholeCameraT< T > &	camera
	)

Creates a new sub-frame camera profile based on a camera profile of the entire camera frame.

Parameters

subFrameLeft	The horizontal start position of the sub-frame within the original camera frame, in pixel, with range (-infinity, infinity)
subFrameTop	The vertical start position of the sub-frame within the original camera frame, in pixel, with range (-infinity, infinity)
subFrameWidth	The width of the sub-frame in pixel, with range [1, infinity)
subFrameHeight	The height of the sub-frame in pixel, with range [1, infinity)
camera	The original camera profile for which a sub-frame camera profile will be created

◆ PinholeCameraT() [4/12]

template<typename T >

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

Creates a new PinholeCameraT<T> object by it's given intrinsic 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	The focal parameter of the horizontal axis
focalY	The focal parameter of the vertical axis
principalX	The principal point of the horizontal axis (in pixel)
principalY	The principal point of the vertical axis (in pixel)

◆ PinholeCameraT() [5/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT	(	const unsigned int	width,
		const unsigned int	height,
		const T	focalX,
		const T	focalY,
		const T	principalX,
		const T	principalY,
		const DistortionPair &	radial,
		const DistortionPair &	tangential
	)

Creates a new PinholeCameraT<T> object by it's given intrinsic 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	The focal parameter of the horizontal axis
focalY	The focal parameter of the vertical axis
principalX	The principal point of the horizontal axis (in pixel)
principalY	The principal point of the vertical axis (in pixel)
radial	The pair of radial distortion parameter for r^2 and r^4
tangential	The tangential distortion parameters

◆ PinholeCameraT() [6/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT	(	const unsigned int	width,
		const unsigned int	height,
		const T *	parameters,
		const bool	radialDistortion = `true`,
		const bool	tangentialDistortion = `true`
	)

Creates a new PinholeCameraT<T> object by it's given intrinsic 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)
parameters	The four to eight intrinsic and distortion parameters of the camera focalLegnthX(), focalLengthY(), principalPointX(), principalPointY(), radialDistortion().first, radialDistortion().second, tangentialDistortion().first, tangentialDistortion().second
radialDistortion	True, if parameter[4] and parameter[5] exist and store radial distortion parameters, must be 'True' if tangentialDistortion is 'True'
tangentialDistortion	True, if parameter[6] and parameter[7] exist and store tangential distortion parameters

◆ PinholeCameraT() [7/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT ( const SquareMatrixT3< T > & intrinsic )

explicit

Creates a new PinholeCameraT<T> object by a given projection matrix with the intrinsic camera parameters.

Parameters

intrinsic The matrix with intrinsic camera parameter.

◆ PinholeCameraT() [8/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT	(	const SquareMatrixT3< T > &	intrinsic,
		const unsigned int	width,
		const unsigned int	height
	)

Creates a new PinholeCameraT<T> object by the given intrinsic camera matrix and width and height of the camera.

Parameters

intrinsic	The intrinsic camera matrix
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)

◆ PinholeCameraT() [9/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT	(	const SquareMatrixT3< T > &	intrinsic,
		const unsigned int	width,
		const unsigned int	height,
		const DistortionPair &	radial,
		const DistortionPair &	tangential
	)

Creates a new PinholeCameraT<T> object by the given intrinsic camera matrix, the width and height and the radial distortion parameters.

Parameters

intrinsic	The intrinsic camera matrix
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)
radial	The radial distortion parameters (r^2 and r^4)
tangential	The tangential distortion parameters

◆ PinholeCameraT() [10/12]

template<typename T >

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

Creates a new PinholeCameraT<T> object by the given width, height and field of view of a camera.

This camera has no radial distortion.

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	The field of view in x-direction, in radian, with range (0, PI)

◆ PinholeCameraT() [11/12]

template<typename T >

Ocean::PinholeCameraT< T >::PinholeCameraT	(	const unsigned int	width,
		const unsigned int	height,
		const T	fovX,
		const T	principalX,
		const T	principalY
	)

Creates a new PinholeCameraT<T> object by the given frame dimensions, the ideal field of view, and the camera's principal point.

The provided field of view is expected to be the ideal field of view (if the camera would have a principal point in the perfect center of the image).
This camera has no radial distortion.

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	The camera's ideal field of view in x-direction, in radian, with range (0, PI)
principalX	The horizontal principal point within the camera frame, in pixel, with range (-infinity, infinity)
principalY	The vertical principal point within the camera frame, in pixel, with range (-infinity, infinity)

◆ PinholeCameraT() [12/12]

template<typename T >

template<typename U >

Ocean::PinholeCameraT< T >::PinholeCameraT	(	const PinholeCameraT< U > &	pinholeCamera,
		const bool	copyDistortionParameters = `true`
	)

inlineexplicit

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

Parameters

pinholeCamera	The pinhole camera profile to be copied
copyDistortionParameters	True, to copy the distortion parameters; False, create a new pinhole camera without distortion parameters

Template Parameters

U	The element data type of the given pinhole camera

Member Function Documentation

◆ applyZoomFactor()

template<typename T >

void Ocean::PinholeCameraT< T >::applyZoomFactor ( const T relativeZoom )

Applies a given (relative) zoom factor which mainly multiplies the focal length parameters by the given factor.

Parameters

relativeZoom The (realtive) zoom factor to apply, with range (0, infinity)

◆ calculateAngleBetween()

template<typename T >

T Ocean::PinholeCameraT< T >::calculateAngleBetween	(	const VectorT2< T > &	first,
		const VectorT2< T > &	second
	)		const

Returns the viewing angle between two undistorted points on the camera's image plane.

Parameters

first	The first undistorted point
second	The second undistorted point

Returns: The viewing angle between the defined points (in radian)

See also: calculateCosBetween().

◆ calculateCosBetween()

template<typename T >

T Ocean::PinholeCameraT< T >::calculateCosBetween	(	const VectorT2< T > &	first,
		const VectorT2< T > &	second
	)		const

Returns the cosine of the viewing angle between two undistorted points on the camera's image plane.

Parameters

first	The first undistorted point
second	The second undistorted point

Returns: The cosine of viewing angle between the defined points

See also: calculateAngleBetween().

◆ calculateInverseIntrinsic()

template<typename T >

void Ocean::PinholeCameraT< T >::calculateInverseIntrinsic

inlineprivate

Determines the inverse of the intrinsic camera matrix.

This function must be invoked immediately after the intrinsic matrix has changed.

