pinhole camera including distortion according to Brown-Conrady model More...

#include <camera.h>

Inheritance diagram for cgv::math::distorted_pinhole< T >:

Public Member Functions
	distorted_pinhole ()
	standard constructor initializes to no distortion

template<typename S >
	distorted_pinhole (const distorted_pinhole< S > &dp)
	copy constructor

distortion_result	apply_distortion_model (const fvec< T, 2 > &xd, fvec< T, 2 > &xu, fmat< T, 2, 2 > *J_ptr=0, T epsilon=distortion_inversion_epsilon< T >()) const
	apply distortion model from distorted to undistorted image coordinates used in projection direction and return whether successful

distortion_inversion_result	invert_distortion_model (const fvec< T, 2 > &xu, fvec< T, 2 > &xd, bool use_xd_as_initial_guess=false, unsigned *iteration_ptr=0, T epsilon=distortion_inversion_epsilon< T >(), unsigned max_nr_iterations=get_standard_max_nr_iterations(), T slow_down=get_standard_slow_down()) const
	invert model for image coordinate inversion

template<typename S >
void	compute_distortion_map (std::vector< cgv::math::fvec< S, 2 > > &map, unsigned sub_sample=1, const cgv::math::fvec< S, 2 > &invalid_point=cgv::math::fvec< S, 2 >(S(-10000)), T epsilon=distortion_inversion_epsilon< T >(), unsigned max_nr_iterations=get_standard_max_nr_iterations(), T slow_down=get_standard_slow_down()) const
	compute for all pixels the distorted image coordinates with the invert_distortion_model() function and store it in a distortion map

Public Member Functions inherited from cgv::math::pinhole< T >
	pinhole ()
	standard constructor

template<typename S >
	pinhole (const pinhole< S > &ph)
	copy constructor

fmat< T, 2, 3 >	get_camera_matrix () const

fmat< T, 3, 3 >	get_squared_camera_matrix () const

fmat< T, 4, 4 >	get_homogeneous_camera_matrix () const

fvec< T, 2 >	image_to_pixel_coordinates (const fvec< T, 2 > &x) const

fvec< T, 2 >	pixel_to_image_coordinates (const fvec< T, 2 > &p) const

bool	estimate_parameters (const std::vector< fmat< T, 3, 3 > > &Hs, bool quadratic_pixels=true, bool no_skew=true)

Static Public Member Functions
static T	get_standard_slow_down ()
	slow down factor [0,1] to decrease step size during inverse Jacobian stepping

Static Public Member Functions inherited from cgv::math::distorted_pinhole_types
static unsigned	get_standard_max_nr_iterations ()
	default maximum number of iterations used for inversion of distortion models

Public Attributes
fvec< T, 2 >	dc

T	k [6]

T	p [2]

T	max_radius_for_projection = T(10)

Public Attributes inherited from cgv::math::pinhole< T >
unsigned	w

unsigned	h

fvec< T, 2 >	s

fvec< T, 2 >	c

T	skew = 0.0f

Additional Inherited Members
Public Types inherited from cgv::math::distorted_pinhole_types
enum class	distortion_result { success , out_of_bounds , division_by_zero }
	possible results of applying distortion model More...

enum class	distortion_inversion_result { convergence , max_iterations_reached , divergence , out_of_bounds , division_by_zero }
	possible results of inverting distortion model More...

Detailed Description

template<typename T>
class cgv::math::distorted_pinhole< T >

pinhole camera including distortion according to Brown-Conrady model

Definition at line 399 of file camera.h.

Constructor & Destructor Documentation

◆ distorted_pinhole() [1/2]

template<typename T >

cgv::math::distorted_pinhole< T >::distorted_pinhole ( )

inline

standard constructor initializes to no distortion

Definition at line 411 of file camera.h.

◆ distorted_pinhole() [2/2]

template<typename T >

template<typename S >

cgv::math::distorted_pinhole< T >::distorted_pinhole ( const distorted_pinhole< S > & dp )

inline

copy constructor

Definition at line 416 of file camera.h.

Member Function Documentation

◆ apply_distortion_model()

template<typename T >

distortion_result cgv::math::distorted_pinhole< T >::apply_distortion_model	(	const fvec< T, 2 > &	xd,
		fvec< T, 2 > &	xu,
		fmat< T, 2, 2 > *	J_ptr = `0`,
		T	epsilon = `distortion_inversion_epsilon<T>()`
	)		const

inline

apply distortion model from distorted to undistorted image coordinates used in projection direction and return whether successful

Failure cases are zero denominator in distortion formula or radius larger than max projection radius.

Definition at line 427 of file camera.h.

Referenced by cgv::math::distorted_pinhole< T >::invert_distortion_model().

◆ compute_distortion_map()

template<typename T >

template<typename S >

void cgv::math::distorted_pinhole< T >::compute_distortion_map	(	std::vector< cgv::math::fvec< S, 2 > > &	map,
		unsigned	sub_sample = `1`,
		const cgv::math::fvec< S, 2 > &	invalid_point = `cgv::math::fvec<S, 2>(S(-10000))`,
		T	epsilon = `distortion_inversion_epsilon<T>()`,
		unsigned	max_nr_iterations = `get_standard_max_nr_iterations()`,
		T	slow_down = `get_standard_slow_down()`
	)		const

inline

compute for all pixels the distorted image coordinates with the invert_distortion_model() function and store it in a distortion map

The distortion map can be computed to speed up distortion model inversion if these are used multiple times per pixel. Given the pixel coordinates x and y and the image width w the distorted image coordinate is looked up via distortion_map[w*y+x]. For pixels where the inversion of the distortion model failed, the invalid_point is stored. Further parameters are passed on the the invert_distortion_model() function.

Definition at line 529 of file camera.h.

References cgv::math::distorted_pinhole< T >::invert_distortion_model().

◆ get_standard_slow_down()

template<typename T >

static T cgv::math::distorted_pinhole< T >::get_standard_slow_down ( )

inlinestatic

slow down factor [0,1] to decrease step size during inverse Jacobian stepping

Definition at line 403 of file camera.h.

◆ invert_distortion_model()

template<typename T >

distortion_inversion_result cgv::math::distorted_pinhole< T >::invert_distortion_model	(	const fvec< T, 2 > &	xu,
		fvec< T, 2 > &	xd,
		bool	use_xd_as_initial_guess = `false`,
		unsigned *	iteration_ptr = `0`,
		T	epsilon = `distortion_inversion_epsilon<T>()`,
		unsigned	max_nr_iterations = `get_standard_max_nr_iterations()`,
		T	slow_down = `get_standard_slow_down()`
	)		const

inline

invert model for image coordinate inversion

Parameters

xu	input ... undistorted image coordinates
xd	output ... distorted image coordinates
use_xd_as_initial_guess	if true the passed values in xd are used as initial guess, otherwise a pseudo inversion of the distortion model is used as initial guess
iteration_ptr	if provided, the passed index is used as iteration counter and indicates after the call how many iterations have been performed
epsilon	epsilon used to detect division by zero and convergence
max_nr_iterations	maximum number of to be taken iterations
slow_down	factor in [0,1] to decrease step estimated by Jacobian inverse