bsfm::CameraIntrinsics Class Reference

#include <camera_intrinsics.h>

Public Member Functions
	CameraIntrinsics ()
	CameraIntrinsics (const Matrix3d &K, int image_width, int image_height)
	CameraIntrinsics (int image_left, int image_top, int image_width, int image_height, double f_u, double f_v, double c_u, double c_v, double k1, double k2, double k3, double k4, double k5)
void	SetImageLeft (int image_left)
void	SetImageTop (int image_top)
void	SetImageWidth (int image_width)
void	SetImageHeight (int image_height)
void	SetFU (double f_u)
void	SetFV (double f_v)
void	SetCU (double c_u)
void	SetCV (double c_v)
void	SetK (double k1, double k2, double k3, double k4, double k5)
void	SetK1 (double k1)
void	SetK2 (double k2)
void	SetK3 (double k3)
void	SetK4 (double k4)
void	SetK5 (double k5)
void	SetHorizontalFOV (double horizontal_fov)
void	SetVerticalFOV (double vertical_fov)
int	ImageLeft () const
int	ImageTop () const
int	ImageWidth () const
int	ImageHeight () const
double	f_u () const
double	f_v () const
double	c_u () const
double	c_v () const
double	k1 () const
double	k2 () const
double	k3 () const
double	k4 () const
double	k5 () const
double	HorizontalFOV () const
double	VerticalFOV () const
Matrix3d	K () const
Matrix3d	Kinv () const
bool	PointInImage (double u, double v) const
bool	CameraToImage (double cx, double cy, double cz, double *u_distorted, double *v_distorted) const
bool	DirectionToImage (double u_normalized, double v_normalized, double *u_distorted, double *v_distorted) const
void	ImageToDirection (double u_distorted, double v_distorted, double *u_normalized, double *v_normalized) const
void	Distort (double u, double v, double *u_distorted, double *v_distorted) const
void	Undistort (double u_distorted, double v_distorted, double *u, double *v, int iterations=10) const

Private Attributes
int	image_left_
int	image_top_
int	image_width_
int	image_height_
double	f_u_
double	f_v_
double	c_u_
double	c_v_
double	k1_
double	k2_
double	k3_
double	k4_
double	k5_
double	horizontal_fov_
double	vertical_fov_

Detailed Description

Definition at line 60 of file camera_intrinsics.h.

Constructor & Destructor Documentation

bsfm::CameraIntrinsics::CameraIntrinsics

(

)

Definition at line 57 of file camera_intrinsics.cpp.

    : image_left_(0),
      image_top_(0),
      image_width_(0),
      image_height_(0),
      f_u_(0.0),
      f_v_(0.0),
      c_u_(0.0),
      c_v_(0.0),
      k1_(0.0),
      k2_(0.0),
      k3_(0.0),
      k4_(0.0),
      k5_(0.0),
      horizontal_fov_(0.0),
      vertical_fov_(0.0) {}

bsfm::CameraIntrinsics::CameraIntrinsics	(	const Matrix3d &	K,
		int	image_width,
		int	image_height
	)

Definition at line 75 of file camera_intrinsics.cpp.

    : image_left_(0),
      image_top_(0),
      image_width_(image_width),
      image_height_(image_height),
      f_u_(K(0, 0)),
      f_v_(K(1, 1)),
      c_u_(K(0, 2)),
      c_v_(K(1, 2)),
      k1_(0.0),
      k2_(0.0),
      k3_(0.0),
      k4_(0.0),
      k5_(0.0) {
  horizontal_fov_ = 2.0 * atan2(0.5 * image_width_, f_u_);
  vertical_fov_ = 2.0 * atan2(0.5 * image_height_, f_v_);
}

bsfm::CameraIntrinsics::CameraIntrinsics	(	int	image_left,
		int	image_top,
		int	image_width,
		int	image_height,
		double	f_u,
		double	f_v,
		double	c_u,
		double	c_v,
		double	k1,
		double	k2,
		double	k3,
		double	k4,
		double	k5
	)

Definition at line 95 of file camera_intrinsics.cpp.

    : image_left_(image_left),
      image_top_(image_top),
      image_width_(image_width),
      image_height_(image_height),
      f_u_(f_u),
      f_v_(f_v),
      c_u_(c_u),
      c_v_(c_v),
      k1_(k1),
      k2_(k2),
      k3_(k3),
      k4_(k4),
      k5_(k5) {
  horizontal_fov_ = 2.0 * atan2(0.5 * image_width_, f_u_);
  vertical_fov_ = 2.0 * atan2(0.5 * image_height_, f_v_);
}

Member Function Documentation

double bsfm::CameraIntrinsics::c_u

(

)

const

Definition at line 218 of file camera_intrinsics.cpp.

