Camera model with a tilted sensor plane (Scheimpflug configuration). More...

#include <scheimpflug.h>

Collaboration diagram for calib::ScheimpflugCamera< CameraT >:

Public Types
using	Scalar = typename CameraT::Scalar

Public Member Functions
	ScheimpflugCamera ()
	Default constructor - creates camera with zero tilt angles.

	ScheimpflugCamera (const CameraT &cam, ScheimpflugAngles angles)
	Construct from camera and angle structure.

template<camera_model OtherCamT, typename T >
	ScheimpflugCamera (OtherCamT cam, T tau_x_angle, T tau_y_angle)
	Construct from different camera type and individual angles.

	ScheimpflugCamera (const ScheimpflugCamera &other)
	Copy constructor.

ScheimpflugCamera &	operator= (const ScheimpflugCamera &other)
	Copy assignment operator.

	ScheimpflugCamera (ScheimpflugCamera &&other) noexcept
	Move constructor.

ScheimpflugCamera &	operator= (ScheimpflugCamera &&other) noexcept
	Move assignment operator.

template<typename T >
Eigen::Matrix< T, 2, 1 >	apply_intrinsics (const Eigen::Matrix< T, 2, 1 > &plane_point) const
	Apply linear intrinsic parameters to plane coordinates.

template<typename T >
Eigen::Matrix< T, 2, 1 >	remove_intrinsics (const Eigen::Matrix< T, 2, 1 > &pixel) const
	Remove linear intrinsic parameters from pixel coordinates.

template<typename T >
auto	project (const Eigen::Matrix< T, 3, 1 > &x_camera) const -> Eigen::Matrix< T, 2, 1 >
	Project a 3D point in the camera frame to pixel coordinates.

template<typename T >
auto	unproject (const Eigen::Matrix< T, 2, 1 > &pixel) const -> Eigen::Matrix< T, 2, 1 >
	Unproject pixel coordinates to sensor plane coordinates.

Public Attributes
CameraT	camera
	Underlying camera model.

Scalar	tau_x {0}
	Tilt around the X axis (radians)

Scalar	tau_y {0}
	Tilt around the Y axis (radians)

Detailed Description

template<camera_model CameraT>
struct calib::ScheimpflugCamera< CameraT >

Camera model with a tilted sensor plane (Scheimpflug configuration).

The camera follows the central projection model but the image sensor is tilted with respect to the optical axis. The tilt is parameterised by two angles: tau_x is a rotation around the camera X axis and tau_y around the Y axis. Distortion is applied in the metric coordinates on the tilted sensor plane.

Template Parameters

CameraT Underlying camera model type that satisfies camera_model concept

Definition at line 35 of file scheimpflug.h.

Member Typedef Documentation

◆ Scalar

template<camera_model CameraT>

using calib::ScheimpflugCamera< CameraT >::Scalar = typename CameraT::Scalar

Definition at line 36 of file scheimpflug.h.

Constructor & Destructor Documentation

◆ ScheimpflugCamera() [1/5]

template<camera_model CameraT>

calib::ScheimpflugCamera< CameraT >::ScheimpflugCamera ( )

inline

Default constructor - creates camera with zero tilt angles.

Definition at line 42 of file scheimpflug.h.

◆ ScheimpflugCamera() [2/5]

template<camera_model CameraT>

calib::ScheimpflugCamera< CameraT >::ScheimpflugCamera	(	const CameraT &	cam,
		ScheimpflugAngles	angles
	)

inline

Construct from camera and angle structure.

Parameters

cam	Underlying camera model
angles	Scheimpflug tilt angles (tau_x, tau_y)

Definition at line 49 of file scheimpflug.h.

◆ ScheimpflugCamera() [3/5]

template<camera_model CameraT>

template<camera_model OtherCamT, typename T >

calib::ScheimpflugCamera< CameraT >::ScheimpflugCamera	(	OtherCamT	cam,
		T	tau_x_angle,
		T	tau_y_angle
	)

inline

Construct from different camera type and individual angles.

Template Parameters

OtherCamT	Camera type (can differ from CameraT)
T	Scalar type for angles

Parameters

cam	Underlying camera model
tau_x_angle	Tilt around X axis (radians)
tau_y_angle	Tilt around Y axis (radians)

Definition at line 61 of file scheimpflug.h.

◆ ScheimpflugCamera() [4/5]

template<camera_model CameraT>

calib::ScheimpflugCamera< CameraT >::ScheimpflugCamera ( const ScheimpflugCamera< CameraT > & other )

inline

Copy constructor.

Definition at line 65 of file scheimpflug.h.

◆ ScheimpflugCamera() [5/5]

template<camera_model CameraT>

calib::ScheimpflugCamera< CameraT >::ScheimpflugCamera ( ScheimpflugCamera< CameraT > && other )

inlinenoexcept

Move constructor.

Definition at line 79 of file scheimpflug.h.

