Struct ImgTransformation

Struct Documentation

struct ImgTransformation

ImgTransformation struct. Holds information of how a ImgFrame or related message was transformed from their source. Useful for remapping from one ImgFrame to another.

Public Functions

ImgTransformation() = default
inline ImgTransformation(size_t width, size_t height)
inline ImgTransformation(size_t srcWidth, size_t srcHeight, size_t width, size_t height)
inline ImgTransformation(size_t width, size_t height, std::array<std::array<float, 3>, 3> sourceIntrinsicMatrix)
inline ImgTransformation(size_t width, size_t height, std::array<std::array<float, 3>, 3> sourceIntrinsicMatrix, CameraModel distortionModel, std::vector<float> distortionCoefficients)
inline ImgTransformation(size_t width, size_t height, std::array<std::array<float, 3>, 3> sourceIntrinsicMatrix, CameraModel distortionModel, std::vector<float> distortionCoefficients, Extrinsics extrinsics)
dai::Point2f transformPoint(dai::Point2f point) const

Transform a point from the source frame to the current frame.

Parameters:

point – Point to transform

Returns:

Transformed point

dai::RotatedRect transformRect(dai::RotatedRect rect) const

Transform a rotated rect from the source frame to the current frame.

Parameters:

rect – Rectangle to transform

Returns:

Transformed rectangle

dai::Point2f invTransformPoint(dai::Point2f point) const

Transform a point from the current frame to the source frame.

Parameters:

point – Point to transform

Returns:

Transformed point

dai::RotatedRect invTransformRect(dai::RotatedRect rect) const

Transform a rotated rect from the current frame to the source frame.

Parameters:

rect – Rectangle to transform

Returns:

Transformed rectangle

std::pair<size_t, size_t> getSize() const

Retrieve the size of the frame. Should be equal to the size of the corresponding ImgFrame message.

Returns:

Size of the frame

std::pair<size_t, size_t> getSourceSize() const

Retrieve the size of the source frame from which this frame was derived.

Returns:

Size of the frame

std::array<std::array<float, 3>, 3> getMatrix() const

Retrieve the transformation matrix from the source frame to the current frame.

Returns:

Transformation matrix

std::array<std::array<float, 3>, 3> getMatrixInv() const

Retrieve the inverse transformation matrix from the current frame to the source frame.

Returns:

Inverse transformation matrix

std::array<std::array<float, 3>, 3> getSourceIntrinsicMatrix() const

Retrieve the intrinsic matrix of the source sensor.

Returns:

Intrinsic matrix

std::array<std::array<float, 3>, 3> getSourceIntrinsicMatrixInv() const

Retrieve the inverse intrinsic matrix of the source sensor.

Returns:

Inverse intrinsic matrix

CameraModel getDistortionModel() const

Retrieve the distortion model of the source sensor

Returns:

Distortion model

std::vector<float> getDistortionCoefficients() const

Retrieve the distortion coefficients of the source sensor

Returns:

vector of distortion coefficients

Extrinsics getExtrinsics() const

Retrieve the extrinsics to the source sensor.

Returns:

Extrinsics

bool isEqualTransformation(const ImgTransformation &other) const

Two transformations are equal if the transformation matrices, intrinsic matrices, distortion models, distortion coefficients, extrinsics, and sizes are all equal.

Parameters:

other – Transformation to compare with

Returns:

True if the transformations are equal, false otherwise

inline std::array<std::array<float, 3>, 3> getTransformationMatrix() const
inline std::array<std::array<float, 3>, 3> getTransformationMatrixInv() const
std::array<std::array<float, 3>, 3> getIntrinsicMatrix() const

Retrieve the total intrinsic matrix calculated from transform * intrinsic.

Returns:

total intrinsic matrix

std::array<std::array<float, 3>, 3> getIntrinsicMatrixInv() const

Retrieve the inverse of the total intrinsic matrix.

Returns:

inverse total intrinsic matrix

float getDFov(bool source = false) const

Retrieve the diagonal field of view of the image.