                                   {
  return c_u_;
}

double bsfm::CameraIntrinsics::c_v

(

)

const

Definition at line 222 of file camera_intrinsics.cpp.

                                   {
  return c_v_;
}

bool bsfm::CameraIntrinsics::CameraToImage	(	double	cx,
		double	cy,
		double	cz,
		double *	u_distorted,
		double *	v_distorted
	)		const

Definition at line 275 of file camera_intrinsics.cpp.

                                                                {
  CHECK_NOTNULL(u_distorted);
  CHECK_NOTNULL(v_distorted);

  // We can't project points that lie behind the camera.
  if (cz < 0.0) return false;

  // Convert the camera frame point into a normalized direction vector (see
  // OpenCV help page at the top of this file).
  const double u_normalized = cx / cz;
  const double v_normalized = cy / cz;

  return DirectionToImage(u_normalized, v_normalized, u_distorted, v_distorted);
}

bool bsfm::CameraIntrinsics::DirectionToImage	(	double	u_normalized,
		double	v_normalized,
		double *	u_distorted,
		double *	v_distorted
	)		const

Definition at line 292 of file camera_intrinsics.cpp.

                                                                   {
  CHECK_NOTNULL(u_distorted);
  CHECK_NOTNULL(v_distorted);

  // Distort the normalized direction vector;
  double u = 0.0, v = 0.0;
  Distort(u_normalized, v_normalized, &u, &v);

  // Make a homogeneous vector from the output.
  Vector3d p;
  p << u, v, 1.0;

  // Multiply the distorted direction vector by camera intrinsic matrix to get
  // the image space point.
  const Vector3d p_out = CameraIntrinsics::K() * p;
  *u_distorted = p_out(0);
  *v_distorted = p_out(1);

  // Make sure that the resulting point is in the image.
  return PointInImage(*u_distorted, *v_distorted);
}

void bsfm::CameraIntrinsics::Distort	(	double	u,
		double	v,
		double *	u_distorted,
		double *	v_distorted
	)		const

Definition at line 336 of file camera_intrinsics.cpp.

                                                          {
  CHECK_NOTNULL(u_distorted);
  CHECK_NOTNULL(v_distorted);

  // Get the camera's radial distortion (see OpenCV help page at the top of
  // this file).
  const double r_sq = u * u + v * v;
  const double radial_dist =
      1.0 + k1_ * r_sq + k2_ * r_sq * r_sq + k5_ * r_sq * r_sq * r_sq;

  // If radial distortion is too extreme, our 5th-order model might not be a
  // good fit. Instead, estimate the distortion with a simpler model (linear),
  // and apply radial corrections.
  if (radial_dist < 0.85 || radial_dist > 1.15) {
    // Distortion too extreme. Warp the point with estimated radial
    // distortion.
    const double radius = hypot(image_width_, image_height_);
    *u_distorted = u / sqrt(r_sq) * radius;
    *v_distorted = v / sqrt(r_sq) * radius;
  } else {
    // Compute radial distortion with 5th order model.
    const double dx0 = 2.0 * k3_ * u * v + k4_ * (r_sq + 2.0 * u * u);
    const double dx1 = k3_ * (r_sq + 2.0 * v * v) + 2.0 * k4_ * u * v;

    // Homogeneous distorted direction vector.
    *u_distorted = radial_dist * u + dx0;
    *v_distorted = radial_dist * v + dx1;
  }
}

double bsfm::CameraIntrinsics::f_u

(

)

const

Definition at line 210 of file camera_intrinsics.cpp.

                                   {
  return f_u_;
}

double bsfm::CameraIntrinsics::f_v

(

)

const

Definition at line 214 of file camera_intrinsics.cpp.

                                   {
  return f_v_;
}

double bsfm::CameraIntrinsics::HorizontalFOV

(

)

const

Definition at line 246 of file camera_intrinsics.cpp.

                                             {
  return horizontal_fov_;
}

int bsfm::CameraIntrinsics::ImageHeight

(

)

const

Definition at line 206 of file camera_intrinsics.cpp.

                                        {
  return image_height_;
}

int bsfm::CameraIntrinsics::ImageLeft

(

)

const

Definition at line 194 of file camera_intrinsics.cpp.

                                      {
  return image_left_;
}

void bsfm::CameraIntrinsics::ImageToDirection	(	double	u_distorted,
		double	v_distorted,
		double *	u_normalized,
		double *	v_normalized
	)		const

Definition at line 317 of file camera_intrinsics.cpp.