The calculation is identical to the multiplication between the inverted camera matrix and the position vector.

◆ copyElements()

template<typename T >

void Ocean::PinholeCameraT< T >::copyElements	(	T *	arrayValues,
		const bool	copyRadialDistortion = `true`,
		const bool	copyTangentialDistortion = `true`
	)		const

Copies the elements of this camera to an array with 4 to 8 floating point values.

The resulting values are stored in the following order: focalLegnthX(), focalLengthY(), principalPointX(), principalPointY(), radialDistortion().first, radialDistortion().second, tangentialDistortion().first, tangentialDistortion().second.

Parameters

arrayValues	The array with 4 to 8 floating point values receiving the camera data
copyRadialDistortion	True, if the array holds at least 6 elements so that the radial parameters will be copied too, must be 'True' if tangentialDistortion is 'True'
copyTangentialDistortion	True, if the array holds at least 8 elements so that the tangential parameters will be copied too

◆ dampedNormalized() [1/2]

template<typename T >

VectorT2<T> Ocean::PinholeCameraT< T >::dampedNormalized	(	const VectorT2< T > &	normalized,
		const T	dampingFactor,
		const T	invZoom
	)		const

private

Determines the damped normalized coordinate for a given normalized coordinate.

The damping is applied to coordinates outside the camera frame.
The damping has an asymptotic pattern so that a damped coordinate never reaches a boundary (specified by the dampingFactor).

Parameters

normalized	The normalized coordinate for which the damped coordinate will be calculated
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
invZoom	The optional the inverse zoom factor (1/zoom) of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The damped normalized coordinate

◆ dampedNormalized() [2/2]

template<typename T >

VectorT2<T> Ocean::PinholeCameraT< T >::dampedNormalized	(	const VectorT2< T > &	normalized,
		const T	dampingFactor,
		const T	leftNormalizedBorder,
		const T	rightNormalizedBorder,
		const T	topNormalizedBorder,
		const T	bottomNormalizedBorder
	)		const

private

Determines the damped normalized coordinate for a given normalized coordinate.

The damping is applied to coordinates outside the camera frame.
The damping has an asymptotic pattern so that a damped coordinate never reaches a boundary (specified by the dampingFactor).

Parameters

normalized	The normalized coordinate for which the damped coordinate will be calculated
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
leftNormalizedBorder	The left border of camera frame in normalized coordinates, respecting a possible zoom factor already
rightNormalizedBorder	The right border of the camera frame in normalized coordinates, respecting a possible zoom factor already
topNormalizedBorder	The top border of the camera frame in normalized coordinates, respecting a possible zoom factor already
bottomNormalizedBorder	The bottom border of the camera frame in normalized coordinates, respecting a possible zoom factor already

Returns: The damped normalized coordinate

◆ distort()

template<typename T >

template<bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::distort ( const VectorT2< T > & undistorted ) const

Returns the distorted position of a given undistorted position defined in pixel coordinates.

The distorted position is calculated by the usage of the internal distortion parameters of this camera object:

dx = x + x * (k1 * r^2 + k2 * r^4) + p1 * 2 * x * y + p2 * (r^2 + 2 * x^2),
dy = y + y * (k1 * r^2 + k2 * r^4) + p2 * 2 * x * y + p1 * (r^2 + 2 * y^2).

With (dx, dy) the distorted normalized point coordinates, (x, y) the undistorted normalized point coordinates,
and dcx = Fx * dx + mx, dcy = Fy * dy + my the distorted pixel coordinates.

Parameters

undistorted The undistorted position to be distorted in pixel coordinates

Returns: The resulting distorted position in pixel coordinates

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: undistort().

◆ distortDamped()

template<typename T >

VectorT2<T> Ocean::PinholeCameraT< T >::distortDamped	(	const VectorT2< T > &	undistorted,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

Returns the distorted position of a given undistorted position defined in pixel coordinates.

This function applies a damping for the distortion outside the camera frame so that the quadratic and quartic radii do not have such a significant impact.
The damping has an asymptotic pattern and so that distortion is based on normalized coordinates never reaching a specified boundary.
The distorted position is calculated by the usage of the internal distortion parameters of this camera object:

dx = x + x * (k1 * r^2 + k2 * r^4) + p1 * 2 * x * y + p2 * (r^2 + 2 * x^2),
dy = y + y * (k1 * r^2 + k2 * r^4) + p2 * 2 * x * y + p1 * (r^2 + 2 * y^2).

With (dx, dy) the distorted normalized point coordinates, (x, y) the undistorted normalized point coordinates,
and dcx = Fx * dx + mx, dcy = Fy * dy + my the distorted pixel coordinates.

Parameters

undistorted	The undistorted position to be distorted in pixel coordinates
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The resulting distorted position in pixel coordinates

See also: undistortDamped().

◆ distortNormalized()

template<typename T >

template<bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::distortNormalized	(	const VectorT2< T > &	undistortedNormalized,
		const T	invZoom
	)		const

private

Returns the distorted position of a given undistorted normalized position.

The distorted position is calculated by the usage of the internal distortion parameters of this camera object:

x' = x + x * (k1 * r^2 + k2 * r^4) + p1 * 2 * x * y + p2 * (r^2 + 2 * x^2),
y' = y + y * (k1 * r^2 + k2 * r^4) + p2 * 2 * x * y + p1 * (r^2 + 2 * y^2).

Parameters

undistortedNormalized	The undistorted normalized position to be distorted
invZoom	The optional the inverse zoom factor (1/zoom) of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The resulting distorted normalized position

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: distort().

◆ distortNormalizedDamped()

template<typename T >

VectorT2<T> Ocean::PinholeCameraT< T >::distortNormalizedDamped	(	const VectorT2< T > &	undistortedNormalized,
		const T	dampingFactor,
		const T	invZoom
	)		const

private

Returns the distorted position of a given undistorted normalized position.

This function applies a damping for the distortion outside the camera frame so that the quadratic and quartic radii do not have such a significant impact.
The damping has an asymptotic pattern and so that distortion is based on normalized coordinates never reaching a specified boundary.
The distorted position is calculated by the usage of the internal distortion parameters of this camera object:

dx = x + x * (k1 * r^2 + k2 * r^4) + p1 * 2 * x * y + p2 * (r^2 + 2 * x^2),
dy = y + y * (k1 * r^2 + k2 * r^4) + p2 * 2 * x * y + p1 * (r^2 + 2 * y^2).

With (dx, dy) the distorted normalized point coordinates and (x, y) the undistorted normalized point coordinates.