Parameters:

source – If true, the source field of view will be returned. Otherwise, the current field of view will be returned.

Returns:

Diagonal field of view in degrees

float getHFov(bool source = false) const

Retrieve the horizontal field of view of the image.

Parameters:

source – If true, the source field of view will be returned. Otherwise, the current field of view will be returned.

Returns:

Horizontal field of view in degrees

float getVFov(bool source = false) const

Retrieve the vertical field of view of the image.

Parameters:

source – If true, the source field of view will be returned. Otherwise, the current field of view will be returned.

Returns:

Vertical field of view in degrees

std::vector<dai::RotatedRect> getSrcCrops() const
bool getSrcMaskPt(size_t x, size_t y)

Returns true if the point is inside the transformed region of interest (determined by crops used).

bool getDstMaskPt(size_t x, size_t y)

Returns true if the point is inside the image region (not in the background region).

ImgTransformation &addTransformation(std::array<std::array<float, 3>, 3> matrix)

Add a new transformation.

Parameters:

matrix – Transformation matrix

ImgTransformation &addCrop(int x, int y, int width, int height)

Add a crop transformation.

Parameters:

  • x – X coordinate of the top-left corner of the crop

  • y – Y coordinate of the top-left corner of the crop

  • width – Width of the crop

  • height – Height of the crop

ImgTransformation &addPadding(int top, int bottom, int left, int right)

Add a pad transformation. Works like crop, but in reverse.

Parameters:

  • top – Padding on the top

  • bottom – Padding on the bottom

  • left – Padding on the left

  • right – Padding on the right

ImgTransformation &addFlipVertical()

Add a vertical flip transformation.

ImgTransformation &addFlipHorizontal()

Add a horizontal flip transformation.

ImgTransformation &addRotation(float angle, dai::Point2f rotationPoint)

Add a rotation transformation.

Parameters:

  • angle – Angle in degrees

  • rotationPoint – Point around which to rotate

ImgTransformation &addScale(float scaleX, float scaleY)

Add a scale transformation.

Parameters:

  • scaleX – Scale factor in the horizontal direction

  • scaleY – Scale factor in the vertical direction

ImgTransformation &addSrcCrops(const std::vector<dai::RotatedRect> &crops)
ImgTransformation &setSize(size_t width, size_t height)
ImgTransformation &setSourceSize(size_t width, size_t height)
ImgTransformation &setExtrinsics(const Extrinsics &extrinsics)
ImgTransformation &setIntrinsicMatrix(std::array<std::array<float, 3>, 3> intrinsicMatrix)
ImgTransformation &setDistortionModel(CameraModel model)
ImgTransformation &setDistortionCoefficients(std::vector<float> coefficients)
dai::Point2f remapPointTo(const ImgTransformation &to, dai::Point2f point) const

Remap a point from this transformation to another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to remap the point.

Note

This function assumes both transformations have the same source (eg. same source camera socket). If they don’t, remapping will be inaccurate.

Parameters:

  • to – Transformation to remap to

  • point – Point to remap

dai::Point2f remapPointFrom(const ImgTransformation &from, dai::Point2f point) const

Remap a point to this transformation from another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to remap the point.

Parameters:

  • from – Transformation to remap from

  • point – Point to remap

dai::RotatedRect remapRectTo(const ImgTransformation &to, dai::RotatedRect rect) const

Remap a rotated rect from this transformation to another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to remap the rect.

Parameters:

  • to – Transformation to remap to

  • rect – RotatedRect to remap

dai::RotatedRect remapRectFrom(const ImgTransformation &from, dai::RotatedRect rect) const

Remap a rotated rect to this transformation from another. If the intrinsics are different (e.g. different camera), the function will also use the intrinsics to remap the rect.

Parameters:

  • from – Transformation to remap from

  • rect – RotatedRect to remap

dai::Point2f project3DPoint(const dai::Point3f &point) const

Project a 3D spatial point into 2D point in the current frame defined by this transformation.

Note

This function assumes that the point is in the coordinate system of the current frame.

