DICe::Camera Class Reference

A class for camera calibration parameters and computing single camera projection based transformations. More...

#include <DICe_Camera.h>

Classes
struct	Camera_Info
	helper struct for camera initialization (cleans up of the constructors for camera class so it only needs one) More...

Public Types
enum	Lens_Distortion_Model {   NO_LENS_DISTORTION = 0, OPENCV_LENS_DISTORTION, VIC3D_LENS_DISTORTION, K1R1_K2R2_K3R3,   K1R2_K2R4_K3R6, K1R3_K2R5_K3R7, MAX_LENS_DISTORTION_MODEL, NO_SUCH_LENS_DISTORTION_MODEL }
enum	Cam_Intrinsic_Param {   CX = 0, CY, FX, FY,   FS, K1, K2, K3,   K4, K5, K6, P1,   P2, S1, S2, S3,   S4, T1, T2, MAX_CAM_INTRINSIC_PARAM,   NO_SUCH_CAM_INTRINSIC_PARAM }

Public Member Functions
	Camera (const Camera_Info &camera_info)
	constructor
virtual	~Camera ()
	Pure virtual destructor.
void	set_id (const std::string &cam_id)
std::string	id () const
void	set_lens (const std::string &camera_lens)
std::string	lens () const
void	set_comments (const std::string &camera_comments)
std::string	comments () const
int_t	image_height () const
	gets the image height returns the height of the image in pixels
int_t	image_width () const
	gets the image width returns the width of the image in pixels
int_t	pixel_depth () const
Lens_Distortion_Model	lens_distortion_model () const
Matrix< scalar_t, 4 >	transformation_matrix () const
std::vector< scalar_t >	get_facet_params ()
std::vector< scalar_t > *	intrinsics ()
	gets the intrinsic camera parameter values
scalar_t	tx () const
	get the x extrinsic translation
scalar_t	ty () const
	get the y extrinsic translation
scalar_t	tz () const
	get the z extrinsic translation
const Camera_Info *	camera_info () const
const Matrix< scalar_t, 3 > *	rotation_matrix () const
const Matrix< scalar_t, 4 > *	cam_world_trans_matrix () const
const Matrix< scalar_t, 4 > *	world_cam_trans_matrix () const
void	initialize ()
	prepares the tranfomation matricies
void	sensor_to_image (const std::vector< scalar_t > &sen_x, const std::vector< scalar_t > &sen_y, std::vector< scalar_t > &image_x, std::vector< scalar_t > &image_y, const std::vector< std::vector< scalar_t > > &sen_dx, const std::vector< std::vector< scalar_t > > &sen_dy, std::vector< std::vector< scalar_t > > &image_dx, std::vector< std::vector< scalar_t > > &image_dy)
void	sensor_to_image (const std::vector< scalar_t > &sen_x, const std::vector< scalar_t > &sen_y, std::vector< scalar_t > &image_x, std::vector< scalar_t > &image_y)
	same as above without derivatives
void	image_to_sensor (const std::vector< scalar_t > &image_x, const std::vector< scalar_t > &image_y, std::vector< scalar_t > &sen_x, std::vector< scalar_t > &sen_y, const bool integer_locs=true)
void	image_to_world (const std::vector< scalar_t > &image_x, const std::vector< scalar_t > &image_y, const std::vector< scalar_t > &rigid_body_params, std::vector< scalar_t > &world_x, std::vector< scalar_t > &world_y, std::vector< scalar_t > &world_z)
void	image_to_world (const std::vector< scalar_t > &image_x, const std::vector< scalar_t > &image_y, std::vector< scalar_t > &world_x, std::vector< scalar_t > &world_y, std::vector< scalar_t > &world_z)
