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mrpt::vision::CCamModel Class Reference

Detailed Description

This class represent a pinhole camera model for Monocular SLAM and implements some associated Jacobians.

The camera parameters are accessible in the public member CCamModel::cam

See Also
mrpt::utils::TCamera, CMonoSlam, the application camera-calib-gui for calibrating a camera

Definition at line 33 of file CCamModel.h.

#include <mrpt/vision/CCamModel.h>

Inheritance diagram for mrpt::vision::CCamModel:
Inheritance graph

Classes

struct  CameraTempVariables
 

Public Member Functions

 CCamModel ()
 Default Constructor. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method displays clearly all the contents of the structure in textual form, sending it to a CStream. More...
 
 CCamModel (const mrpt::utils::CConfigFileBase &cfgIni)
 Constructor from a ini file. More...
 
void jacob_undistor_fm (const mrpt::utils::TPixelCoordf &uvd, math::CMatrixDouble &J_undist)
 Jacobian for undistortion the image coordinates. More...
 
void jacob_undistor (const mrpt::utils::TPixelCoordf &p, mrpt::math::CMatrixDouble &J_undist)
 Calculate the image coordinates undistorted. More...
 
void distort_a_point (const mrpt::utils::TPixelCoordf &p, mrpt::utils::TPixelCoordf &distorted_p)
 Return the pixel position distorted by the camera. More...
 
void undistort_point (const mrpt::utils::TPixelCoordf &p, mrpt::utils::TPixelCoordf &undistorted_p)
 Return the pixel position undistorted by the camera The input values 'col' and 'row' will be replace for the new values (undistorted) More...
 
void project_3D_point (const mrpt::math::TPoint3D &p3D, mrpt::utils::TPixelCoordf &distorted_p) const
 Return the (distorted) pixel position of a 3D point given in coordinates relative to the camera (+Z pointing forward, +X to the right) More...
 
void unproject_3D_point (const mrpt::utils::TPixelCoordf &distorted_p, mrpt::math::TPoint3D &p3D) const
 Return the 3D location of a point (at a fixed distance z=1), for the given (distorted) pixel position. More...
 
void jacobian_project_with_distortion (const mrpt::math::TPoint3D &p3D, math::CMatrixDouble &dh_dy) const
 Jacobian of the projection of 3D points (with distortion), as done in project_3D_point $ \frac{\partial h}{\partial y} $, evaluated at the point p3D (read below the full explanation) More...
 
void jacobian_unproject_with_distortion (const mrpt::utils::TPixelCoordf &p, math::CMatrixDouble &dy_dh) const
 Jacobian of the unprojection of a pixel (with distortion) back into a 3D point, as done in unproject_3D_point $ \frac{\partial y}{\partial h} $, evaluated at the pixel p. More...
 
template<typename T , typename POINT >
void getTemporaryVariablesForTransform (const POINT &p, CameraTempVariables< T > &v) const
 
template<typename T , typename POINT , typename PIXEL >
void getFullProjection (const POINT &pIn, PIXEL &pOut) const
 
template<typename T , typename PIXEL >
void getFullProjectionT (const CameraTempVariables< T > &tmp, PIXEL &pOut) const
 
template<typename T , typename POINT , typename MATRIX >
void getFullJacobian (const POINT &pIn, MATRIX &mOut) const
 
template<typename T , typename POINT , typename MATRIX >
void getFullJacobianT (const POINT &pIn, const CameraTempVariables< T > &tmp, MATRIX &mOut) const
 
template<typename POINTIN , typename POINTOUT , typename MAT22 >
void getFullInverseModelWithJacobian (const POINTIN &pIn, POINTOUT &pOut, MAT22 &jOut) const
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

mrpt::utils::TCamera cam
 The parameters of a camera. More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Private Member Functions

mrpt::math::CMatrixFixedNumeric
< double, 2, 2 > 
firstInverseJacobian () const
 
mrpt::math::CMatrixFixedNumeric
< double, 4, 2 > 
secondInverseJacobian () const
 
mrpt::math::CMatrixFixedNumeric
< double, 3, 4 > 
thirdInverseJacobian () const
 

Constructor & Destructor Documentation

CCamModel::CCamModel ( )

Default Constructor.