                                                                    {
  CHECK_NOTNULL(u_normalized);
  CHECK_NOTNULL(v_normalized);

  // Make a homogeneous image space point.
  Vector3d p_distorted;
  p_distorted << u_distorted, v_distorted, 1.0;

  // Multiply the distorted homogeneous image space point by the inverse
  // of the camera intrinsic matrix to get a distorted ray.
  const Vector3d p = CameraIntrinsics::Kinv() * p_distorted;

  // Undistort the ray to get the normalized direction vector.
  Undistort(p(0), p(1), u_normalized, v_normalized);
}

int bsfm::CameraIntrinsics::ImageTop

(

)

const

Definition at line 198 of file camera_intrinsics.cpp.

                                     {
  return image_top_;
}

int bsfm::CameraIntrinsics::ImageWidth

(

)

const

Definition at line 202 of file camera_intrinsics.cpp.

                                       {
  return image_width_;
}

Matrix3d bsfm::CameraIntrinsics::K

(

)

const

Definition at line 255 of file camera_intrinsics.cpp.

                                   {
  Matrix3d K;
  K << f_u_, 0.0, c_u_, 0.0, f_v_, c_v_, 0.0, 0.0, 1.0;

  return K;
}

double bsfm::CameraIntrinsics::k1

(

)

const

Definition at line 226 of file camera_intrinsics.cpp.

                                  {
  return k1_;
}

double bsfm::CameraIntrinsics::k2

(

)

const

Definition at line 230 of file camera_intrinsics.cpp.

                                  {
  return k2_;
}

double bsfm::CameraIntrinsics::k3

(

)

const

Definition at line 234 of file camera_intrinsics.cpp.

                                  {
  return k3_;
}

double bsfm::CameraIntrinsics::k4

(

)

const

Definition at line 238 of file camera_intrinsics.cpp.

                                  {
  return k4_;
}

double bsfm::CameraIntrinsics::k5

(

)

const

Definition at line 242 of file camera_intrinsics.cpp.

                                  {
  return k5_;
}

Matrix3d bsfm::CameraIntrinsics::Kinv

(

)

const

Definition at line 263 of file camera_intrinsics.cpp.

                                      {
  return CameraIntrinsics::K().inverse();
}

bool bsfm::CameraIntrinsics::PointInImage	(	double	u,
		double	v
	)		const

Definition at line 268 of file camera_intrinsics.cpp.

                                                            {
  const bool in_cols = u >= image_left_ && u < image_left_ + image_width_;
  const bool in_rows = v >= image_top_ && v < image_top_ + image_height_;
  return in_cols && in_rows;
}

void bsfm::CameraIntrinsics::SetCU

(

double

c_u

)

Definition at line 146 of file camera_intrinsics.cpp.

                                       {
  c_u_ = c_u;
}

void bsfm::CameraIntrinsics::SetCV

(

double

c_v

)

Definition at line 150 of file camera_intrinsics.cpp.

                                       {
  c_v_ = c_v;
}

void bsfm::CameraIntrinsics::SetFU

(

double

f_u

)

Definition at line 136 of file camera_intrinsics.cpp.

                                       {
  f_u_ = f_u;
  horizontal_fov_ = 2.0 * atan2(0.5 * image_width_, f_u_);
}

void bsfm::CameraIntrinsics::SetFV

(

double

f_v

)

Definition at line 141 of file camera_intrinsics.cpp.

                                       {
  f_v_ = f_v;
  vertical_fov_ = 2.0 * atan2(0.5 * image_height_, f_v_);
}

void bsfm::CameraIntrinsics::SetHorizontalFOV

(

double

horizontal_fov

)

Definition at line 183 of file camera_intrinsics.cpp.

                                                             {
  horizontal_fov_ = horizontal_fov;
  f_u_ = 0.5 * image_width_ / tan(0.5 * horizontal_fov_);
}

void bsfm::CameraIntrinsics::SetImageHeight

(

int

image_height

)

Definition at line 131 of file camera_intrinsics.cpp.

                                                      {
  image_height_ = image_height;
  vertical_fov_ = 2.0 * atan2(0.5 * image_height_, f_v_);
}

void bsfm::CameraIntrinsics::SetImageLeft

(

int

image_left

)

Definition at line 118 of file camera_intrinsics.cpp.

                                                  {
  image_left_ = image_left;
}

void bsfm::CameraIntrinsics::SetImageTop

(

int

image_top

)

Definition at line 122 of file camera_intrinsics.cpp.

