An image sensor class that uses the Omni model. More...

#include <Fisheye.h>

Inheritance diagram for isae::Omni:

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Collaboration diagram for isae::Omni:

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Public Member Functions
	Omni (const cv::Mat &image, Eigen::Matrix3d K, double xi)

	Omni (const cv::Mat &image, Eigen::Matrix3d K, double xi, Eigen::Vector4d D)

bool	project (const Eigen::Affine3d &T_w_lmk, const std::shared_ptr< AModel3d > ldmk_model, std::vector< Eigen::Vector2d > &p2ds) override
	Project a landmark in the image plane using the Omni model. More...

bool	project (const Eigen::Affine3d &T_w_lmk, const std::shared_ptr< AModel3d > ldmk_model, const Eigen::Affine3d &T_f_w, std::vector< Eigen::Vector2d > &p2ds) override
	Project a landmark in the image plane using the Omni model with frame pose. More...

bool	project (const Eigen::Affine3d &T_w_lmk, const Eigen::Affine3d &T_f_w, const Eigen::Matrix2d sqrt_info, Eigen::Vector2d &p2d, double J_proj_frame, double J_proj_lmk) override
	Virtual function to project a landmark and compute the Jacobian of the projection. More...

Eigen::Vector3d	getRayCamera (Eigen::Vector2d f)
	Get the ray in camera coordinates from a 2D point in the image plane. More...

Eigen::Vector3d	getRay (Eigen::Vector2d f)
	Get the ray in world coordinates. More...

double	getFocal () override
	Compute the focal length of the camera. More...

Eigen::Vector2d	distort (const Eigen::Vector2d &p)
	Distort a point using the omni distortion parameters. More...

Public Member Functions inherited from isae::ImageSensor
	ImageSensor ()

	~ImageSensor ()

bool	hasDepth ()

cv::Mat	getRawData ()

void	setPyr (const std::vector< cv::Mat > &img_pyr)

const std::vector< cv::Mat >	getPyr ()

void	applyCLAHE (float clahe_clip)
	Apply CLAHE (Contrast Limited Adaptive Histogram Equalization) to the image. More...

void	histogramEqualization ()
	Apply histogram equalization to the image. More...

void	imageNormalization ()
	Apply Image normalization to the image. More...

void	applyAGCWD (float alpha)
	Apply adaptive gamme correction. More...

void	setMask (cv::Mat mask)

cv::Mat	getMask ()

Eigen::Matrix3d	getCalibration ()

void	addFeature (std::string feature_label, std::shared_ptr< AFeature > f)
	Add a single feature and compute its bearing vector. More...

void	addFeatures (std::string feature_label, std::vector< std::shared_ptr< AFeature >> features)
	Add a vector of features and compute their bearing vectors. More...

void	removeFeature (std::shared_ptr< AFeature > f)

typed_vec_features &	getFeatures ()

void	purgeFeatures (std::string feature_label)
	Clear all features of a specific type. More...

std::vector< std::shared_ptr< AFeature > > &	getFeatures (std::string feature_label)
	Get features of a specific type. More...

Public Member Functions inherited from isae::ASensor
	ASensor (std::string type)

	~ASensor ()

std::string	getType ()

void	setFrame (std::shared_ptr< Frame > frame)

std::shared_ptr< Frame >	getFrame ()

void	setFrame2SensorTransform (Eigen::Affine3d T_s_f)

Eigen::Affine3d	getFrame2SensorTransform ()

Eigen::Affine3d	getWorld2SensorTransform ()

Eigen::Affine3d	getSensor2WorldTransform ()

Additional Inherited Members
Protected Attributes inherited from isae::ImageSensor
Eigen::Matrix3d	_calibration
	intrinsic matrix of the camera (sensor ?) More...

cv::Mat	_raw_data
	Raw image data. More...

std::vector< cv::Mat >	_img_pyr
	Image pyramid for multi-scale processing. More...

cv::Mat	_mask
	Mask to ignore. More...

typed_vec_features	_features
	Typed vector of features. More...

bool	_has_depth
	Is it a RGBD ? More...

std::mutex	_cam_mtx

Protected Attributes inherited from isae::ASensor
std::weak_ptr< Frame >	_frame

Eigen::Affine3d	_T_s_f

std::string	_type

std::mutex	_sensor_mtx

Detailed Description

An image sensor class that uses the Omni model.