Constructor.

Definition at line 24 of file CCamModel.cpp.

mrpt::vision::CCamModel::CCamModel ( const mrpt::utils::CConfigFileBase cfgIni)

Constructor from a ini file.

Member Function Documentation

void CCamModel::distort_a_point ( const mrpt::utils::TPixelCoordf p,
mrpt::utils::TPixelCoordf distorted_p 
)
void CLoadableOptions::dumpToConsole ( ) const
inherited
void CCamModel::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

This method displays clearly all the contents of the structure in textual form, sending it to a CStream.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 313 of file CCamModel.cpp.

References MRPT_UNUSED_PARAM.

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
mrpt::math::CMatrixFixedNumeric<double,2,2> mrpt::vision::CCamModel::firstInverseJacobian ( ) const
inlineprivate

Definition at line 200 of file CCamModel.h.

template<typename POINTIN , typename POINTOUT , typename MAT22 >
void mrpt::vision::CCamModel::getFullInverseModelWithJacobian ( const POINTIN &  pIn,
POINTOUT &  pOut,
MAT22 &  jOut 
) const
inline

Definition at line 227 of file CCamModel.h.

References mrpt::mrpt::math::square(), and mrpt::math::square().

template<typename T , typename POINT , typename MATRIX >
void mrpt::vision::CCamModel::getFullJacobian ( const POINT &  pIn,
MATRIX &  mOut 
) const
inline

Definition at line 155 of file CCamModel.h.

template<typename T , typename POINT , typename MATRIX >
void mrpt::vision::CCamModel::getFullJacobianT ( const POINT &  pIn,
const CameraTempVariables< T > &  tmp,
MATRIX &  mOut 
) const
inline
template<typename T , typename POINT , typename PIXEL >
void mrpt::vision::CCamModel::getFullProjection ( const POINT &  pIn,
PIXEL &  pOut 
) const
inline

Definition at line 144 of file CCamModel.h.

template<typename T , typename PIXEL >
void mrpt::vision::CCamModel::getFullProjectionT ( const CameraTempVariables< T > &  tmp,
PIXEL &  pOut 
) const
inline
template<typename T , typename POINT >
void mrpt::vision::CCamModel::getTemporaryVariablesForTransform ( const POINT &  p,
CameraTempVariables< T > &  v 
) const
inline
void CCamModel::jacob_undistor ( const mrpt::utils::TPixelCoordf p,
mrpt::math::CMatrixDouble J_undist 
)
void CCamModel::jacob_undistor_fm ( const mrpt::utils::TPixelCoordf uvd,
math::CMatrixDouble J_undist 
)
void CCamModel::jacobian_project_with_distortion ( const mrpt::math::TPoint3D p3D,
math::CMatrixDouble dh_dy 
) const

Jacobian of the projection of 3D points (with distortion), as done in project_3D_point $ \frac{\partial h}{\partial y} $, evaluated at the point p3D (read below the full explanation)

We define $ h = (h_x ~ h_y) $ as the projected point in pixels (origin at the top-left corner), and $ y=( y_x ~ y_y ~ y_z ) $ as the 3D point in space, in coordinates relative to the camera (+Z pointing forwards).

Then this method computes the 2x3 Jacobian:

\[ \frac{\partial h}{\partial y} = \frac{\partial h}{\partial u} \frac{\partial u}{\partial y} \]

With:

\[ \frac{\partial u}{\partial y} = \left( \begin{array}{ccc} \frac{f_x}{y_z} & 0 & - y \frac{f_x}{y_z^2} \\ 0 & \frac{f_y}{y_z} & - y \frac{f_y}{y_z^2} \\ \end{array} \right) \]

where $ f_x, f_y $ is the focal length in units of pixel sizes in x and y, respectively. And, if we define:

\[ f = 1+ 2 k_1 (u_x^2+u_y^2) \]

then:

\[ \frac{\partial h}{\partial u} = \left( \begin{array}{cc} \frac{ 1+2 k_1 u_y^2 }{f^{3/2}} & -\frac{2 u_x u_y k_1 }{f^{3/2}} \\ -\frac{2 u_x u_y k_1 }{f^{3/2}} & \frac{ 1+2 k_1 u_x^2 }{f^{3/2}} \end{array} \right) \]

Note
JLBC: Added in March, 2009. Should be equivalent to Davison's WideCamera::ProjectionJacobian
See Also
project_3D_point

Definition at line 191 of file CCamModel.cpp.