Parameters

undistortedNormalized	The undistorted normalized position to be distorted
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
invZoom	The optional the inverse zoom factor (1/zoom) of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The resulting distorted normalized position

See also: distortDamped().

◆ focalLengthX()

template<typename T >

T Ocean::PinholeCameraT< T >::focalLengthX

inline

Returns the horizontal focal length parameter.

Returns: The horizontal focal length parameter

◆ focalLengthY()

template<typename T >

T Ocean::PinholeCameraT< T >::focalLengthY

inline

Returns the vertical focal length parameter.

Returns: The vertical focal length parameter

◆ fovDiagonal()

template<typename T >

T Ocean::PinholeCameraT< T >::fovDiagonal ( ) const

Returns the diagonal field of view of the camera.

Returns: The diagonal field of view (in radian), with range (0, PI)

◆ fovX()

template<typename T >

T Ocean::PinholeCameraT< T >::fovX ( ) const

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: The field of view (in radian), with range (0, PI)

◆ fovXLeft()

template<typename T >

T Ocean::PinholeCameraT< T >::fovXLeft ( ) const

Returns the left field of view in x direction.

Returns: The left field of view (in radian), with range (-PI, PI), negative if principal point is outside image region

◆ fovXRight()

template<typename T >

T Ocean::PinholeCameraT< T >::fovXRight ( ) const

Returns the right field of view in x direction.

Returns: The right field of view (in radian), with range (-PI, PI), negative if principal point is outside image region

◆ fovY()

template<typename T >

T Ocean::PinholeCameraT< T >::fovY ( ) const

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: The field of view (in radian), with range (0, PI)

◆ fovYBottom()

template<typename T >

T Ocean::PinholeCameraT< T >::fovYBottom ( ) const

Returns the bottom field of view in y direction.

Returns: The bottom field of view (in radian), with range (-PI, PI), negative if principal point is outside image region

◆ fovYTop()

template<typename T >

T Ocean::PinholeCameraT< T >::fovYTop ( ) const

Returns the top field of view in y direction.

Returns: The top field of view (in radian), with range (-PI, PI), negative if principal point is outside image region

◆ frustumMatrix()

template<typename T >

SquareMatrixT4<T> Ocean::PinholeCameraT< T >::frustumMatrix	(	const T	nearDistance,
		const T	farDistance
	)		const

Returns the 4x4 frustum projection matrix corresponding to this camera.

The frustum matrix is defined to point into negative z axis and does not provide any distortion parameters.

Parameters

nearDistance	The positive distance to the near clipping plane
farDistance	The positive distance to the far clipping plane

Returns: The resulting frustum projection matrix

◆ hasDistortionParameters()

template<typename T >

bool Ocean::PinholeCameraT< T >::hasDistortionParameters

inline

Returns whether this camera object has specified distortion parameters.

Returns: True, if so

◆ height()

template<typename T >

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

inline

Returns the height of the camera image.

Returns: The height of the camera image

◆ imagePoint2normalizedImagePoint()

template<typename T >

template<bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::imagePoint2normalizedImagePoint	(	const VectorT2< T > &	imagePoint,
		const bool	undistortImagePoint
	)		const

Calculates the normalized image point corresponding to a given (distorted) image point.

Parameters

imagePoint	The image point (that might be distorted)
undistortImagePoint	True, to force the un-distortion of the image point using the distortion parameters of this camera object

Returns: The resulting normalized and (optional undistorted) image point

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

◆ imagePoint2normalizedImagePointDamped()

template<typename T >

VectorT2< T > Ocean::PinholeCameraT< T >::imagePoint2normalizedImagePointDamped	(	const VectorT2< T > &	imagePoint,
		const bool	undistortImagePoint
	)		const

inline

Calculates the normalized image point corresponding to a given (distorted) image point.

This function applies a damping for the distortion outside the camera frame so that the quadratic and quartic radii do not have such a significant impact.

Parameters

imagePoint	The image point (that might be distorted)
undistortImagePoint	True, to force the un-distortion of the image point using the distortion parameters of this camera object

Returns: The resulting normalized and (optional undistorted) image point

◆ intrinsic()

template<typename T >

const SquareMatrixT3< T > & Ocean::PinholeCameraT< T >::intrinsic

inline

Returns the intrinsic camera matrix.

Returns: The intrinsic camera matrix

◆ inverseFocalLengthX()

template<typename T >

T Ocean::PinholeCameraT< T >::inverseFocalLengthX

inline

Returns the inverse horizontal focal length parameter.

Returns: The inverse horizontal focal length parameter

◆ inverseFocalLengthY()

template<typename T >

T Ocean::PinholeCameraT< T >::inverseFocalLengthY

inline

Returns the inverse vertical focal length parameter.

Returns: The inverse vertical focal length parameter

◆ invertedIntrinsic()

template<typename T >

const SquareMatrixT3< T > & Ocean::PinholeCameraT< T >::invertedIntrinsic

inline

Returns the inverted intrinsic camera matrix.

Returns: The inverted intrinsic camera matrix

◆ isDistortionPlausible()

template<typename T >

bool Ocean::PinholeCameraT< T >::isDistortionPlausible	(	const T	symmetricFocalLengthRatio = `T(1.05)`,
		const T	modelAccuracy = `T(0.001)`,
		const T	symmetricDistortionRatio = `T(1.08)`
	)		const

Checks whether the distortion of this camera is plausible.

The check is based on two individual criteria. First, we check whether we can distort and un-distort the corner points of the camera frame to almost the same position in the camera frame.
Second we check whether the distortion is almost symmetric by checking that the distances between the distorted corner points of the camera frame and the (virtual) center of the camera frame are almost identical.

Parameters

symmetricFocalLengthRatio	The symmetric tolerance ratio between the horizontal and vertical focal length values of the camera, with range (1, infinity)
modelAccuracy	The accuracy of the distortion model function, measuring the maximal offset between the distorted position of an undistorted position, in percent of the frame size, with range (0, 1)
symmetricDistortionRatio	The symmetric tolerance ratio between the camera frame's center and the distorted corner positions in percent, with range (1, infinity)

Returns: True, if so

◆ isEqual()

template<typename T >

bool Ocean::PinholeCameraT< T >::isEqual	(	const PinholeCameraT< T > &	camera,
		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

camera	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::PinholeCameraT< 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	The 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::PinholeCameraT< T >::isValid

inline

Returns whether this camera is valid.