The implementation of the Omni model is based on the paper: "Single View Point Omnidirectional Camera Calibration from Planar Grids" by Mei et al. Available at https://www.robots.ox.ac.uk/~cmei/articles/single_viewpoint_calib_mei_07.pdf

Constructor & Destructor Documentation

◆ Omni() [1/2]

isae::Omni::Omni	(	const cv::Mat &	image,
		Eigen::Matrix3d	K,
		double	xi
	)

inline

◆ Omni() [2/2]

isae::Omni::Omni	(	const cv::Mat &	image,
		Eigen::Matrix3d	K,
		double	xi,
		Eigen::Vector4d	D
	)

inline

Member Function Documentation

◆ distort()

Eigen::Vector2d isae::Omni::distort ( const Eigen::Vector2d & p )

Distort a point using the omni distortion parameters.

This function is inspired by VINS-Mono implementation Source : https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/camera_model/src/camera_models/CataCamera.cc

◆ getFocal()

double isae::Omni::getFocal ( )

inlineoverridevirtual

Compute the focal length of the camera.

Virtual function because it depends on the camera model.

Implements isae::ImageSensor.

◆ getRay()

Eigen::Vector3d isae::Omni::getRay ( Eigen::Vector2d f )

virtual

Get the ray in world coordinates.

Implements isae::ImageSensor.

◆ getRayCamera()

Eigen::Vector3d isae::Omni::getRayCamera ( Eigen::Vector2d f )

virtual

Get the ray in camera coordinates from a 2D point in the image plane.

This function is inspired by VINS-Mono implementation Source : https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/camera_model/src/camera_models/CataCamera.cc

Implements isae::ImageSensor.

◆ project() [1/3]

bool isae::Omni::project	(	const Eigen::Affine3d &	T_w_lmk,
		const Eigen::Affine3d &	T_f_w,
		const Eigen::Matrix2d	sqrt_info,
		Eigen::Vector2d &	p2d,
		double *	J_proj_frame,
		double *	J_proj_lmk
	)

overridevirtual

Virtual function to project a landmark and compute the Jacobian of the projection.

Implements isae::ImageSensor.

◆ project() [2/3]

bool isae::Omni::project	(	const Eigen::Affine3d &	T_w_lmk,
		const std::shared_ptr< AModel3d >	ldmk_model,
		const Eigen::Affine3d &	T_f_w,
		std::vector< Eigen::Vector2d > &	p2ds
	)

overridevirtual

Project a landmark in the image plane using the Omni model with frame pose.

This function is inspired by VINS-Mono implementation Source : https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/camera_model/src/camera_models/CataCamera.cc

Implements isae::ImageSensor.

◆ project() [3/3]

bool isae::Omni::project	(	const Eigen::Affine3d &	T_w_lmk,
		const std::shared_ptr< AModel3d >	ldmk_model,
		std::vector< Eigen::Vector2d > &	p2ds
	)

overridevirtual

Project a landmark in the image plane using the Omni model.

This function is inspired by VINS-Mono implementation Source : https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/master/camera_model/src/camera_models/CataCamera.cc

Implements isae::ImageSensor.

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

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/sensors/Fisheye.h
/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/sensors/fisheye.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Omni() [1/2]

◆ Omni() [2/2]

Member Function Documentation

◆ distort()

◆ getFocal()

◆ getRay()

◆ getRayCamera()

◆ project() [1/3]

◆ project() [2/3]

◆ project() [3/3]