References ASSERT_, cam, mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::utils::TCamera::k1(), mrpt::math::square(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void CCamModel::jacobian_unproject_with_distortion ( const mrpt::utils::TPixelCoordf p,
math::CMatrixDouble dy_dh 
) const

Jacobian of the unprojection of a pixel (with distortion) back into a 3D point, as done in unproject_3D_point $ \frac{\partial y}{\partial h} $, evaluated at the pixel p.

Note
JLBC: Added in March, 2009. Should be equivalent to Davison's WideCamera::UnprojectionJacobian
See Also
unproject_3D_point

Definition at line 249 of file CCamModel.cpp.

References cam, mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::utils::TCamera::k1(), mrpt::math::square(), mrpt::utils::TPixelCoordf::x, and mrpt::utils::TPixelCoordf::y.

void CCamModel::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution = 0.10 // blah blah...
modeSelection = 1 // 0=blah, 1=blah,...
See Also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 284 of file CCamModel.cpp.

References ASSERT_, cam, MRPT_END, MRPT_LOAD_HERE_CONFIG_VAR_NO_DEFAULT, MRPT_START, mrpt::utils::CConfigFileBase::read_vector(), mrpt::utils::TCamera::setDistortionParamsVector(), and mrpt::utils::TCamera::setIntrinsicParamsFromValues().

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See Also
loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

void CCamModel::project_3D_point ( const mrpt::math::TPoint3D p3D,
mrpt::utils::TPixelCoordf distorted_p 
) const

Return the (distorted) pixel position of a 3D point given in coordinates relative to the camera (+Z pointing forward, +X to the right)

See Also
unproject_3D_point

Definition at line 148 of file CCamModel.cpp.

References ASSERT_, cam, mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::utils::TCamera::k1(), mrpt::math::square(), mrpt::utils::TPixelCoordf::x, mrpt::math::TPoint3D::x, mrpt::utils::TPixelCoordf::y, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See Also
saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

mrpt::math::CMatrixFixedNumeric<double,4,2> mrpt::vision::CCamModel::secondInverseJacobian ( ) const
inlineprivate

Definition at line 206 of file CCamModel.h.

mrpt::math::CMatrixFixedNumeric<double,3,4> mrpt::vision::CCamModel::thirdInverseJacobian ( ) const
inlineprivate

Definition at line 214 of file CCamModel.h.

void CCamModel::undistort_point ( const mrpt::utils::TPixelCoordf p,
mrpt::utils::TPixelCoordf undistorted_p 
)

Return the pixel position undistorted by the camera The input values 'col' and 'row' will be replace for the new values (undistorted)

Definition at line 121 of file CCamModel.cpp.

References ASSERT_, cam, mrpt::utils::TCamera::getDistortionParamsAsVector(), mrpt::utils::TCamera::intrinsicParams, and mrpt::vision::pinhole::undistort_points().

void CCamModel::unproject_3D_point ( const mrpt::utils::TPixelCoordf distorted_p,
mrpt::math::TPoint3D p3D 
) const

Return the 3D location of a point (at a fixed distance z=1), for the given (distorted) pixel position.

See Also
project_3D_point
Note
Of course, there is a depth ambiguity, so the returned 3D point must be considered a direction from the camera focus, or a vector, rather than a meaninful physical point.

Definition at line 172 of file CCamModel.cpp.

References cam, mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::utils::TCamera::k1(), mrpt::math::square(), mrpt::utils::TPixelCoordf::x, mrpt::math::TPoint3D::x, mrpt::utils::TPixelCoordf::y, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Member Data Documentation

mrpt::utils::TCamera mrpt::vision::CCamModel::cam



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