Returns: True, if so

◆ normalizedImagePoint2imagePoint()

template<typename T >

template<bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::normalizedImagePoint2imagePoint	(	const VectorT2< T > &	normalizedImagePoint,
		const bool	distortImagePoint
	)		const

Calculates the image point corresponding to a given normalized image point.

Parameters

normalizedImagePoint	The normalized image point (projected 3D object point without adjustment of focal length and principal point)
distortImagePoint	True, to force the distortion of the normalized image point using the distortion parameters of this camera object

Returns: The resulting image point

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

◆ normalizedImagePoints2imagePoints()

template<typename T >

template<bool tUseBorderDistortionIfOutside>

void Ocean::PinholeCameraT< T >::normalizedImagePoints2imagePoints	(	const VectorT2< T > *	normalizedImagePoints,
		const size_t	numberNormalizedImagePoints,
		const bool	distortImagePoints,
		VectorT2< T > *	imagePoints
	)		const

Calculates the image points corresponding to a set of given normalized image points.

Parameters

normalizedImagePoints	The set of normalized image points (projected 3D object points without adjustment of focal length and principal point)
numberNormalizedImagePoints	The number of normalized image points
distortImagePoints	True, to force the distortion of the normalized image point using the distortion parameters of this camera object
imagePoints	The resulting image points, make sure that enough memory is provided

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

◆ operator bool()

template<typename T >

Ocean::PinholeCameraT< T >::operator bool

inlineexplicit

Returns whether the camera holds valid parameters.

Returns: True, if so

◆ operator!=()

template<typename T >

bool Ocean::PinholeCameraT< T >::operator!= ( const PinholeCameraT< T > & camera ) const

inline

Returns whether two camera objects are not identical up to a small epsilon.

Parameters

camera The second camera object

Returns: True, if so

◆ operator==()

template<typename T >

bool Ocean::PinholeCameraT< T >::operator== ( const PinholeCameraT< T > & camera ) const

Returns whether two camera objects are identical up to a small epsilon.

Parameters

camera The second camera object

Returns: True, if so

◆ pointJacobian2x3IF()

template<typename T >

template<typename U , bool tUseDistortionParameters>

void Ocean::PinholeCameraT< T >::pointJacobian2x3IF	(	const VectorT3< U > &	flippedCameraObjectPoint,
		U *	jx,
		U *	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

U	The data type of the scalar element either 'float' or 'double'
tUseDistortionParameters	True, to use the camera profile's distortion parameters when calculating the Jacobian; False, to skip the distortion parameters

◆ principalPoint()

template<typename T >

VectorT2< T > Ocean::PinholeCameraT< 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::PinholeCameraT< T >::principalPointX

inline

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

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

◆ principalPointY()

template<typename T >

T Ocean::PinholeCameraT< T >::principalPointY

inline

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

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

◆ projectToImage() [1/5]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

BoxT2< T > Ocean::PinholeCameraT< T >::projectToImage	(	const HomogenousMatrixT4< T > &	world_T_camera,
		const BoxT3< T > &	worldObjectBox,
		const bool	distortImagePoint,
		const T	zoom = `T(1)`
	)		const

inline

Projects a 3D box to the 2D image plane of the camera by a given camera pose.

The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates.
The viewing direction of the camera is along the negative z-axis.
The extrinsic matrix will be flipped and inverted internally.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

world_T_camera	The pose of the camera, must be valid
worldObjectBox	The 3D box to project, defined in world, must be valid
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D image box defined inside the camera pixel coordinate system

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImageIF().

◆ projectToImage() [2/5]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

LineT2< T > Ocean::PinholeCameraT< T >::projectToImage	(	const HomogenousMatrixT4< T > &	world_T_camera,
		const LineT3< T > &	worldLine,
		const bool	distortProjectedLine,
		const T	zoom = `T(1)`
	)		const

inline

Projects a 3D line onto an image plane of the camera by a given camera pose.

The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates.
The viewing direction of the camera is along the negative z-axis.
The extrinsic matrix will be flipped and inverted internally.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

world_T_camera	The pose of the camera, must be valid
worldLine	The 3D line to be projected, defined in world, with unit length direction
distortProjectedLine	True, to distort the projected 3D line (a very rough approximation only)
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The projectedLine Resulting projected 2D line, an invalid line is returned if the projection fails

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

◆ projectToImage() [3/5]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

TriangleT2< T > Ocean::PinholeCameraT< T >::projectToImage	(	const HomogenousMatrixT4< T > &	world_T_camera,
		const TriangleT3< T > &	worldObjectTriangle,
		const bool	distortImagePoint,
		const T	zoom = `T(1)`
	)		const

inline

Projects a 3D triangle to the 2D image plane of the camera by a given camera pose.

The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates.
The viewing direction of the camera is along the negative z-axis.
The extrinsic matrix will be flipped and inverted internally.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

world_T_camera	The pose of the camera, must be valid
worldObjectTriangle	The 3D triangle to project, defined in world, must be valid
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D image triangle defined inside the camera pixel coordinate system

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImageIF().

◆ projectToImage() [4/5]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::projectToImage	(	const HomogenousMatrixT4< T > &	world_T_camera,
		const VectorT3< T > &	worldObjectPoint,
		const bool	distortImagePoint,
		const T	zoom = `T(1)`
	)		const

inline

Projects a 3D object point to the 2D image plane of the camera by a given camera pose.

This function may not apply the distortion parameters if the distortion-free projected image point lies outside the camera image.
The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates.
The viewing direction of the camera is along the negative z-axis.
The extrinsic matrix will be flipped and inverted internally.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

world_T_camera	The pose of the camera, must be valid
worldObjectPoint	The 3D object point to project, defined in world
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The imagePoint Resulting 2D image plane point defined inside the camera pixel coordinate system

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImageIF().

◆ projectToImage() [5/5]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

void Ocean::PinholeCameraT< T >::projectToImage	(	const HomogenousMatrixT4< T > &	world_T_camera,
		const VectorT3< T > *	worldObjectPoints,
		const size_t	numberObjectPoints,
		const bool	distortImagePoints,
		VectorT2< T > *	imagePoints,
		const T	zoom = `T(1)`
	)		const

inline

Projects a set of 3D object points onto an image plane of the camera by a given camera pose.

