Collection of functions dealing with projective geometry. More...

Detailed Description

Collection of functions dealing with projective geometry.

Functions
void	normalizePoints2D (const std::vector< vec2 > &ptsIn, std::vector< vec2 > &ptsOut, mat3 *T=0)
	Normalize points so that their centroid is at the origin and their average distance from the origin is sqrt(2).
void	normalizePoints2D (const std::vector< vec3 > &ptsIn, std::vector< vec3 > &ptsOut, mat3 *T=0)
	Normalize points so that their centroid is at the origin and their average distance from the origin is sqrt(2).
void	normalizePoints3D (const std::vector< vec4 > &ptsIn, std::vector< vec4 > &ptsOut, mat4 *T=0)
	Normalize points so that their centroid is at the origin and their average distance from the origin is sqrt(2).
bool	computeHomography2D (const std::vector< vec3 > &x1, const std::vector< vec3 > &x2, mat3 &H)
	Compute homography H so that H*x1 = x2. x1 and x2 are vectors of points in homogeneous coordinates.
void	computeProjectionMatrix (const vec3 &C, const vec3 &p1, const vec3 &p2, const vec3 &p3, const vec3 &p4, int w, int h, mat3 &K, mat3 &R, vec3 &t)
	Compute projection matrix for source-detector geometry p1, p2, p3 and p4 are the detector corner points in the order top-left, top-right, bottom-right and bottom-left as seen from the source.
bool	computeProjectionMatrix (const std::vector< vec3 > &X, const std::vector< vec2 > &x, mat34 &P1, mat34 &P2, bool &P2IsAPossibleSolution)
	Estimate projection matrix from point correspondences.
bool	computeCameraPose (const std::vector< vec3 > &X, const std::vector< vec2 > &x, const mat3 &K, const vec5 &distCoeffs, mat4 &T, double mre=nullptr, std::vector< vec2 > reprojectedPoints=nullptr)
	Estimate camera pose (i.e.
std::vector< std::tuple< double, mat4 > >	computeCameraPose (const std::vector< vec3 > &X, const std::vector< vec2 > &x, const mat3 &K, const vec5 &distCoeffs, std::vector< std::vector< vec2 > > *reprojectedPoints=nullptr)
	Computes the camera pose (transformation from world to camera) from 3D-2D point correspondences, camera intrinsics and distortion coefficients.
bool	computeProjectionMatrix (const std::vector< vec3 > &X, const std::vector< vec2 > &x, mat34 &P)
	Compute projection matrix from point correspondences.
bool	computeProjective3D (const std::vector< vec4 > &x1, const std::vector< vec4 > &x2, mat4 &P)
	Compute general 3D projective transformation so that P*x1 = x2.
bool	computeAffine3D (const std::vector< vec4 > &x1, const std::vector< vec4 > &x2, mat4 &T)
	Compute 3D affine transformation so that T*x1 = x2.
void	normalizePoints (const std::vector< vec2 > &pts, mat3 &T)
	Compute normalizing transformation for 2D points so that they are centered on the origin and the average distance from the origin is sqrt(2).
void	normalizePoints (const std::vector< vec3 > &pts, mat4 &T)
	Compute normalizing transformation for 3D points so that they are centered on the origin and the average distance from the origin is sqrt(2).
double	computeReprojectionError (const mat34 &P, const std::vector< vec3 > &X, const std::vector< vec2 > &x)
	Compute reprojection error.
double	computeReprojectionError (const mat3 &K, const std::vector< mat3 > &R, const std::vector< vec3 > &t, const std::vector< vec3 > &X, const std::vector< std::vector< vec2 > > &x, const Eigen::Matrix< unsigned char, Eigen::Dynamic, Eigen::Dynamic > &vis)
	Compute reprojection error over a sequence.
double	triangulatePoint (const std::vector< vec2 > &x, const std::vector< mat34 > &P, vec3 &X, bool nonLinearRefinement=false)
	Triangulate point given image measurements and projection matrices.
void	convertComputerVisionToOpenGlProjectionMatrix (const mat3 &K, const mat3 &R, const vec3 &t, int width, int height, double near, double far, mat4 &PM, mat4 &MV, bool flipImageYAxis=false)
	Convert a projection matrix to OpenGL representation from OpenCV convention In OpenCV convention the y-axis is flipped compared to OpenGL, and pixel coordinates are used.
void	convertOpenGlToComputerVisionProjectionMatrix (const mat4 &PM, int width, int height, mat34 &P)
	Convert an OpenGL projection matrix to computer vision representation.
void	decomposeProjectionMatrix (const mat34 &P, mat3 &K, mat3 &R, vec3 &t, bool checkOpenCVConvention=true)
	Decompose projection matrix into K, R and t.
vec3	reproject (const mat4 &projMat, const vec2 &imgPoint2D, double physicalWidth, vec3 &sourceOut3D, vec3 &imgOut3D, vec3 &zDirOut, double &fac)
	Reprojects a point on the image plane using an OpenGL projection matrix.
vec3	reproject (const mat4 &projMat, const vec2 &imgPoint2D, double physicalWidth, vec3 &sourceOut3D, vec3 &imgOut3D)
	Reprojects a point on the image plane using an OpenGL projection matrix.
void	unproject (const mat3 &invK, double dist, const vec2 &pt2d, vec3 &pt3d)
	Unprojects a point on the image plane, where dist corresponds to the distance of pt3d from the xy plane and invK is the inverse calibration matrix of the camera.
void	projectPoint (const mat34 &P, vec4 &pt3d, vec3 &pt2d, const bool normalize=true)
	Projects a 3d point to 2d using a 3x4 projection matrix.
void	projectPoint (const mat34 &P, vec3 &pt3d, vec3 &pt2d, const bool normalize=true)
	Projects an inhomogeneous 3d point to 2d using a 3x4 projection matrix.
std::vector< vec2 >	projectPoints (const std::vector< vec3 > &pts3d, const mat3 &K, const mat3 &R, const vec3 &t, const vec5 &distCoeffs)
	Projects a vector of inhomogeneous 3d points to 2d using intrinsics and distortion parameters.

