A class for computing the triangulation of 3d points from two correlation and a calibration file. More...

#include <DICe_Triangulation.h>

Public Member Functions
	Triangulation (const std::string &param_file_name)
	Default constructor. More...

	Triangulation ()
	constructor with no args More...

virtual	~Triangulation ()
	Pure virtual destructor.

std::vector< std::vector< scalar_t > > *	cal_intrinsics ()
	returns a pointer to the calibration intrinsics

Matrix< scalar_t, 4 > *	cam_0_to_cam_1 ()
	returns a pointer to the transform from camera 0 to camera 1

Matrix< scalar_t, 4 > *	cam_0_to_world ()
	returns a pointer to the camera 0 to world extrinsics

scalar_t	triangulate (const scalar_t &x0, const scalar_t &y0, const scalar_t &x1, const scalar_t &y1, scalar_t &xc_out, scalar_t &yc_out, scalar_t &zc_out, scalar_t &xw_out, scalar_t &yw_out, scalar_t &zw_out, const bool correct_lens_distortion=false)

void	triangulate (const std::vector< scalar_t > &image_x, const std::vector< scalar_t > &image_y, std::vector< scalar_t > &xw_out, std::vector< scalar_t > &yw_out, std::vector< scalar_t > &zw_out)

void	correct_lens_distortion_radial (scalar_t &x_s, scalar_t &y_s, const int_t camera_id)

int_t	estimate_projective_transform (Teuchos::RCP< Image > left_img, Teuchos::RCP< Image > right_img, const bool output_projected_image=false, const bool use_nonlinear_projection=false, const int_t processor_id=0)

void	project_left_to_right_sensor_coords (const scalar_t &xl, const scalar_t &yl, scalar_t &xr, scalar_t &yr)

void	set_warp_params (Teuchos::RCP< std::vector< scalar_t > > &params)

Teuchos::RCP< std::vector< scalar_t > >	warp_params () const
	return a pointer to the warp parameters

void	set_projective_params (Teuchos::RCP< std::vector< scalar_t > > &params)

Teuchos::RCP< std::vector< scalar_t > >	projective_params () const
	return a pointer to the projective parameters

void	best_fit_plane (Teuchos::RCP< MultiField > &cx, Teuchos::RCP< MultiField > &cy, Teuchos::RCP< MultiField > &cz, Teuchos::RCP< MultiField > &sigma)

scalar_t	cosine_of_two_vectors (const std::vector< scalar_t > &a, const std::vector< scalar_t > &b)

void	reset_cam_0_to_world ()
	set the transform to the identity matrix

Private Member Functions
void	load_calibration_parameters (const std::string &param_file_name)
	load the calibration parameters More...

Private Attributes
std::vector< std::vector< scalar_t > >	cal_intrinsics_

Matrix< scalar_t, 4 >	cam_0_to_cam_1_
	transformation from camera 0 to camera 1 coordinates

Matrix< scalar_t, 4 >	cam_0_to_world_
	transformation from camera 0 to world model/physical coordinates

Teuchos::RCP< std::vector< scalar_t > >	warp_params_
	12 parameters that define a warping (independent from intrinsic and extrinsic parameters)

Teuchos::RCP< std::vector< scalar_t > >	projective_params_
	8 parameters that define a projective transform (independent from intrinsic and extrinsic parameters)

Teuchos::RCP< Camera_System >	camera_system_
	save off a pointer to the camera system for use in the triangulation

Detailed Description

A class for computing the triangulation of 3d points from two correlation and a calibration file.

Constructor & Destructor Documentation

◆ Triangulation() [1/2]

DICe::Triangulation::Triangulation ( const std::string & param_file_name )

inline

Default constructor.

Parameters

param_file_name the name of the file to parse the calibration parameters from

◆ Triangulation() [2/2]

DICe::Triangulation::Triangulation ( )

inline

constructor with no args

at max there are 12 parameters that must be set (for the quadratic)

Member Function Documentation

◆ best_fit_plane()

void DICe::Triangulation::best_fit_plane	(	Teuchos::RCP< MultiField > &	cx,
		Teuchos::RCP< MultiField > &	cy,
		Teuchos::RCP< MultiField > &	cz,
		Teuchos::RCP< MultiField > &	sigma
	)

determine the best fit plane to the complete set of X Y Z coordinates (excluding any failed points)

Parameters

cx	pointer to the x coordinates from the initial triangulation
cy	pointer to the y coordinates from the initial triangulation
cz	pointer to the z coordinates from the intiial triangulation
sigma	pointer to the sigma field

◆ correct_lens_distortion_radial()

void DICe::Triangulation::correct_lens_distortion_radial	(	scalar_t &	x_s,
		scalar_t &	y_s,
		const int_t	camera_id
	)

correct the lens distortion with a radial model

Parameters

x_s	x sensor coordinate to correct, modified in place
y_s	y sensor coordinate to correct, modified in place
camera_id	either 0 or 1

