calico::sensors::DoubleSphereModel Class Reference

#include <camera_models.h>

Inheritance diagram for calico::sensors::DoubleSphereModel:

Collaboration diagram for calico::sensors::DoubleSphereModel:

Public Member Functions
DoubleSphereModel &	operator= (const DoubleSphereModel &)=default
CameraIntrinsicsModel	GetType () const final
	Getter for camera model type.
int	NumberOfParameters () const final
	Getter for the number of parameters for this camera model.
Public Member Functions inherited from calico::sensors::CameraModel
template<typename T >
absl::StatusOr< Eigen::Vector2< T > >	ProjectPoint (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &point) const
template<typename T >
absl::StatusOr< Eigen::Vector3< T > >	UnprojectPixel (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector2< T > &pixel) const

Static Public Member Functions
template<typename T >
static absl::StatusOr< Eigen::Vector2< T > >	ProjectPoint (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector3< T > &point)
template<typename T >
static absl::StatusOr< Eigen::Vector3< T > >	UnprojectPixel (const Eigen::VectorX< T > &intrinsics, const Eigen::Vector2< T > &pixel)
Static Public Member Functions inherited from calico::sensors::CameraModel
static std::unique_ptr< CameraModel >	Create (CameraIntrinsicsModel camera_model)

Static Public Attributes
static constexpr int	kNumberOfParameters = 5
static constexpr CameraIntrinsicsModel	kModelType = CameraIntrinsicsModel::kDoubleSphere

Detailed Description

Double-Sphere projection model. This model assumes an isotropic pinhole model, i.e. \(f_x == f_y = f\).
Parameters are in the following order: \([f, c_x, c_y, \xi, \alpha]\)

Member Function Documentation

ProjectPoint()

template<typename T >

static absl::StatusOr<Eigen::Vector2<T> > calico::sensors::DoubleSphereModel::ProjectPoint ( const Eigen::VectorX< T > &  intrinsics, const Eigen::Vector3< T > &  point  )

inlinestatic

Returns projection \(\mathbf{p}\), a 2-D pixel coordinate such that

\[ \mathbf{p} = \left[\begin{matrix}f&0\\0&f\end{matrix}\right]\mathbf{p}_d + \left[\begin{matrix}c_x\\c_y\end{matrix}\right]\\ \mathbf{p}_d = \left(\alpha d + \left(1-\alpha\right) \left(\xi r+t_z\right)\right)^{-1} \left[\begin{matrix}t_x\\t_y\end{matrix}\right]\\ d = \sqrt{r^2\left(1 + \xi^2\right) + 2\xi r t_z}\\ r^2 = {\mathbf{t}^s_{sx}}^T\mathbf{t}^s_{sx} \]

intrinsics is a vector of intrinsics parameters the following order: \([f, c_x, c_y, \xi, \alpha]\)

point is the location of the feature resolved in the camera frame \(\mathbf{t}^s_{sx} = \left[\begin{matrix}t_x&t_y&t_z\end{matrix}\right]^T\).

UnprojectPixel()

template<typename T >

static absl::StatusOr<Eigen::Vector3<T> > calico::sensors::DoubleSphereModel::UnprojectPixel ( const Eigen::VectorX< T > &  intrinsics, const Eigen::Vector2< T > &  pixel  )

inlinestatic

Inverts the projection model \(\mathbf{P}\) to obtain the bearing vector \(\mathbf{p}_m\) of the pixel location \(\mathbf{p}\).

\[ \mathbf{p}_m = \mathbf{p}_s / \|\mathbf{p}_s\|\\ \mathbf{p}_s = \frac{m_z\xi + \sqrt{m_z^2 + (1-\xi^2)r^2}}{m_z^2+r^2} \left[\begin{matrix}m_x\\m_y\\m_z\end{matrix}\right] - \left[\begin{matrix}0\\0\\\xi\end{matrix}\right]\\ r^2 = {\mathbf{p}}^T\mathbf{p},\\ m_x = \frac{p_x - c_x}{f}, m_y = \frac{p_y - c_y}{f}, m_z = \frac{1-\alpha^2r^2}{\alpha\sqrt{1-(2\alpha-1)r^2}+1-\alpha}\\ \mathbf{p} = \left[\begin{matrix}p_x\\p_y\end{matrix}\right] \]

intrinsics is a vector of intrinsics parameters the following order: \([f, c_x, c_y, \xi, \alpha]\)

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

• calico/sensors/camera_models.h