apollo::perception::base::OmnidirectionalCameraDistortionModel类 参考

#include <omnidirectional_model.h>

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

apollo::perception::base::OmnidirectionalCameraDistortionModel 的协作图:

Public 成员函数
	OmnidirectionalCameraDistortionModel ()=default
	~OmnidirectionalCameraDistortionModel ()=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
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_
Polynomial	cam2world_
Polynomial	world2cam_
float	center_ [2]
float	affine_ [3]
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 omnidirectional_model.h 第 31 行定义.

构造及析构函数说明

OmnidirectionalCameraDistortionModel()

apollo::perception::base::OmnidirectionalCameraDistortionModel::OmnidirectionalCameraDistortionModel ( )

default

~OmnidirectionalCameraDistortionModel()

apollo::perception::base::OmnidirectionalCameraDistortionModel::~OmnidirectionalCameraDistortionModel ( )

default

成员函数说明

get_camera_model()

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

overridevirtual

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

在文件 omnidirectional_model.cc 第 61 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);
}

name()

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

inlineoverridevirtual

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

在文件 omnidirectional_model.h 第 43 行定义.

                                  {
    return "OmnidirectionalCameraDistortionModel";
  }

Project()

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

overridevirtual

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

在文件 omnidirectional_model.cc 第 29 行定义.

                                  {
  if (std::isgreater(point3d[2], 0.f)) {
    AERROR << "The input point (" << point3d
           << ") should be in front of the camera";
  }
 
  // rotate:
  // [0 1 0;
  //  1 0 0;
  //  0 0 -1];
  double x[3] = {point3d(1), point3d(0), -point3d(2)};
  const double norm = sqrt(x[0] * x[0] + x[1] * x[1]);
 
  Eigen::Vector2f projection;
  if (norm < std::numeric_limits<double>::epsilon()) {
    projection(0) = center_[1];
    projection(1) = center_[0];
    return projection;
  }
 
  const double theta = atan(x[2] / norm);
  const double rho = world2cam_(theta);
 
  const float u = static_cast<float>(x[0] / norm * rho);
  const float v = static_cast<float>(x[1] / norm * rho);
  projection(1) = affine_[0] * u + affine_[1] * v + center_[0];
  projection(0) = affine_[2] * u + v + center_[1];
  return projection;
}

set_params()

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

overridevirtual

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

在文件 omnidirectional_model.cc 第 70 行定义.

                                                              {
  if (params.size() < 9) {
    AINFO << "Missing cam2world and world2cam model.";
    return false;
  }
 
  uint32_t cam2world_order = uint32_t(params(8));
  AINFO << "cam2world order: " << cam2world_order << ", size: " << params.size()
        << std::endl;
 
  if (params.size() < 9 + cam2world_order + 1) {
    AINFO << "Incomplete cam2world model or missing world2cam model.";
    return false;
  }
 
  uint32_t world2cam_order = uint32_t(params(9 + cam2world_order));
  AINFO << "world2cam order: " << world2cam_order << ", size: " << params.size()
        << std::endl;
 
  if (params.size() < 9 + cam2world_order + 1 + world2cam_order) {
    AINFO << "Incomplete world2cam model.";
    return false;
  }
 
  width_ = width;
  height_ = height;
 
  center_[0] = params(0);
  center_[1] = params(1);
 
  affine_[0] = params(2);
  affine_[1] = params(3);
  affine_[2] = params(4);
 
  intrinsic_params_ = Eigen::Matrix3f::Identity();
  intrinsic_params_(0, 0) = params(5);
  intrinsic_params_(1, 1) = params(5);
  intrinsic_params_(0, 2) = params(6);
  intrinsic_params_(1, 2) = params(7);
 
  for (size_t i = 0; i < cam2world_order; ++i) {
    cam2world_[static_cast<uint32_t>(i)] = static_cast<double>(params(9 + i));
  }
 
  for (size_t i = 0; i < world2cam_order; ++i) {
    world2cam_[static_cast<uint32_t>(i)] =
        static_cast<double>(params(10 + cam2world_order + i));
  }
 
  return true;
}

类成员变量说明

affine_

float apollo::perception::base::OmnidirectionalCameraDistortionModel::affine_[3]

protected

在文件 omnidirectional_model.h 第 55 行定义.

cam2world_

Polynomial apollo::perception::base::OmnidirectionalCameraDistortionModel::cam2world_

protected

在文件 omnidirectional_model.h 第 52 行定义.

center_

float apollo::perception::base::OmnidirectionalCameraDistortionModel::center_[2]

protected

在文件 omnidirectional_model.h 第 54 行定义.

intrinsic_params_

Eigen::Matrix3f apollo::perception::base::OmnidirectionalCameraDistortionModel::intrinsic_params_

protected

在文件 omnidirectional_model.h 第 51 行定义.

world2cam_

Polynomial apollo::perception::base::OmnidirectionalCameraDistortionModel::world2cam_

protected

在文件 omnidirectional_model.h 第 53 行定义.

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该类的文档由以下文件生成:

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