void	sensor_to_cam (const std::vector< scalar_t > &sen_x, const std::vector< scalar_t > &sen_y, std::vector< scalar_t > &cam_x, std::vector< scalar_t > &cam_y, std::vector< scalar_t > &cam_z, const std::vector< scalar_t > &facet_params, std::vector< std::vector< scalar_t > > &cam_dx, std::vector< std::vector< scalar_t > > &cam_dy, std::vector< std::vector< scalar_t > > &cam_dz)
void	sensor_to_cam (const std::vector< scalar_t > &sen_x, const std::vector< scalar_t > &sen_y, std::vector< scalar_t > &cam_x, std::vector< scalar_t > &cam_y, std::vector< scalar_t > &cam_z, const std::vector< scalar_t > &facet_params)
	same as above with no derivatives
void	cam_to_sensor (const std::vector< scalar_t > &cam_x, const std::vector< scalar_t > &cam_y, const std::vector< scalar_t > &cam_z, std::vector< scalar_t > &sen_x, std::vector< scalar_t > &sen_y, const std::vector< std::vector< scalar_t > > &cam_dx, const std::vector< std::vector< scalar_t > > &cam_dy, const std::vector< std::vector< scalar_t > > &cam_dz, std::vector< std::vector< scalar_t > > &sen_dx, std::vector< std::vector< scalar_t > > &sen_dy)
void	cam_to_sensor (const std::vector< scalar_t > &cam_x, const std::vector< scalar_t > &cam_y, const std::vector< scalar_t > &cam_z, std::vector< scalar_t > &sen_x, std::vector< scalar_t > &sen_y)
	same as above without derivatives
void	cam_to_world (const std::vector< scalar_t > &cam_x, const std::vector< scalar_t > &cam_y, const std::vector< scalar_t > &cam_z, std::vector< scalar_t > &wrld_x, std::vector< scalar_t > &wrld_y, std::vector< scalar_t > &wrld_z, std::vector< std::vector< scalar_t > > &cam_dx, std::vector< std::vector< scalar_t > > &cam_dy, std::vector< std::vector< scalar_t > > &cam_dz, std::vector< std::vector< scalar_t > > &wrld_dx, std::vector< std::vector< scalar_t > > &wrld_dy, std::vector< std::vector< scalar_t > > &wrld_dz)
void	cam_to_world (const std::vector< scalar_t > &cam_x, const std::vector< scalar_t > &cam_y, const std::vector< scalar_t > &cam_z, std::vector< scalar_t > &wrld_x, std::vector< scalar_t > &wrld_y, std::vector< scalar_t > &wrld_z)
	same as above without derivatives
void	world_to_cam (const std::vector< scalar_t > &wrld_x, const std::vector< scalar_t > &wrld_y, const std::vector< scalar_t > &wrld_z, std::vector< scalar_t > &cam_x, std::vector< scalar_t > &cam_y, std::vector< scalar_t > &cam_z, const std::vector< std::vector< scalar_t > > &wrld_dx, const std::vector< std::vector< scalar_t > > &wrld_dy, const std::vector< std::vector< scalar_t > > &wrld_dz, std::vector< std::vector< scalar_t > > &cam_dx, std::vector< std::vector< scalar_t > > &cam_dy, std::vector< std::vector< scalar_t > > &cam_dz)
void	world_to_cam (const std::vector< scalar_t > &wrld_x, const std::vector< scalar_t > &wrld_y, const std::vector< scalar_t > &wrld_z, std::vector< scalar_t > &cam_x, std::vector< scalar_t > &cam_y, std::vector< scalar_t > &cam_z)
	same as above without derivatives
scalar_t	diff (const Camera &rhs) const
	compare the intrinsics and extrinsic values for a camera