◆ cosine_of_two_vectors()

scalar_t DICe::Triangulation::cosine_of_two_vectors	(	const std::vector< scalar_t > &	a,
		const std::vector< scalar_t > &	b
	)

returns the cosine of the angle between two vectors

Parameters

a	vector a, must have three components
b	vector b, must have three components

◆ estimate_projective_transform()

int_t DICe::Triangulation::estimate_projective_transform	(	Teuchos::RCP< Image >	left_img,
		Teuchos::RCP< Image >	right_img,
		const bool	output_projected_image = `false`,
		const bool	use_nonlinear_projection = `false`,
		const int_t	processor_id = `0`
	)

estimate the projective transform from the left to right image

Parameters

left_img	pointer to the left image
right_img	pointer to the right image
output_projected_image	true if an image should be output using the solution projection parameters
use_nonlinear_projection	true if an additional 12 nonlinear parameter projection model should be used
processor_id	the id of the process calling this routine returns 0 if successful -1 if the linear projection failed -2 if the nonlinear projection fails, -3 for other error

◆ load_calibration_parameters()

void DICe::Triangulation::load_calibration_parameters ( const std::string & param_file_name )

private

load the calibration parameters

Parameters

param_file_name File name of the cal parameters file

◆ project_left_to_right_sensor_coords()

void DICe::Triangulation::project_left_to_right_sensor_coords	(	const scalar_t &	xl,
		const scalar_t &	yl,
		scalar_t &	xr,
		scalar_t &	yr
	)

determine the corresponding right sensor coordinates given the left using the projective transform

Parameters

xl	left x sensor coord
yl	left y sensor coord
xr	[out] right x sensor coord
yr	[out] right y sensor coord

◆ set_projective_params()

void DICe::Triangulation::set_projective_params ( Teuchos::RCP< std::vector< scalar_t > > & params )

inline

set the projective parameter vector of the triangulation

Parameters

params the projective parameters

◆ set_warp_params()

void DICe::Triangulation::set_warp_params ( Teuchos::RCP< std::vector< scalar_t > > & params )

inline

set the warp parameter vector of the triangulation

Parameters

params the projective parameters

◆ triangulate() [1/2]

scalar_t DICe::Triangulation::triangulate	(	const scalar_t &	x0,
		const scalar_t &	y0,
		const scalar_t &	x1,
		const scalar_t &	y1,
		scalar_t &	xc_out,
		scalar_t &	yc_out,
		scalar_t &	zc_out,
		scalar_t &	xw_out,
		scalar_t &	yw_out,
		scalar_t &	zw_out,
		const bool	correct_lens_distortion = `false`
	)

triangulate the optimal point in 3D. returns the the max value of the psuedo matrix global coordinates are always defined with camera 0 as the origin unless another transformation is requested by specifying a transformation file

Parameters

x0	sensor x coordinate of the point in camera 0
y0	sensor y coordinate of the point in camera 0
x1	sensor x coordinate of the point in camera 1
y1	sensor y coordinate of the point in camera 1
xc_out	global x position in camera 0 coords
yc_out	global y position in camera 0 coords
zc_out	global z position in camera 0 coords
xw_out	global x position in world coords
yw_out	global y position in world coords
zw_out	global z position in world coords
correct_lens_distortion	correct for lens distortion

◆ triangulate() [2/2]

void DICe::Triangulation::triangulate	(	const std::vector< scalar_t > &	image_x,
		const std::vector< scalar_t > &	image_y,
		std::vector< scalar_t > &	xw_out,
		std::vector< scalar_t > &	yw_out,
		std::vector< scalar_t > &	zw_out
	)

triangulate the optimal point in 3D (from 2d data with calibration). global coordinates are always defined with camera 0 as the origin unless another transformation is requested by specifying a transformation file

Parameters

image_x	vector of image x coordinates
image_y	vector of image y coordinates
xw_out	vector of global x positions in world coords
yw_out	vector of global y positions in world coords
zw_out	vector of global z positions in world coords

Member Data Documentation

◆ cal_intrinsics_

std::vector<std::vector<scalar_t> > DICe::Triangulation::cal_intrinsics_

private

vector camera intrinsics vectors, one for camera 0 and one for camera 1 See Camera::Cam_Intrinsic_Param for the ordering of the parameters in the vector

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Triangulation() [1/2]

◆ Triangulation() [2/2]

Member Function Documentation

◆ best_fit_plane()

◆ correct_lens_distortion_radial()

◆ cosine_of_two_vectors()

◆ estimate_projective_transform()

◆ load_calibration_parameters()

◆ project_left_to_right_sensor_coords()

◆ set_projective_params()

◆ set_warp_params()

◆ triangulate() [1/2]

◆ triangulate() [2/2]

Member Data Documentation

◆ cal_intrinsics_