The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates.
The viewing direction of the camera is along the negative z-axis.
The extrinsic matrix will be flipped and inverted internally.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

world_T_camera	The pose of the camera, must be valid
worldObjectPoints	The 3D object points to project, defined in world
numberObjectPoints	The number of object points to project, with range [0, infinity)
distortImagePoints	True, to force the distortion of the image point using the distortion parameters of this camera object
imagePoints	The resulting image points, make sure that enough memory is provided
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImageIF().

◆ projectToImageDamped() [1/4]

template<typename T >

BoxT2< T > Ocean::PinholeCameraT< T >::projectToImageDamped	(	const HomogenousMatrixT4< T > &	extrinsic,
		const BoxT3< T > &	objectBox,
		const bool	distortImagePoint,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

inline

Projects a 3D box to the 2D image plane of the camera by a given inverse extrinsic camera matrix.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Object points projecting outside the camera frame will be distorted (if desired) by application of a damping factor.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

extrinsic	The extrinsic camera matrix
objectBox	The 3D box to project
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D box defined inside the camera pixel coordinate system

See also: projectToImageDampedIF().

◆ projectToImageDamped() [2/4]

template<typename T >

TriangleT2< T > Ocean::PinholeCameraT< T >::projectToImageDamped	(	const HomogenousMatrixT4< T > &	extrinsic,
		const TriangleT3< T > &	objectTriangle,
		const bool	distortImagePoint,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

inline

Projects a 3D triangle to the 2D image plane of the camera by a given extrinsic camera matrix.

The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates.
The viewing direction of the camera is along the negative z-axis.
The extrinsic matrix will be flipped and inverted internally.
Object points projecting outside the camera frame will be distorted (if desired) by application of a damping factor.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

extrinsic	The extrinsic camera matrix
objectTriangle	The 3D triangle to project
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D image triangle defined inside the camera pixel coordinate system

See also: projectToImageDampedIF().

◆ projectToImageDamped() [3/4]

template<typename T >

VectorT2< T > Ocean::PinholeCameraT< T >::projectToImageDamped	(	const HomogenousMatrixT4< T > &	extrinsic,
		const VectorT3< T > &	objectPoint,
		const bool	distortImagePoint,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

inline

Projects a 3D object point to the 2D image plane of the camera by a given extrinsic camera matrix.

The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates.
The viewing direction of the camera is along the negative z-axis.
Object points projecting outside the camera frame will be distorted (if desired) by application of a damping factor.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

extrinsic	The extrinsic camera matrix
objectPoint	The 3D object point to project
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The imagePoint Resulting 2D image plane point defined inside the camera pixel coordinate system

See also: projectToImageDampedIF().

◆ projectToImageDamped() [4/4]

template<typename T >

void Ocean::PinholeCameraT< T >::projectToImageDamped	(	const HomogenousMatrixT4< T > &	extrinsic,
		const VectorT3< T > *	objectPoints,
		const size_t	numberObjectPoints,
		const bool	distortImagePoints,
		VectorT2< T > *	imagePoints,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

inline

Projects a set of 3D object points onto an image plane of the camera by a given extrinsic camera matrix.

The extrinsic matrix transforms a 3D point given in camera coordinates into 3D world coordinates.
The viewing direction of the camera is along the negative z-axis.
The extrinsic matrix will be flipped and inverted internally.
Object points projecting outside the camera frame will be distorted (if desired) by application of a damping factor.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

extrinsic	The extrinsic camera matrix
objectPoints	The set of 3D object points to project
numberObjectPoints	The number of object points to project
distortImagePoints	True, to force the distortion of the image point using the distortion parameters of this camera object
imagePoints	The resulting image points, make sure that enough memory is provided
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

See also: projectToImageIF().

◆ projectToImageDampedIF() [1/4]

template<typename T >

BoxT2<T> Ocean::PinholeCameraT< T >::projectToImageDampedIF	(	const HomogenousMatrixT4< T > &	iFlippedExtrinsic,
		const BoxT3< T > &	objectBox,
		const bool	distortImagePoint,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

Projects a 3D box to the 2D image plane of the camera by a given inverse extrinsic camera matrix.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Object points projecting outside the camera frame will be distorted (if desired) by application of a damping factor.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

iFlippedExtrinsic	The inverted and flipped extrinsic camera matrix
objectBox	The 3D box to project
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D box defined inside the camera pixel coordinate system

See also: projectToImageDamped().

◆ projectToImageDampedIF() [2/4]

template<typename T >

TriangleT2<T> Ocean::PinholeCameraT< T >::projectToImageDampedIF	(	const HomogenousMatrixT4< T > &	iFlippedExtrinsic,
		const TriangleT3< T > &	objectTriangle,
		const bool	distortImagePoint,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

Projects a 3D triangle to the 2D image plane of the camera by a given inverse extrinsic camera matrix.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Object points projecting outside the camera frame will be distorted (if desired) by application of a damping factor.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

iFlippedExtrinsic	The inverted and flipped extrinsic camera matrix
objectTriangle	The 3D triangle to project
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D triangle defined inside the camera pixel coordinate system

See also: projectToImageDamped().

◆ projectToImageDampedIF() [3/4]

template<typename T >

VectorT2<T> Ocean::PinholeCameraT< T >::projectToImageDampedIF	(	const HomogenousMatrixT4< T > &	iFlippedExtrinsic,
		const VectorT3< T > &	objectPoint,
		const bool	distortImagePoint,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

Projects a 3D object point to the 2D image plane of the camera by a given inverse extrinsic camera matrix.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Object points projecting outside the camera frame will be distorted (if desired) by application of a damping factor.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

iFlippedExtrinsic	The inverted and flipped extrinsic camera matrix
objectPoint	The 3D object point to project
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The resulting 2D image plane point defined inside the camera pixel coordinate system

See also: projectToImageDamped().

◆ projectToImageDampedIF() [4/4]

template<typename T >

void Ocean::PinholeCameraT< T >::projectToImageDampedIF	(	const HomogenousMatrixT4< T > &	invertedFlippedExtrinsic,
		const VectorT3< T > *	objectPoints,
		const size_t	numberObjectPoints,
		const bool	distortImagePoints,
		VectorT2< T > *	imagePoints,
		const T	dampingFactor = `T(1)`,
		const T	zoom = `T(1)`
	)		const

Projects a set of 3D object points onto an image plane of the camera by a given inverse extrinsic camera matrix.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Object points projecting outside the camera frame will be distorted (if desired) by application of a damping factor.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

invertedFlippedExtrinsic	The inverted and flipped extrinsic camera matrix
objectPoints	The set of 3D object points to project
numberObjectPoints	The number of object points to project
distortImagePoints	True, to force the distortion of the image point using the distortion parameters of this camera object
imagePoints	The resulting image points, make sure that enough memory is provided
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

See also: projectToImageDamped().