Function Documentation

◆ computeProjectionMatrix() [1/3]

void ImFusion::ProjectiveGeometry::computeProjectionMatrix	(	const vec3 &	C,
		const vec3 &	p1,
		const vec3 &	p2,
		const vec3 &	p3,
		const vec3 &	p4,
		int	w,
		int	h,
		mat3 &	K,
		mat3 &	R,
		vec3 &	t )

Compute projection matrix for source-detector geometry p1, p2, p3 and p4 are the detector corner points in the order top-left, top-right, bottom-right and bottom-left as seen from the source.

I.e. the outer border of the image. The points are assumed to lie on a plane. C is the position of the source. w and h is the detector width and height in pixels. K, R and t contain the computed projection matrix components.

◆ computeProjectionMatrix() [2/3]

bool ImFusion::ProjectiveGeometry::computeProjectionMatrix	(	const std::vector< vec3 > &	X,
		const std::vector< vec2 > &	x,
		mat34 &	P1,
		mat34 &	P2,
		bool &	P2IsAPossibleSolution )

Estimate projection matrix from point correspondences.

Parameters

X	3D points
x	2D points
P1	projection matrix (a most probable solution)
P2	projection matrix (another possible solution)
P2IsAPossibleSolution	flag specifying whether projection matrix P2 could be a correct solution

Returns: true if successful

◆ computeCameraPose() [1/2]

bool ImFusion::ProjectiveGeometry::computeCameraPose	(	const std::vector< vec3 > &	X,
		const std::vector< vec2 > &	x,
		const mat3 &	K,
		const vec5 &	distCoeffs,
		mat4 &	T,
		double *	mre = nullptr,
		std::vector< vec2 > *	reprojectedPoints = nullptr )

Estimate camera pose (i.e.

transformation from world to camera)

Parameters

X	3D points
x	2D points
K	intrinsic parameters
distCoeffs	distortion parameters
T	output camera pose
mre	optional output root-mean-square reprojection error
reprojectedPoints	optional output reprojected points

Returns: true if successful

◆ computeCameraPose() [2/2]

std::vector< std::tuple< double, mat4 > > ImFusion::ProjectiveGeometry::computeCameraPose	(	const std::vector< vec3 > &	X,
		const std::vector< vec2 > &	x,
		const mat3 &	K,
		const vec5 &	distCoeffs,
		std::vector< std::vector< vec2 > > *	reprojectedPoints = nullptr )

Computes the camera pose (transformation from world to camera) from 3D-2D point correspondences, camera intrinsics and distortion coefficients.

This overload of the function provides all camera pose candidates found, together with the RMSE reprojection errors associated with each of the poses. The case for using this function is the ambiguity of the camera-to-target pose for nearly planar targets. It is not always possible to select the "true" pose of the camera based on reprojection only. Having all poses at hand, the user can use external information about the visual system they consider to make the choice.

Parameters

X	3D points in world coordinates.
x	2D points in image coordinates.
K	Intrinsic camera calibration matrix.
distCoeffs	Camera distortion coefficients.
reprojectedPoints	Optional output parameter containing reprojected 2D points for each pose.

