apollo::perception::base::BrownCameraDistortionModel类 参考

#include <distortion_model.h>

类 apollo::perception::base::BrownCameraDistortionModel 继承关系图:

apollo::perception::base::BrownCameraDistortionModel 的协作图:

Public 成员函数
	BrownCameraDistortionModel ()=default
	~BrownCameraDistortionModel ()=default
Eigen::Vector2f	Project (const Eigen::Vector3f &point3d) override
std::shared_ptr< BaseCameraModel >	get_camera_model () override
std::string	name () const override
bool	set_params (size_t width, size_t height, const Eigen::VectorXf &params) override
Eigen::Matrix3f	get_intrinsic_params () const
Eigen::Matrix< float, 8, 1 >	get_distort_params () const
Public 成员函数 继承自 apollo::perception::base::BaseCameraDistortionModel
	BaseCameraDistortionModel ()=default
virtual	~BaseCameraDistortionModel ()=default
size_t	get_height () const
size_t	get_width () const

Protected 属性
Eigen::Matrix3f	intrinsic_params_
Eigen::Matrix< float, 8, 1 >	distort_params_
Protected 属性 继承自 apollo::perception::base::BaseCameraDistortionModel
size_t	width_ = 0
size_t	height_ = 0

详细描述

在文件 distortion_model.h 第 58 行定义.

构造及析构函数说明

BrownCameraDistortionModel()

apollo::perception::base::BrownCameraDistortionModel::BrownCameraDistortionModel ( )

default

~BrownCameraDistortionModel()

apollo::perception::base::BrownCameraDistortionModel::~BrownCameraDistortionModel ( )

default

成员函数说明

get_camera_model()

std::shared_ptr< BaseCameraModel > apollo::perception::base::BrownCameraDistortionModel::get_camera_model ( )

overridevirtual

实现了 apollo::perception::base::BaseCameraDistortionModel.

在文件 distortion_model.cc 第 75 行定义.

                                             {
  std::shared_ptr<PinholeCameraModel> camera_model(new PinholeCameraModel());
  camera_model->set_width(width_);
  camera_model->set_height(height_);
  camera_model->set_intrinsic_params(intrinsic_params_);
 
  return std::dynamic_pointer_cast<BaseCameraModel>(camera_model);
}

get_distort_params()

Eigen::Matrix< float, 8, 1 > apollo::perception::base::BrownCameraDistortionModel::get_distort_params ( ) const

inline

在文件 distortion_model.h 第 79 行定义.

                                                             {
    return distort_params_;
  }

get_intrinsic_params()

Eigen::Matrix3f apollo::perception::base::BrownCameraDistortionModel::get_intrinsic_params ( ) const

inline

在文件 distortion_model.h 第 75 行定义.

                                                    {
    return intrinsic_params_;
  }

name()

std::string apollo::perception::base::BrownCameraDistortionModel::name ( ) const

inlineoverridevirtual

实现了 apollo::perception::base::BaseCameraDistortionModel.

在文件 distortion_model.h 第 70 行定义.

{ return "BrownCameraDistortionModel"; }

Project()

Eigen::Vector2f apollo::perception::base::BrownCameraDistortionModel::Project ( const Eigen::Vector3f &  point3d )

overridevirtual

实现了 apollo::perception::base::BaseCameraDistortionModel.

在文件 distortion_model.cc 第 24 行定义.

                                  {
  if (std::isless(point3d[2], 0.f)) {
    AERROR << "The input point (" << point3d
           << ") should be in front of the camera";
  }
  // radial distortion coefficients
  const float k1 = distort_params_[0];
  const float k2 = distort_params_[1];
  const float k3 = distort_params_[4];
  // tangential distortion coefficients
  const float p1 = distort_params_[2];
  const float p2 = distort_params_[3];
  const float k4 = distort_params_[5];
  const float k5 = distort_params_[6];
  const float k6 = distort_params_[7];
 