◆ projectToImageIF() [1/7]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

BoxT2< T > Ocean::PinholeCameraT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const BoxT3< T > &	worldObjectBox,
		const bool	distortImagePoint,
		const T	zoom = `T(1)`
	)		const

Projects a 3D box to the 2D image plane of the camera by a given inverse camera pose.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

flippedCamera_T_world	The inverted and flipped extrinsic camera matrix, must be valid
worldObjectBox	The 3D box to project, defined in world, must be valid
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D box defined inside the camera pixel coordinate system

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImage().

◆ projectToImageIF() [2/7]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

LineT2< T > Ocean::PinholeCameraT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const LineT3< T > &	worldLine,
		const bool	distortProjectedLine,
		const T	zoom = `T(1)`
	)		const

Projects a 3D line onto an image plane of the camera by a given inverse camera pose.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

flippedCamera_T_world	The inverted and flipped extrinsic camera matrix, must be valid
worldLine	The 3D line to be projected, with unit length direction, defined in world, must be valid
distortProjectedLine	True, to distort the projected 3D line (a very rough approximation only)
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The projectedLine Resulting projected 2D line, an invalid line is returned if the projection fails

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

◆ projectToImageIF() [3/7]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

TriangleT2< T > Ocean::PinholeCameraT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const TriangleT3< T > &	worldObjectTriangle,
		const bool	distortImagePoint,
		const T	zoom = `T(1)`
	)		const

Projects a 3D triangle to the 2D image plane of the camera by a given extrinsic camera pose.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

flippedCamera_T_world	The inverted and flipped extrinsic camera matrix, must be valid
worldObjectTriangle	The 3D triangle to project, defined in world, must be valid
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D triangle defined inside the camera pixel coordinate system

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImage().

◆ projectToImageIF() [4/7]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const VectorT3< T > &	objectPoint,
		const bool	distortImagePoint,
		const T	zoom = `T(1)`
	)		const

Projects a 3D object point to the 2D image plane of the camera by a given inverse camera pose.

This function may not apply the distortion parameters if the (default) projected image point lies outside the camera image.
The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

flippedCamera_T_world	The inverted and flipped extrinsic camera matrix, must be valid
objectPoint	The 3D object point to project
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The imagePoint Resulting 2D image plane point defined inside the camera pixel coordinate system

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImage().

◆ projectToImageIF() [5/7]

template<typename T >

template<bool tDistortImagePoint, bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const VectorT3< T > &	worldObjectPoint,
		const T	zoom = `T(1)`
	)		const

inline

Projects a 3D object point to the 2D image plane of the camera by a given inverse camera pose.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

flippedCamera_T_world	The inverted and flipped extrinsic camera matrix, must be valid
worldObjectPoint	The 3D object point to project, defined in world
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D image plane point defined inside the camera pixel coordinate system

Template Parameters

tDistortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
tUseBorderDistortionIfOutside	True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImage().

◆ projectToImageIF() [6/7]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

void Ocean::PinholeCameraT< T >::projectToImageIF	(	const HomogenousMatrixT4< T > &	flippedCamera_T_world,
		const VectorT3< T > *	worldObjectPoints,
		const size_t	numberObjectPoints,
		const bool	distortImagePoints,
		VectorT2< T > *	imagePoints,
		const T	zoom = `T(1)`
	)		const

Projects a set of 3D object points onto an image plane of the camera by a given inverse camera pose.

The inverse extrinsic matrix transforms a 3D point given in world coordinates into 3D camera coordinates.
The coordinate system of the camera is flipped meaning that the viewing direction is along the positive z-axis.
The flipped coordinate system can be received by a rotation around the x-axis by 180 degree.
Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

flippedCamera_T_world	The inverted and flipped extrinsic camera matrix, must be valid
worldObjectPoints	The 3D object points to project, defined in world
numberObjectPoints	The number of object points to project, with range [0, infinity)
distortImagePoints	True, to force the distortion of the image point using the distortion parameters of this camera object
imagePoints	The resulting image points, make sure that enough memory is provided
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImage().

◆ projectToImageIF() [7/7]

template<typename T >

template<bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::projectToImageIF	(	const VectorT2< T > &	normalizedObjectPoint,
		const bool	distortImagePoint,
		const T	zoom = `T(1)`
	)		const

Transforms a normalized object point (a 3D object point transformed by the inverted and flipped extrinsic camera matrix) into the camera pixel coordinate system.

Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

normalizedObjectPoint	The 2D normalized object point of a 3D object point
distortImagePoint	True, to force the distortion of the image point using the distortion parameters of this camera object
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The 2D image plane point defined inside the camera pixel coordinate system

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: projectToImage().

◆ radialDistortion()

template<typename T >

const PinholeCameraT< T >::DistortionPair & Ocean::PinholeCameraT< T >::radialDistortion

inline

Returns the pair of radial distortion parameters.

Returns: The radial distortion parameters for r^2 and r^4

◆ ray() [1/2]

template<typename T >

LineT3< T > Ocean::PinholeCameraT< T >::ray	(	const VectorT2< T > &	position,
		const HomogenousMatrixT4< T > &	world_T_camera,
		const T	zoom = `T(1)`
	)		const

inline

Returns a ray starting at the camera's center and intersection a given 2D point on the image plane.

Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

position	The 2D position on the image plane, specified in the pixel domain
world_T_camera	The pose of the camera, the extrinsic camera matrix, must be valid
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The specified ray for a camera pointing towards the negative z-space

See also: vector().

◆ ray() [2/2]

template<typename T >

LineT3< T > Ocean::PinholeCameraT< T >::ray	(	const VectorT2< T > &	position,
		const VectorT3< T > &	world_t_camera,
		const QuaternionT< T > &	world_Q_camera,
		const T	zoom = `T(1)`
	)		const

inline

Returns a ray starting at the camera's center and intersection a given 2D point on the image plane.

Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

position	The 2D position on the image plane, specified in the pixel domain
world_t_camera	The translation (position) of the camera pose
world_Q_camera	The standard rotation quaternion of the camera pose, must be valid
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The specified ray for a camera pointing towards the negative z-space

See also: vector().

◆ rotation()

template<typename T >

bool Ocean::PinholeCameraT< T >::rotation	(	const VectorT2< T > &	undistortedPosition,
		T &	angleX,
		T &	angleY
	)		const

Gets two rotation parameters of the viewing ray for a given undistorted 2D position in the camera image.