                                                {
  image_top_ = image_top;
}

void bsfm::CameraIntrinsics::SetImageWidth

(

int

image_width

)

Definition at line 126 of file camera_intrinsics.cpp.

                                                    {
  image_width_ = image_width;
  horizontal_fov_ = 2.0 * atan2(0.5 * image_width_, f_u_);
}

void bsfm::CameraIntrinsics::SetK	(	double	k1,
		double	k2,
		double	k3,
		double	k4,
		double	k5
	)

Definition at line 154 of file camera_intrinsics.cpp.

                                       {
  k1_ = k1;
  k2_ = k2;
  k3_ = k3;
  k4_ = k4;
  k5_ = k5;
}

void bsfm::CameraIntrinsics::SetK1

(

double

k1

)

Definition at line 163 of file camera_intrinsics.cpp.

                                      {
  k1_ = k1;
}

void bsfm::CameraIntrinsics::SetK2

(

double

k2

)

Definition at line 167 of file camera_intrinsics.cpp.

                                      {
  k2_ = k2;
}

void bsfm::CameraIntrinsics::SetK3

(

double

k3

)

Definition at line 171 of file camera_intrinsics.cpp.

                                      {
  k3_ = k3;
}

void bsfm::CameraIntrinsics::SetK4

(

double

k4

)

Definition at line 175 of file camera_intrinsics.cpp.

                                      {
  k4_ = k4;
}

void bsfm::CameraIntrinsics::SetK5

(

double

k5

)

Definition at line 179 of file camera_intrinsics.cpp.

                                      {
  k5_ = k5;
}

void bsfm::CameraIntrinsics::SetVerticalFOV

(

double

vertical_fov

)

Definition at line 188 of file camera_intrinsics.cpp.

                                                         {
  vertical_fov_ = vertical_fov;
  f_v_ = 0.5 * image_height_ / tan(0.5 * vertical_fov_);
}

void bsfm::CameraIntrinsics::Undistort	(	double	u_distorted,
		double	v_distorted,
		double *	u,
		double *	v,
		int	iterations = 10
	)		const

Definition at line 368 of file camera_intrinsics.cpp.

                                                                             {
  CHECK_NOTNULL(u);
  CHECK_NOTNULL(v);

  // Iteratively attempt to undo the radial distortion (see OpenCV help page
  // at the top of this file).
  double u_refine = u_distorted;
  double v_refine = v_distorted;
  for (int i = 0; i < iterations; ++i) {
    const double r_sq = u_refine * u_refine + v_refine * v_refine;
    const double dx0 = 2.0 * k3_ * u_refine * v_refine +
                       k4_ * (r_sq + 2.0 * u_refine * u_refine);
    const double dx1 = k3_ * (r_sq + 2.0 * v_refine * v_refine) +
                       2.0 * k4_ * u_refine * v_refine;
    u_refine = u_distorted - dx0;
    v_refine = v_distorted - dx1;
  }

  // Return the undistorted direction vector.
  *u = u_refine;
  *v = v_refine;
}

double bsfm::CameraIntrinsics::VerticalFOV

(

)

const

Definition at line 250 of file camera_intrinsics.cpp.

                                           {
  return vertical_fov_;
}

Member Data Documentation

double bsfm::CameraIntrinsics::c_u_

private

Definition at line 146 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::c_v_

private

Definition at line 147 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::f_u_

private

Definition at line 144 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::f_v_

private

Definition at line 145 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::horizontal_fov_

private

Definition at line 153 of file camera_intrinsics.h.

int bsfm::CameraIntrinsics::image_height_

private

Definition at line 143 of file camera_intrinsics.h.

int bsfm::CameraIntrinsics::image_left_

private

Definition at line 140 of file camera_intrinsics.h.

int bsfm::CameraIntrinsics::image_top_

private

Definition at line 141 of file camera_intrinsics.h.

int bsfm::CameraIntrinsics::image_width_

private

Definition at line 142 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::k1_

private

Definition at line 148 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::k2_

private

Definition at line 149 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::k3_

private

Definition at line 150 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::k4_

private

Definition at line 151 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::k5_

private

Definition at line 152 of file camera_intrinsics.h.

double bsfm::CameraIntrinsics::vertical_fov_

private

Definition at line 154 of file camera_intrinsics.h.

---

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

• /Users/eanelson/Git/berkeley_sfm/src/cpp/camera/camera_intrinsics.h
• /Users/eanelson/Git/berkeley_sfm/src/cpp/camera/camera_intrinsics.cpp