  Eigen::Vector2f pt2d_img;
  // normalized
  const Eigen::Vector2f pt_normalized(point3d[0] / point3d[2],
                                      point3d[1] / point3d[2]);
  const float x_n = pt_normalized[0];
  const float y_n = pt_normalized[1];
  const float x_mul_x = x_n * x_n;
  const float y_mul_y = y_n * y_n;
  const float x_mul_y = x_n * y_n;
  const float r_squared = x_mul_x + y_mul_y;
  const float r_to_the_4th = r_squared * r_squared;
  const float r_to_the_6th = r_squared * r_to_the_4th;
 
  // radial distortion
  pt2d_img = pt_normalized *
             (1 + k1 * r_squared + k2 * r_to_the_4th + k3 * r_to_the_6th) /
             (1 + k4 * r_squared + k5 * r_to_the_4th + k6 * r_to_the_6th);
 
  // tangential distortion
  pt2d_img[0] += 2 * p1 * x_mul_y + p2 * (r_squared + 2 * x_mul_x);
  pt2d_img[1] += p1 * (r_squared + 2 * y_mul_y) + 2 * p2 * x_mul_y;
 
  // transform to image coordinates
  const float fx = intrinsic_params_(0, 0);
  const float fy = intrinsic_params_(1, 1);
  const float cx = intrinsic_params_(0, 2);
  const float cy = intrinsic_params_(1, 2);
  pt2d_img[0] = fx * pt2d_img[0] + cx;
  pt2d_img[1] = fy * pt2d_img[1] + cy;
 
  return pt2d_img;
}

set_params()

bool apollo::perception::base::BrownCameraDistortionModel::set_params ( size_t  width, size_t  height, const Eigen::VectorXf &  params  )

overridevirtual

实现了 apollo::perception::base::BaseCameraDistortionModel.

在文件 distortion_model.cc 第 84 行定义.

                                                                         {
  // Brown distortion model
  if (params.size() == 14) {
    width_ = width;
    height_ = height;
    intrinsic_params_(0, 0) = params(0);
    intrinsic_params_(0, 1) = params(1);
    intrinsic_params_(0, 2) = params(2);
    intrinsic_params_(1, 0) = params(3);
    intrinsic_params_(1, 1) = params(4);
    intrinsic_params_(1, 2) = params(5);
    intrinsic_params_(2, 0) = params(6);
    intrinsic_params_(2, 1) = params(7);
    intrinsic_params_(2, 2) = params(8);
 
    distort_params_[0] = params[9];
    distort_params_[1] = params[10];
    distort_params_[2] = params[11];
    distort_params_[3] = params[12];
    distort_params_[4] = params[13];
    return true;
  } else if (params.size() == 17) {
    width_ = width;
    height_ = height;
    intrinsic_params_(0, 0) = params(0);
    intrinsic_params_(0, 1) = params(1);
    intrinsic_params_(0, 2) = params(2);
    intrinsic_params_(1, 0) = params(3);
    intrinsic_params_(1, 1) = params(4);
    intrinsic_params_(1, 2) = params(5);
    intrinsic_params_(2, 0) = params(6);
    intrinsic_params_(2, 1) = params(7);
    intrinsic_params_(2, 2) = params(8);
 
    distort_params_[0] = params[9];
    distort_params_[1] = params[10];
    distort_params_[2] = params[11];
    distort_params_[3] = params[12];
    distort_params_[4] = params[13];
    distort_params_[5] = params[14];
    distort_params_[6] = params[15];
    distort_params_[7] = params[16];
    return true;
  }
  return false;
}

类成员变量说明

distort_params_

Eigen::Matrix<float, 8, 1> apollo::perception::base::BrownCameraDistortionModel::distort_params_

protected

在文件 distortion_model.h 第 85 行定义.

intrinsic_params_

Eigen::Matrix3f apollo::perception::base::BrownCameraDistortionModel::intrinsic_params_

protected

在文件 distortion_model.h 第 84 行定义.

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该类的文档由以下文件生成:

• modules/perception/common/base/distortion_model.h
• modules/perception/common/base/distortion_model.cc