Parameters

undistortedPosition	The undistorted 2D position [in pixel]
angleX	The horizontal angle for the viewing ray [in radian]
angleY	The vertical angle for the viewing ray [in radian]

Returns: True, if succeeded

◆ setIntrinsic()

template<typename T >

bool Ocean::PinholeCameraT< T >::setIntrinsic ( const SquareMatrixT3< T > & intrinsic )

Sets the intrinsic camera matrix.

Parameters

intrinsic The intrinsic camera matrix

Returns: True, if the camera matrix is valid

◆ setRadialDistortion()

template<typename T >

void Ocean::PinholeCameraT< T >::setRadialDistortion ( const DistortionPair & radial )

inline

Sets the radial distortion parameters.

Parameters

radial The pair of radial distortion parameters for r^2 and r^4

◆ setTangentialDistortion()

template<typename T >

void Ocean::PinholeCameraT< T >::setTangentialDistortion ( const DistortionPair & tangential )

inline

Sets the tangential distortion parameters.

Parameters

tangential The pair of tangential distortion parameters

◆ tangentialDistortion()

template<typename T >

const PinholeCameraT< T >::DistortionPair & Ocean::PinholeCameraT< T >::tangentialDistortion

inline

Returns the pair of tangential distortion parameters.

Returns: The tangential distortion parameters

◆ transformationMatrixIF()

template<typename T >

HomogenousMatrixT4< T > Ocean::PinholeCameraT< T >::transformationMatrixIF	(	const HomogenousMatrixT4< T > &	iFlippedExtrinsic,
		const T	zoom = `T(1)`
	)		const

inline

Returns a 4x4 homogenous transformation matrix (corresponding to a 3x4 matrix) that covers an extrinsic (inverted and flipped) camera matrix and the intrinsic projection matrix of this camera object.

Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

iFlippedExtrinsic	The inverted and flipped extrinsic camera matrix
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The resulting transformation matrix

◆ undistort()

template<typename T >

template<bool tUseBorderDistortionIfOutside>

VectorT2< T > Ocean::PinholeCameraT< T >::undistort	(	const VectorT2< T > &	distorted,
		const unsigned int	iterations = `10u`,
		const T	zoom = `T(1)`
	)		const

Returns the undistorted position of a given distorted position defined in pixel coordinates.

Beware: As the camera distortion model can not be inverted numerically, there is no guarantee that a given point can be undistorted for any given camera profile.

Parameters

distorted	The distorted pixel position to be undistorted
iterations	The number of iterative calculations, with range [1, 100]
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The resulting undistorted pixel position

Template Parameters

tUseBorderDistortionIfOutside True, to apply the distortion from the nearest point lying on the frame border if the point lies outside the visible camera area; False to apply the distortion from the given position

See also: distort().

◆ undistortDamped()

template<typename T >

VectorT2<T> Ocean::PinholeCameraT< T >::undistortDamped	(	const VectorT2< T > &	distorted,
		const T	dampingFactor = `T(1)`,
		const unsigned int	iterations = `10u`,
		const T	zoom = `T(1)`
	)		const

Returns the undistorted position of a given distorted position defined in pixel coordinates.

Beware: As the camera distortion model can not be inverted numerically, there is no guarantee that a given point can be undistorted for any given camera profile. This function applies a damping for the distortion outside the camera frame so that the quadratic and quartic radii do not have such a significant impact.

Parameters

distorted	The distorted pixel position to be undistorted
dampingFactor	The factor defining the boundary of the asymptotic damping behavior for normalized coordinates, with range [0, infinity)
iterations	The number of iterative calculations, with range [1, 100]
zoom	The optional zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The resulting undistorted pixel position

See also: distortDamped().

◆ vector() [1/2]

template<typename T >

VectorT3< T > Ocean::PinholeCameraT< T >::vector	(	const VectorT2< T > &	position,
		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.

Parameters

position	The 2D position on the image plane, specified in the pixel domain
makeUnitVector	True, to return a vector with length 1; False, to return a vector with any length

Returns: The normalized vector with -Z direction

See also: vectorIF(), ray().

Ray determination: with object point (X, Y, Z) and image point (x, y, z) -> (x', y')

x = Fx * X + mx * Z y = Fy * Y + my * Z z = Z

x' = x / z = (Fx * X) / Z + mx y' = y / z = (Fy * Y) / Z + my

Inverse calculation: (x' - mx) / Fx = X / Z (y' - my) / Fy = Y / Z

Using a distance of Z:= 1 results in: X = (x' - mx) / Fx Y = (y' - my) / Fy

The calculation is identical to the multiplication between the inverted camera matrix and the position vector.

◆ vector() [2/2]

template<typename T >

VectorT3< T > Ocean::PinholeCameraT< T >::vector	(	const VectorT2< T > &	position,
		const T	zoom,
		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.

Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

position	The 2D position on the image plane, specified in the pixel domain
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor
makeUnitVector	True, to return a vector with length 1; False, to return a vector with any length

Returns: The normalized vector with -Z direction

See also: vectorIF(), ray().

Ray determination: with object point (X, Y, Z), zoom s, and image point (x, y, z) -> (x', y')

x = s * Fx * X + mx * Z y = s * Fy * Y + my * Z z = Z

x' = x / z = (s * Fx * X) / Z + mx y' = y / z = (s * Fy * Y) / Z + my

Inverse calculation: (x' - mx) / (s * Fx) = X / Z (y' - my) / (s * Fy) = Y / Z

Using a distance of Z:= 1 results in: X = (x' - mx) / (s * Fx) Y = (y' - my) / (s * Fy)

The calculation is identical to the multiplication between the inverted camera matrix and the position vector.

◆ vectorIF() [1/2]

template<typename T >

VectorT3< T > Ocean::PinholeCameraT< T >::vectorIF	(	const VectorT2< T > &	position,
		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.

Parameters

position	The 2D position on the image plane, specified in the pixel domain
makeUnitVector	True, to return a vector with length 1; False, to return a vector with any length

Returns: The normalized vector with +Z direction

◆ vectorIF() [2/2]

template<typename T >

VectorT3< T > Ocean::PinholeCameraT< T >::vectorIF	(	const VectorT2< T > &	position,
		const T	zoom,
		const bool	makeUnitVector
	)		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.

Further this function can apply a specific zoom to the intrinsic camera matrix.