Returns: A vector of tuples, where each tuple contains a root-mean-square reprojection error and a 4x4 camera pose matrix. The result is sorted in non-descending order by the value of the reprojection error.

◆ computeProjectionMatrix() [3/3]

bool ImFusion::ProjectiveGeometry::computeProjectionMatrix	(	const std::vector< vec3 > &	X,
		const std::vector< vec2 > &	x,
		mat34 &	P )

Compute projection matrix from point correspondences.

Parameters

X	3D points
x	2D points
P	projection matrix

Returns: true if successful

◆ normalizePoints() [1/2]

void ImFusion::ProjectiveGeometry::normalizePoints	(	const std::vector< vec2 > &	pts,
		mat3 &	T )

Compute normalizing transformation for 2D points so that they are centered on the origin and the average distance from the origin is sqrt(2).

Parameters

pts	pts
T	normalizing transformation

◆ normalizePoints() [2/2]

void ImFusion::ProjectiveGeometry::normalizePoints	(	const std::vector< vec3 > &	pts,
		mat4 &	T )

Compute normalizing transformation for 3D points so that they are centered on the origin and the average distance from the origin is sqrt(2).

Parameters

pts	pts
T	normalizing transformation

◆ computeReprojectionError() [1/2]

double ImFusion::ProjectiveGeometry::computeReprojectionError	(	const mat34 &	P,
		const std::vector< vec3 > &	X,
		const std::vector< vec2 > &	x )

Compute reprojection error.

Parameters

P	projection matrix
X	3D points
x	2D points

Returns: mean reprojection error

◆ computeReprojectionError() [2/2]

double ImFusion::ProjectiveGeometry::computeReprojectionError	(	const mat3 &	K,
		const std::vector< mat3 > &	R,
		const std::vector< vec3 > &	t,
		const std::vector< vec3 > &	X,
		const std::vector< std::vector< vec2 > > &	x,
		const Eigen::Matrix< unsigned char, Eigen::Dynamic, Eigen::Dynamic > &	vis )

Compute reprojection error over a sequence.

Parameters

K	intrinsic parameters
R	rotation matrices
t	translations
X	3D points
x	2D points
vis	visibility matrix

Returns: mean reprojection error

◆ triangulatePoint()

double ImFusion::ProjectiveGeometry::triangulatePoint	(	const std::vector< vec2 > &	x,
		const std::vector< mat34 > &	P,
		vec3 &	X,
		bool	nonLinearRefinement = false )

Triangulate point given image measurements and projection matrices.

Parameters

x	image points
P	projection matrices
X	triangulated point
nonLinearRefinement	if true, triangulated point is refined using non-linear optimization after linear estimation

Returns: mean reprojection error of triangulated point, or -1 in case of failure

◆ convertComputerVisionToOpenGlProjectionMatrix()

void ImFusion::ProjectiveGeometry::convertComputerVisionToOpenGlProjectionMatrix	(	const mat3 &	K,
		const mat3 &	R,
		const vec3 &	t,
		int	width,
		int	height,
		double	near,
		double	far,
		mat4 &	PM,
		mat4 &	MV,
		bool	flipImageYAxis = false )

Convert a projection matrix to OpenGL representation from OpenCV convention In OpenCV convention the y-axis is flipped compared to OpenGL, and pixel coordinates are used.

Note: We use OpenCV convention for K, R, t. I.e. this function assumes that (0,0) is the pixel center of the top-left corner pixel of the image. Consequently the corner of the image is at (-0.5,-0.5).

◆ convertOpenGlToComputerVisionProjectionMatrix()

void ImFusion::ProjectiveGeometry::convertOpenGlToComputerVisionProjectionMatrix	(	const mat4 &	PM,
		int	width,
		int	height,
		mat34 &	P )

Convert an OpenGL projection matrix to computer vision representation.

Warning: due to the associated half-pixel shift, the resulting projection matrix has range so that (0,0) is the pixel center of the top-left corner of the image.

◆ decomposeProjectionMatrix()

void ImFusion::ProjectiveGeometry::decomposeProjectionMatrix	(	const mat34 &	P,
		mat3 &	K,
		mat3 &	R,
		vec3 &	t,
		bool	checkOpenCVConvention = true )

Decompose projection matrix into K, R and t.

Parameters

P	Matrix to be decomposed so that P = K * [R \| t]
K	K matrix of P
R	R matrix of P
t	t vector from P
checkOpenCVConvention	If set to true the function will check if the determinant of R is positive. This should be the case e.g. when P is given in openCV coordinate convention.