Static Public Member Functions
static std::string	to_string (Lens_Distortion_Model in)
static Lens_Distortion_Model	string_to_lens_distortion_model (std::string &in)
static std::string	to_string (Cam_Intrinsic_Param in)
static Cam_Intrinsic_Param	string_to_cam_intrinsic_param (std::string &in)
static void	transform_coordinates_in_place (std::vector< scalar_t > &x, std::vector< scalar_t > &y, std::vector< scalar_t > &z, const std::vector< scalar_t > &rigid_body_params)
static void	transform_coordinates_in_place (std::vector< scalar_t > &x, std::vector< scalar_t > &y, std::vector< scalar_t > &z, const Matrix< scalar_t, 3 > &R, const scalar_t &tx, const scalar_t &ty, const scalar_t &tz)
	rotation matrix and translations version
static void	transform_coordinates_in_place (std::vector< scalar_t > &x, std::vector< scalar_t > &y, std::vector< scalar_t > &z, const Matrix< scalar_t, 4 > &T)
	transformation matrix version

Private Member Functions
void	rot_trans_transform (const Matrix< scalar_t, 4 > &RT_matrix, const std::vector< scalar_t > &in_x, const std::vector< scalar_t > &in_y, const std::vector< scalar_t > &in_z, std::vector< scalar_t > &out_x, std::vector< scalar_t > &out_y, std::vector< scalar_t > &out_z, const std::vector< std::vector< scalar_t > > &in_dx, const std::vector< std::vector< scalar_t > > &in_dy, const std::vector< std::vector< scalar_t > > &in_dz, std::vector< std::vector< scalar_t > > &out_dx, std::vector< std::vector< scalar_t > > &out_dy, std::vector< std::vector< scalar_t > > &out_dz)
void	rot_trans_transform (const Matrix< scalar_t, 4 > &RT_matrix, const std::vector< scalar_t > &in_x, const std::vector< scalar_t > &in_y, const std::vector< scalar_t > &in_z, std::vector< scalar_t > &out_x, std::vector< scalar_t > &out_y, std::vector< scalar_t > &out_z)
	same as above with no partial derivatives
void	prep_lens_distortion ()
	creates the image values for the inverse lens distortion
void	prep_transforms ()
	creates the rotation/translation matricies and inverses

Private Attributes
Camera_Info	camera_info_
	struct that holds all the initialization information
std::vector< scalar_t >	inv_lens_dis_x_
std::vector< scalar_t >	inv_lens_dis_y_
Matrix< scalar_t, 4 >	cam_world_trans_
Matrix< scalar_t, 4 >	world_cam_trans_
scalar_t	zero_ish_

Friends
DICE_LIB_DLL_EXPORT friend bool	operator== (const Camera &lhs, const Camera &rhs)
	comparison operator
DICE_LIB_DLL_EXPORT friend bool	operator!= (const Camera &lhs, const Camera &rhs)
	comparison operator
DICE_LIB_DLL_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Camera &camera)
	overaload the ostream operator for a camera class

Detailed Description

A class for camera calibration parameters and computing single camera projection based transformations.

Member Enumeration Documentation

Cam_Intrinsic_Param

enum DICe::Camera::Cam_Intrinsic_Param

valid intrinsic parameters index values

Lens_Distortion_Model

enum DICe::Camera::Lens_Distortion_Model

valid lens distortion model values

Member Function Documentation

cam_to_sensor()

void DICe::Camera::cam_to_sensor	(	const std::vector< scalar_t > &	cam_x,
		const std::vector< scalar_t > &	cam_y,
		const std::vector< scalar_t > &	cam_z,
		std::vector< scalar_t > &	sen_x,
		std::vector< scalar_t > &	sen_y,
		const std::vector< std::vector< scalar_t > > &	cam_dx,
		const std::vector< std::vector< scalar_t > > &	cam_dy,
		const std::vector< std::vector< scalar_t > > &	cam_dz,
		std::vector< std::vector< scalar_t > > &	sen_dx,
		std::vector< std::vector< scalar_t > > &	sen_dy
	)

projects camera x,y,z locations back onto the sensor overloaded with input and output first partials

Parameters

cam_x	x location in cam x,y,z space
cam_y	y location in cam x,y,z space
cam_z	z location in cam x,y,z space
sen_x	projected x sensor location
sen_y	projected y sensor location
cam_dx	first partials of the cam locations from previous projections
cam_dy	first partials of the cam locations from previous projections
cam_dz	first partials of the cam locations from previous projections
sen_dx	first partials of the projected x sensor location
sen_dy	first partials of the projected y sensor location

cam_to_world()

void DICe::Camera::cam_to_world ( const std::vector< scalar_t > &  cam_x, const std::vector< scalar_t > &  cam_y, const std::vector< scalar_t > &  cam_z, std::vector< scalar_t > &  wrld_x, std::vector< scalar_t > &  wrld_y, std::vector< scalar_t > &  wrld_z, std::vector< std::vector< scalar_t > > &  cam_dx, std::vector< std::vector< scalar_t > > &  cam_dy, std::vector< std::vector< scalar_t > > &  cam_dz, std::vector< std::vector< scalar_t > > &  wrld_dx, std::vector< std::vector< scalar_t > > &  wrld_dy, std::vector< std::vector< scalar_t > > &  wrld_dz  )

inline

converts the camera x,y,z cooldinates to a world x,y,z coordinate system overloaded with first partials