Parameters

position	The 2D position on the image plane, specified in the pixel domain
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor
makeUnitVector	True, to return a vector with length 1; False, to return a vector with any length

Returns: The normalized vector with +Z direction

◆ vectorToPlane() [1/2]

template<typename T >

VectorT3< T > Ocean::PinholeCameraT< T >::vectorToPlane	(	const VectorT2< T > &	position,
		const T	distance
	)		const

inline

Returns a vector starting at the camera's center and intersecting a given 2D point on the image plane.

The length of the vector is determined so that the vector (exactly) reaches a plane parallel to the image plane.
The plane's normal is parallel to the z-axis while a positive distance locates the plane in the space of the negative z-axis.

Parameters

position	The 2D position on the image plane, specified in the pixel domain
distance	The distance between the camera's center and the plane parallel to the image plane, with range (0, infinity)

Returns: The normalized vector with -Z direction

Ray determination: with object point (X, Y, Z) and image point (x, y, z) -> (x / z, y / z, 1) -> (x', y')

x = Fx * X + mx * Z y = Fy * Y + my * Z z = Z

x' = x / z = (Fx * X) / Z + mx y' = y / z = (Fy * Y) / Z + my

Inverse calculation: (x' - mx) / Fx = X / Z (y' - my) / Fy = Y / Z

◆ vectorToPlane() [2/2]

template<typename T >

VectorT3< T > Ocean::PinholeCameraT< T >::vectorToPlane	(	const VectorT2< T > &	position,
		const T	distance,
		const T	zoom
	)		const

inline

Returns a vector starting at the camera's center and intersecting a given 2D point on the image plane.

Further this function can apply a specific zoom to the intrinsic camera matrix.
The length of the vector is determined so that the vector (exactly) reaches a plane parallel to the image plane.
The plane's normal is parallel to the z-axis while a positive distance locates the plane in the space of the negative z-axis.

Parameters

position	The 2D position on the image plane, specified in the pixel domain
distance	The distance between the camera's center and the plane parallel to the image plane, with range (0, infinity)
zoom	The zoom factor of the camera, with range (0, infinity), with 1 the default zoom factor

Returns: The normalized vector with -Z direction

Ray determination: with object point (X, Y, Z) and image point (x, y, z) -> (x / z, y / z, 1) -> (x', y')

x = Fx * X + mx * Z y = Fy * Y + my * Z z = Z

x' = x / z = (Fx * X) / Z + mx y' = y / z = (Fy * Y) / Z + my

Inverse calculation: (x' - mx) / Fx = X / Z (y' - my) / Fy = Y / Z

◆ width()

template<typename T >

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

inline

Returns the width of the camera image.

Returns: The width of the camera image

Friends And Related Function Documentation

◆ PinholeCameraT

template<typename T >

template<typename U >

friend class PinholeCameraT

friend

Field Documentation

◆ height_

template<typename T >

unsigned int Ocean::PinholeCameraT< T >::height_ = 0u

private

Height of the camera image (in pixels).

◆ intrinsics_

template<typename T >

SquareMatrixT3<T> Ocean::PinholeCameraT< T >::intrinsics_ = SquareMatrixT3<T>(false)

private

Intrinsic camera matrix.

◆ invertedIntrinsics_

template<typename T >

SquareMatrixT3<T> Ocean::PinholeCameraT< T >::invertedIntrinsics_ = SquareMatrixT3<T>(false)

private

Inverted intrinsic camera matrix.

◆ radialDistortion_

template<typename T >

DistortionPair Ocean::PinholeCameraT< T >::radialDistortion_ = DistortionPair(T(0), T(0))

private

Pair of radial distortion parameters for r^2 and r^4.

◆ tangentialDistortion_

template<typename T >

DistortionPair Ocean::PinholeCameraT< T >::tangentialDistortion_ = DistortionPair(T(0), T(0))

private

Pair of tangential distortion parameters.

◆ width_

template<typename T >

unsigned int Ocean::PinholeCameraT< T >::width_ = 0u

private

Width of the camera image (in pixels).

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

PinholeCamera.h

Data Structures

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ DistortionPair

◆ TScalar

Member Enumeration Documentation

◆ OptimizationStrategy

Constructor & Destructor Documentation

◆ PinholeCameraT() [1/12]

◆ PinholeCameraT() [2/12]

◆ PinholeCameraT() [3/12]

◆ PinholeCameraT() [4/12]

◆ PinholeCameraT() [5/12]

◆ PinholeCameraT() [6/12]

◆ PinholeCameraT() [7/12]

◆ PinholeCameraT() [8/12]

◆ PinholeCameraT() [9/12]

◆ PinholeCameraT() [10/12]

◆ PinholeCameraT() [11/12]

◆ PinholeCameraT() [12/12]

Member Function Documentation

◆ applyZoomFactor()

◆ calculateAngleBetween()

◆ calculateCosBetween()

◆ calculateInverseIntrinsic()

◆ copyElements()

◆ dampedNormalized() [1/2]

◆ dampedNormalized() [2/2]

◆ distort()

◆ distortDamped()

◆ distortNormalized()

◆ distortNormalizedDamped()

◆ focalLengthX()

◆ focalLengthY()

◆ fovDiagonal()

◆ fovX()

◆ fovXLeft()

◆ fovXRight()

◆ fovY()

◆ fovYBottom()

◆ fovYTop()

◆ frustumMatrix()

◆ hasDistortionParameters()

◆ height()

◆ imagePoint2normalizedImagePoint()

◆ imagePoint2normalizedImagePointDamped()

◆ intrinsic()

◆ inverseFocalLengthX()

◆ inverseFocalLengthY()

◆ invertedIntrinsic()

◆ isDistortionPlausible()

◆ isEqual()

◆ isInside()

◆ isValid()

◆ normalizedImagePoint2imagePoint()

◆ normalizedImagePoints2imagePoints()

◆ operator bool()

◆ operator!=()

◆ operator==()

◆ pointJacobian2x3IF()

◆ principalPoint()

◆ principalPointX()

◆ principalPointY()

◆ projectToImage() [1/5]

◆ projectToImage() [2/5]

◆ projectToImage() [3/5]

◆ projectToImage() [4/5]

◆ projectToImage() [5/5]

◆ projectToImageDamped() [1/4]

◆ projectToImageDamped() [2/4]

◆ projectToImageDamped() [3/4]

◆ projectToImageDamped() [4/4]

◆ projectToImageDampedIF() [1/4]

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