◆ reproject() [1/2]

vec3 ImFusion::ProjectiveGeometry::reproject	(	const mat4 &	projMat,
		const vec2 &	imgPoint2D,
		double	physicalWidth,
		vec3 &	sourceOut3D,
		vec3 &	imgOut3D,
		vec3 &	zDirOut,
		double &	fac )

Reprojects a point on the image plane using an OpenGL projection matrix.

Parameters

projMat	projection matrix in OpenGL notation
imgPoint2D	point on the image plane in normalized 0..1 coordinates, i.e 0 and 1 denoting the image borders.
physicalWidth	physical width of the image in mm
sourceOut3D	3D position of the source/focal point
imgOut3D	3D position of the point on the image plane
zDirOut	3D ray direction of the principle point
fac	scaling factor such that factorOut * returnvalue points to the same plane as zDirOut

Returns: normalized direction vector from source/focal to image point

◆ reproject() [2/2]

vec3 ImFusion::ProjectiveGeometry::reproject	(	const mat4 &	projMat,
		const vec2 &	imgPoint2D,
		double	physicalWidth,
		vec3 &	sourceOut3D,
		vec3 &	imgOut3D )

Reprojects a point on the image plane using an OpenGL projection matrix.

Parameters

projMat	projection matrix in OpenGL notation
imgPoint2D	point on the image plane in normalized 0..1 coordinates
physicalWidth	physical width of the image in mm
sourceOut3D	3D position of the source/focal point
imgOut3D	3D position of the point on the image plane

Returns: normalized direction vector from source/focal to image point

◆ unproject()

void ImFusion::ProjectiveGeometry::unproject	(	const mat3 &	invK,
		double	dist,
		const vec2 &	pt2d,
		vec3 &	pt3d )

Unprojects a point on the image plane, where dist corresponds to the distance of pt3d from the xy plane and invK is the inverse calibration matrix of the camera.

Parameters

invK	inverse camera calibration matrix
dist	distance of the unprojected point 3D point to the xy-plane
pt2d	point on the image plane in pixel coordinates
pt3d	point in the world space that gets mapped into the image plane

◆ projectPoint() [1/2]

void ImFusion::ProjectiveGeometry::projectPoint	(	const mat34 &	P,
		vec4 &	pt3d,
		vec3 &	pt2d,
		const bool	normalize = true )

inline

Projects a 3d point to 2d using a 3x4 projection matrix.

Parameters

	P	3x4 projection matrix
	pt3d	Homogeneous 3d point
[out]	pt2d	Projected Homogeneous 2d point
	normalize	Normalize 2d point

◆ projectPoint() [2/2]

void ImFusion::ProjectiveGeometry::projectPoint	(	const mat34 &	P,
		vec3 &	pt3d,
		vec3 &	pt2d,
		const bool	normalize = true )

inline

Projects an inhomogeneous 3d point to 2d using a 3x4 projection matrix.

Parameters

	P	3x4 projection matrix
	pt3d	Inhomogeneous 3d point
[out]	pt2d	Projected Homogeneous 2d point
	normalize	Normalize 2d point

◆ projectPoints()

std::vector< vec2 > ImFusion::ProjectiveGeometry::projectPoints	(	const std::vector< vec3 > &	pts3d,
		const mat3 &	K,
		const mat3 &	R,
		const vec3 &	t,
		const vec5 &	distCoeffs )

Projects a vector of inhomogeneous 3d points to 2d using intrinsics and distortion parameters.

Parameters

pts3d	A vector of inhomogeneous 3d points.
K	intrinsic parameters
R	rotation matrix of P
t	translation vector from P
distCoeffs	distortion parameters of the camera distortion model (k1 k2 p1 p2 k3)

Returns: A vector of projected inhomogeneous 2d points.

Detailed Description

Functions

Function Documentation

◆ computeProjectionMatrix() [1/3]

◆ computeProjectionMatrix() [2/3]

◆ computeCameraPose() [1/2]

◆ computeCameraPose() [2/2]

◆ computeProjectionMatrix() [3/3]

◆ normalizePoints() [1/2]

◆ normalizePoints() [2/2]

◆ computeReprojectionError() [1/2]

◆ computeReprojectionError() [2/2]

◆ triangulatePoint()

◆ convertComputerVisionToOpenGlProjectionMatrix()

◆ convertOpenGlToComputerVisionProjectionMatrix()

◆ decomposeProjectionMatrix()

◆ reproject() [1/2]

◆ reproject() [2/2]

◆ unproject()

◆ projectPoint() [1/2]

◆ projectPoint() [2/2]

◆ projectPoints()