Refactor Bundler and Fisheye models
Varun Agrawal
parent
42b0537402
commit
17e9b73fb6
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@ -23,16 +23,6 @@
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namespace gtsam {
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/* ************************************************************************* */
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Cal3Bundler::Cal3Bundler() :
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f_(1), k1_(0), k2_(0), u0_(0), v0_(0), tol_(1e-5) {
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}
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/* ************************************************************************* */
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Cal3Bundler::Cal3Bundler(double f, double k1, double k2, double u0, double v0,
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double tol)
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: f_(f), k1_(k1), k2_(k2), u0_(u0), v0_(v0), tol_(tol) {}
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/* ************************************************************************* */
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Matrix3 Cal3Bundler::K() const {
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Matrix3 K;
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@ -59,11 +49,9 @@ void Cal3Bundler::print(const std::string& s) const {
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/* ************************************************************************* */
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bool Cal3Bundler::equals(const Cal3Bundler& K, double tol) const {
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if (std::abs(f_ - K.f_) > tol || std::abs(k1_ - K.k1_) > tol
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|| std::abs(k2_ - K.k2_) > tol || std::abs(u0_ - K.u0_) > tol
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|| std::abs(v0_ - K.v0_) > tol)
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return false;
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return true;
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return (std::fabs(f_ - K.f_) < tol && std::fabs(k1_ - K.k1_) < tol &&
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std::fabs(k2_ - K.k2_) < tol && std::fabs(u0_ - K.u0_) < tol &&
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std::fabs(v0_ - K.v0_) < tol);
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}
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/* ************************************************************************* */
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@ -150,14 +138,4 @@ Matrix25 Cal3Bundler::D2d_intrinsic_calibration(const Point2& p) const {
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return H;
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}
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/* ************************************************************************* */
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Cal3Bundler Cal3Bundler::retract(const Vector& d) const {
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return Cal3Bundler(f_ + d(0), k1_ + d(1), k2_ + d(2), u0_, v0_);
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}
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/* ************************************************************************* */
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Vector3 Cal3Bundler::localCoordinates(const Cal3Bundler& T2) const {
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return T2.vector() - vector();
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}
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}
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} // \ namespace gtsam
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@ -28,14 +28,16 @@ namespace gtsam {
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* @addtogroup geometry
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* \nosubgrouping
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*/
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class GTSAM_EXPORT Cal3Bundler {
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class GTSAM_EXPORT Cal3Bundler : public Cal3 {
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private:
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double f_; ///< focal length
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double k1_, k2_; ///< radial distortion
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double u0_, v0_; ///< image center, not a parameter to be optimized but a constant
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double tol_; ///< tolerance value when calibrating
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// NOTE: image center parameters (u0, v0) are not optimized
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// but are constants.
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public:
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enum { dimension = 3 };
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@ -44,7 +46,7 @@ public:
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/// @{
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/// Default constructor
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Cal3Bundler();
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Cal3Bundler() : Cal3(), f_(1), k1_(0), k2_(0), tol_(1e-5) {}
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/**
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* Constructor
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@ -56,7 +58,8 @@ public:
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* @param tol optional calibration tolerance value
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*/
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Cal3Bundler(double f, double k1, double k2, double u0 = 0, double v0 = 0,
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double tol = 1e-5);
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double tol = 1e-5)
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: Cal3(f, f, 0, u0, v0), f_(f), k1_(k1), k2_(k2), tol_(tol) {}
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virtual ~Cal3Bundler() {}
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@ -65,7 +68,7 @@ public:
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/// @{
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/// print with optional string
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void print(const std::string& s = "") const;
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void print(const std::string& s = "") const override;
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/// assert equality up to a tolerance
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bool equals(const Cal3Bundler& K, double tol = 10e-9) const;
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@ -74,11 +77,6 @@ public:
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/// @name Standard Interface
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/// @{
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Matrix3 K() const; ///< Standard 3*3 calibration matrix
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Vector4 k() const; ///< Radial distortion parameters (4 of them, 2 0)
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Vector3 vector() const;
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/// focal length x
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inline double fx() const {
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return f_;
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@ -109,6 +107,11 @@ public:
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return v0_;
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}
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Matrix3 K() const; ///< Standard 3*3 calibration matrix
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Vector4 k() const; ///< Radial distortion parameters (4 of them, 2 0)