Parameters

cam_x	x location in cam x,y,z space
cam_y	y location in cam x,y,z space
cam_z	z location in cam x,y,z space
wrld_x	x location in the world x,y,z space
wrld_y	y location in the world x,y,z space
wrld_z	z location in the world x,y,z space
cam_dx	first partials of the x cam locations from previous projections
cam_dy	first partials of the y cam locations from previous projections
cam_dz	first partials of the z cam locations from previous projections
wrld_dx	first partials of the x world locations
wrld_dy	first partials of the y world locations
wrld_dz	first partials of the z world locations

cam_world_trans_matrix()

const Matrix<scalar_t,4>* DICe::Camera::cam_world_trans_matrix ( ) const

inline

gets the camera to world transformation matrix cam_world_trans 4x4 [R|T] transformation matrix {cam(x,y,z)}=[R|T]{world(x,y,z)}

comments()

std::string DICe::Camera::comments ( ) const

inline

gets the camera comments returns the camera comments

get_facet_params()

std::vector<scalar_t> DICe::Camera::get_facet_params

(

)

returns the facet parameters from R and T (if they describe the pose estimation, likely from 2d calibration) in 3d, R and T describe a coordinate transformation, not the pose estimation of the calibration plate so this is only a useful method for 2d calibration

id()

std::string DICe::Camera::id ( ) const

inline

gets the camera identifier returns the camera identifier

image_to_sensor()

void DICe::Camera::image_to_sensor	(	const std::vector< scalar_t > &	image_x,
		const std::vector< scalar_t > &	image_y,
		std::vector< scalar_t > &	sen_x,
		std::vector< scalar_t > &	sen_y,
		const bool	integer_locs = true
	)

converts image coordinates to sensor coordinates (lens distortion^-1, fx,fy,cx,cy)

Parameters

image_x	x location after applied lens distortion
image_y	y location after applied lens distortion
sen_x	projected x sensor location
sen_y	projected y sensor location
integer_locs	if all image points are integers setting this flag avoids interpolation overhead

image_to_world()

void DICe::Camera::image_to_world	(	const std::vector< scalar_t > &	image_x,
		const std::vector< scalar_t > &	image_y,
		const std::vector< scalar_t > &	rigid_body_params,
		std::vector< scalar_t > &	world_x,
		std::vector< scalar_t > &	world_y,
		std::vector< scalar_t > &	world_z
	)

helper function to convert image coordinates to world coordinates

Parameters

image_x	x location after applied lens distortion
image_y	y location after applied lens distortion
rigid_body_params	projection parameters that describe a rotation and traslation in space of a planar facet
world_x	output world x coordinate
world_y	output world y coordinate
world_z	output world z coordinate

lens()

std::string DICe::Camera::lens ( ) const

inline

gets the camera lens identifier returns the camera lens description

pixel_depth()

int_t DICe::Camera::pixel_depth ( ) const

inline

sets the pixel depth returns the pixel depth

rot_trans_transform()

void DICe::Camera::rot_trans_transform ( const Matrix< scalar_t, 4 > &  RT_matrix, const std::vector< scalar_t > &  in_x, const std::vector< scalar_t > &  in_y, const std::vector< scalar_t > &  in_z, std::vector< scalar_t > &  out_x, std::vector< scalar_t > &  out_y, std::vector< scalar_t > &  out_z, const std::vector< std::vector< scalar_t > > &  in_dx, const std::vector< std::vector< scalar_t > > &  in_dy, const std::vector< std::vector< scalar_t > > &  in_dz, std::vector< std::vector< scalar_t > > &  out_dx, std::vector< std::vector< scalar_t > > &  out_dy, std::vector< std::vector< scalar_t > > &  out_dz  )

private

generic translation/rotation transform

Parameters

in_x	input x location
in_y	input y location
in_z	input z location
out_x	transformed x location
out_y	transformed y location
out_z	transformed z location
in_dx	derivitives from previous transformations
in_dy	derivitives from previous transformations
in_dz	derivitives from previous transformations
out_dx	derivitives modifiec by the transform
out_dy	derivitives modifiec by the transform
out_dz	derivitives modifiec by the transform

rotation_matrix()

const Matrix<scalar_t,3>* DICe::Camera::rotation_matrix ( ) const

inline

gets 3x3 rotation matrix [R]

Parameters

rotation_3x3_matrix

[R] matrix transforming from the world coordinates to the camera coordinates

sensor_to_cam()

void DICe::Camera::sensor_to_cam	(	const std::vector< scalar_t > &	sen_x,
		const std::vector< scalar_t > &	sen_y,
		std::vector< scalar_t > &	cam_x,
		std::vector< scalar_t > &	cam_y,
		std::vector< scalar_t > &	cam_z,
		const std::vector< scalar_t > &	facet_params,
		std::vector< std::vector< scalar_t > > &	cam_dx,
		std::vector< std::vector< scalar_t > > &	cam_dy,
		std::vector< std::vector< scalar_t > > &	cam_dz
	)

projects sensor coordinates onto a plane in space described by zp,theta,phi overloaded for first partials