Member Function Documentation

◆ apply_intrinsics()

template<camera_model CameraT>

template<typename T >

Eigen::Matrix< T, 2, 1 > calib::ScheimpflugCamera< CameraT >::apply_intrinsics ( const Eigen::Matrix< T, 2, 1 > & plane_point ) const

inline

Apply linear intrinsic parameters to plane coordinates.

Maps plane coordinates m = (mx, my) to pixel coordinates using linear intrinsics only (no distortion). Delegates to underlying camera model. Typically: apply_intrinsics([x,y]) = [fx*x + skew*y + cx, fy*y + cy]

Template Parameters

T	Scalar type (double or ceres::Jet for automatic differentiation)

Parameters

plane_point 2D coordinates on the sensor plane

Returns: 2D pixel coordinates after applying linear intrinsics

Definition at line 105 of file scheimpflug.h.

◆ operator=() [1/2]

template<camera_model CameraT>

ScheimpflugCamera & calib::ScheimpflugCamera< CameraT >::operator= ( const ScheimpflugCamera< CameraT > & other )

inline

Copy assignment operator.

Definition at line 69 of file scheimpflug.h.

◆ operator=() [2/2]

template<camera_model CameraT>

ScheimpflugCamera & calib::ScheimpflugCamera< CameraT >::operator= ( ScheimpflugCamera< CameraT > && other )

inlinenoexcept

Move assignment operator.

Definition at line 83 of file scheimpflug.h.

◆ project()

template<camera_model CameraT>

template<typename T >

auto calib::ScheimpflugCamera< CameraT >::project ( const Eigen::Matrix< T, 3, 1 > & x_camera ) const -> Eigen::Matrix<T, 2, 1>

inline

Project a 3D point in the camera frame to pixel coordinates.

Performs central projection accounting for the tilted sensor plane. The algorithm:

Computes ray-plane intersection with the tilted sensor
Finds the principal ray intersection point
Applies distortion to the local delta coordinates
Adds linear shift from principal intersection

Template Parameters

T	Scalar type (double or ceres::Jet for automatic differentiation)

Parameters

x_camera 3D point expressed in the camera frame

Returns: 2D pixel coordinates

Definition at line 141 of file scheimpflug.h.

◆ remove_intrinsics()

template<camera_model CameraT>

template<typename T >

Eigen::Matrix< T, 2, 1 > calib::ScheimpflugCamera< CameraT >::remove_intrinsics ( const Eigen::Matrix< T, 2, 1 > & pixel ) const

inline

Remove linear intrinsic parameters from pixel coordinates.

Inverse operation: pixels -> plane coords m = (mx, my), linear part only. Typically: remove_intrinsics([u,v]) = [(u-cx - skew*((v-cy)/fy))/fx, (v-cy)/fy]

Template Parameters

T	Scalar type (double or ceres::Jet for automatic differentiation)

Parameters

pixel 2D pixel coordinates

Returns: 2D plane coordinates after removing linear intrinsics

Definition at line 121 of file scheimpflug.h.

◆ unproject()

template<camera_model CameraT>

template<typename T >

auto calib::ScheimpflugCamera< CameraT >::unproject ( const Eigen::Matrix< T, 2, 1 > & pixel ) const -> Eigen::Matrix<T, 2, 1>

inline

Unproject pixel coordinates to sensor plane coordinates.

Inverse of the projection operation. Computes coordinates on the tilted sensor plane corresponding to given pixel coordinates. The algorithm:

Removes principal ray offset using linear intrinsics
Inverts distortion through underlying camera model
Adds back the principal intersection coordinates

Template Parameters

T	Scalar type (double or ceres::Jet for automatic differentiation)

Parameters

pixel 2D pixel coordinates

Returns: 2D coordinates on the tilted sensor plane

Definition at line 198 of file scheimpflug.h.

Member Data Documentation

◆ camera

template<camera_model CameraT>

CameraT calib::ScheimpflugCamera< CameraT >::camera

Underlying camera model.

Definition at line 37 of file scheimpflug.h.

◆ tau_x

template<camera_model CameraT>

Scalar calib::ScheimpflugCamera< CameraT >::tau_x {0}

Tilt around the X axis (radians)

Definition at line 38 of file scheimpflug.h.

◆ tau_y

template<camera_model CameraT>

Scalar calib::ScheimpflugCamera< CameraT >::tau_y {0}

Tilt around the Y axis (radians)

Definition at line 39 of file scheimpflug.h.

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

/home/runner/work/calibration/calibration/include/calib/models/scheimpflug.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

Constructor & Destructor Documentation

◆ ScheimpflugCamera() [1/5]

◆ ScheimpflugCamera() [2/5]

◆ ScheimpflugCamera() [3/5]

◆ ScheimpflugCamera() [4/5]

◆ ScheimpflugCamera() [5/5]

Member Function Documentation

◆ apply_intrinsics()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ project()

◆ remove_intrinsics()

◆ unproject()

Member Data Documentation

◆ camera

◆ tau_x

◆ tau_y