Parameters:

point – 3D point to project

Returns:

Projected 2D point in the current frame

dai::Point2f projectPointTo(const ImgTransformation &to, dai::Point2f &point, float depth) const

Project a 2D point from the source frame defined by this transformation into a 2D point in the target frame defined by the to transformation. This function will use the depth of the point to project it into 3D space and then reproject it back to 2D in the target frame.

Parameters:

  • to – Target transformation to project to

  • point2f – Source 2D point in the current frame

  • depth – (mm) Depth of the point to project

Returns:

Projected 2D point in the target frame (to transformation)

dai::Point2f project3DPointTo(const ImgTransformation &to, const dai::Point3f &point) const

Project a 3D spatial point from the source coordinate system (this transformation) into a 2D point in the target frame (to transformation).

Note

This function assumes that the point3f is in the coordinate system of the current frame.

Parameters:

  • to – Target transformation to project to

  • point3f – 3D point to project

Returns:

Projected 2D point in the target frame (to transformation)

dai::Point2f project3DPointFrom(const ImgTransformation &from, const dai::Point3f &point) const

Project a 3D point from the source frame (from transformation) into a 2D point in the current frame (this transformation).

Note

This function assumes that the point3f is in the coordinate system of the source frame.

Parameters:

  • from – Transformation to project from

  • point3f – 3D point to project

Returns:

Projected 2D point in the current frame

dai::Point3f remap3DPointTo(const ImgTransformation &to, const dai::Point3f &point) const

Remap a 3D point from the source coordinate system of this transformation to the coordinate system of the target transformation (to transformation).

Note

This function assumes that the point is in the coordinate system of the current frame.

Parameters:

  • to – Target transformation to remap to

  • point – 3D point to remap

Returns:

Remapped 3D point in the target coordinate system

dai::Point3f remap3DPointFrom(const ImgTransformation &from, const dai::Point3f &point) const

Remap a 3D point to the coordinate system of this transformation from the source coordinate system of the from transformation.

Note

This function assumes that the point is in the coordinate system of the source frame.

Parameters:

  • from – Transformation to remap from

  • point – 3D point to remap

Returns:

Remapped 3D point in the current coordinate system

std::array<std::array<float, 4>, 4> getExtrinsicsTransformationMatrixTo(const ImgTransformation &to, bool useSpecTranslation = false, LengthUnit sourceUnit = LengthUnit::CENTIMETER) const

Get the extrinsic transformation matrix from the source coordinate system of this transformation to the target coordinate system of the to transformation.

Note

Both transformations must have a common toCameraSocket. Otherwise extrinsics cannot be calculated.

Parameters:

to – Target transformation to get extrinsics to

Returns:

4x4 homogeneous transformation matrix representing the extrinsics from this transformation to the target transformation

std::array<std::array<float, 3>, 3> getRotationMatrixTo(const ImgTransformation &to) const

Get the extrinsic rotation matrix from the source coordinate system of this transformation to the target coordinate system of the to transformation.

Parameters:

to – Transformation to get extrinsics to

Returns:

3x3 rotation matrix representing the extrinsic rotation from this transformation to the target transformation

std::array<float, 3> getTranslationVectorTo(const ImgTransformation &to, bool useSpecTranslation = false, LengthUnit sourceUnit = LengthUnit::CENTIMETER) const

Get the extrinsic translation vector from the source coordinate system of this transformation to the target coordinate system of the to transformation.

Parameters:

to – Transformation to get extrinsics to

Returns:

3x1 translation vector representing the extrinsic translation from this transformation to the target transformation

bool isAlignedTo(const ImgTransformation &to) const

Check if the transformations are aligned

Parameters:

to – Transformation to compare with

bool isValid() const

Check if the transformations are valid. The transformations are valid if the source frame size and the current frame size are set.

DEPTHAI_SERIALIZE(ImgTransformation, extrinsics, transformationMatrix, transformationMatrixInv, sourceIntrinsicMatrix, sourceIntrinsicMatrixInv, distortionModel, distortionCoefficients, srcWidth, srcHeight, width, height, srcCrops)