Parameters

sen_x	x sensor location
sen_y	y sensor location
cam_x	projected x location in cam x,y,z space
cam_y	projected y location in cam x,y,z space
cam_z	projected z location in cam x,y,z space
facet_params	projection parameters describing the plane in space (ZP, THETA, PHI)
cam_dx	x location derivitives in cam x,y,z space partials wrt (ZP, THETA, PHI)
cam_dy	y locatoin derivitives in cam x,y,z space partials wrt (ZP, THETA, PHI)
cam_dz	z location derivitives in cam x,y,z space partials wrt (ZP, THETA, PHI)

sensor_to_image()

void DICe::Camera::sensor_to_image	(	const std::vector< scalar_t > &	sen_x,
		const std::vector< scalar_t > &	sen_y,
		std::vector< scalar_t > &	image_x,
		std::vector< scalar_t > &	image_y,
		const std::vector< std::vector< scalar_t > > &	sen_dx,
		const std::vector< std::vector< scalar_t > > &	sen_dy,
		std::vector< std::vector< scalar_t > > &	image_dx,
		std::vector< std::vector< scalar_t > > &	image_dy
	)

convert sensor locations to image locations: applies lens distortion scales for fx,fy and converts to image coordiates with cx, cy with first partials

Parameters

sen_x	projected x sensor location
sen_y	projected y sensor location
image_x	x location after applied lens distortion
image_y	y location after applied lens distortion
sen_dx	incoming location partials
sen_dy	incoming location partials
image_dx	outgoing location partials lens distortion fixed value
image_dy	outgoing location partials lens distortion fixed value

set_comments()

void DICe::Camera::set_comments ( const std::string &  camera_comments )

inline

sets the camera comments

Parameters

camera_comments

comments about the camera

set_id()

void DICe::Camera::set_id ( const std::string &  cam_id )

inline

sets the camera identifier

Parameters

cam_id

string descripter for the camera

set_lens()

void DICe::Camera::set_lens ( const std::string &  camera_lens )

inline

sets the camera lens identifier

Parameters

camera_lens

string descripter for the camera lens

transform_coordinates_in_place()

static void DICe::Camera::transform_coordinates_in_place ( std::vector< scalar_t > &  x, std::vector< scalar_t > &  y, std::vector< scalar_t > &  z, const std::vector< scalar_t > &  rigid_body_params  )

static

transform coordinates according to the rbm parameters and replace input values the rigid_body_paramers should be ordered according to three euler angles and three translations (x,y,z) rigid_body_params version

transformation_matrix()

Matrix<scalar_t,4> DICe::Camera::transformation_matrix

(

)

const

returns a 4x4 matrix with the upper left block the rotation matrix, the right side column vector as the translations and the lower right entry as 1.0

world_cam_trans_matrix()

const Matrix<scalar_t,4>* DICe::Camera::world_cam_trans_matrix ( ) const

inline

gets the world to camera transformation matrix cam_world_trans 4x4 [R|T] transformation matrix {world(x,y,z)}=[R|T]{cam(x,y,z)}

world_to_cam()

void DICe::Camera::world_to_cam ( const std::vector< scalar_t > &  wrld_x, const std::vector< scalar_t > &  wrld_y, const std::vector< scalar_t > &  wrld_z, std::vector< scalar_t > &  cam_x, std::vector< scalar_t > &  cam_y, std::vector< scalar_t > &  cam_z, const std::vector< std::vector< scalar_t > > &  wrld_dx, const std::vector< std::vector< scalar_t > > &  wrld_dy, const std::vector< std::vector< scalar_t > > &  wrld_dz, std::vector< std::vector< scalar_t > > &  cam_dx, std::vector< std::vector< scalar_t > > &  cam_dy, std::vector< std::vector< scalar_t > > &  cam_dz  )

inline

converts world x,y,z coordinates to camera x,y,z coordinates overloaded with first partials

Parameters

wrld_x	x location in the world x,y,z space
wrld_y	y location in the world x,y,z space
wrld_z	z location in the world x,y,z space
cam_x	x location in cam x,y,z space
cam_y	y location in cam x,y,z space
cam_z	z location in cam x,y,z space
wrld_dx	first partials of the x world locations from previous transformations
wrld_dy	first partials of the x world locations from previous transformations
wrld_dz	first partials of the x world locations from previous transformations
cam_dx	first partials of the x cam locations
cam_dy	first partials of the y cam locations
cam_dz	first partials of the z cam locations