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Vector3 vector() const;
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#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
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/// get parameter u0
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inline double u0() const {
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@ -121,12 +124,11 @@ public:
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}
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#endif
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/**
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* @brief: convert intrinsic coordinates xy to image coordinates uv
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* Version of uncalibrate with derivatives
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* @param p point in intrinsic coordinates
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* @param Dcal optional 2*3 Jacobian wrpt CalBundler parameters
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* @param Dcal optional 2*3 Jacobian wrpt Cal3Bundler parameters
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* @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
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* @return point in image coordinates
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*/
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@ -158,20 +160,20 @@ public:
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/// @name Manifold
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/// @{
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/// return DOF, dimensionality of tangent space
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virtual size_t dim() const { return dimension; }
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/// return DOF, dimensionality of tangent space
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static size_t Dim() { return dimension; }
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/// Update calibration with tangent space delta
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Cal3Bundler retract(const Vector& d) const;
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/// Calculate local coordinates to another calibration
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Vector3 localCoordinates(const Cal3Bundler& T2) const;
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/// dimensionality
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virtual size_t dim() const {
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return 3;
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inline Cal3Bundler retract(const Vector& d) const {
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return Cal3Bundler(f_ + d(0), k1_ + d(1), k2_ + d(2), u0_, v0_);
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}
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/// dimensionality
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static size_t Dim() {
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return 3;
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/// Calculate local coordinates to another calibration
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Vector3 localCoordinates(const Cal3Bundler& T2) const {
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return T2.vector() - vector();
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}
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private:
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@ -184,11 +186,11 @@ private:
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int /*version*/) {
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ar& boost::serialization::make_nvp(
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"Cal3Bundler", boost::serialization::base_object<Cal3>(*this));
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ar& BOOST_SERIALIZATION_NVP(f_);
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ar& BOOST_SERIALIZATION_NVP(k1_);
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ar& BOOST_SERIALIZATION_NVP(k2_);
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ar & BOOST_SERIALIZATION_NVP(u0_);
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ar & BOOST_SERIALIZATION_NVP(v0_);
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ar& BOOST_SERIALIZATION_NVP(tol_);
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}
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@ -13,6 +13,7 @@
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* @file Cal3Fisheye.cpp
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* @date Apr 8, 2020
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* @author ghaggin
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* @author Varun Agrawal
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*/
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#include <gtsam/base/Matrix.h>
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@ -23,18 +24,6 @@
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namespace gtsam {
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/* ************************************************************************* */
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Cal3Fisheye::Cal3Fisheye(const Vector9& v)
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: fx_(v[0]),
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fy_(v[1]),
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s_(v[2]),
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u0_(v[3]),
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v0_(v[4]),
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k1_(v[5]),
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k2_(v[6]),
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k3_(v[7]),
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k4_(v[8]) {}
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/* ************************************************************************* */
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Vector9 Cal3Fisheye::vector() const {
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Vector9 v;
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@ -42,13 +31,6 @@ Vector9 Cal3Fisheye::vector() const {
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return v;
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}
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/* ************************************************************************* */
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Matrix3 Cal3Fisheye::K() const {
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Matrix3 K;
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K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0;
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return K;
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}
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/* ************************************************************************* */
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double Cal3Fisheye::Scaling(double r) {
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static constexpr double threshold = 1e-8;
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@ -165,24 +147,12 @@ void Cal3Fisheye::print(const std::string& s_) const {
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/* ************************************************************************* */
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bool Cal3Fisheye::equals(const Cal3Fisheye& K, double tol) const {
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if (std::abs(fx_ - K.fx_) > tol || std::abs(fy_ - K.fy_) > tol ||
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std::abs(s_ - K.s_) > tol || std::abs(u0_ - K.u0_) > tol ||
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std::abs(v0_ - K.v0_) > tol || std::abs(k1_ - K.k1_) > tol ||
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std::abs(k2_ - K.k2_) > tol || std::abs(k3_ - K.k3_) > tol ||
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std::abs(k4_ - K.k4_) > tol)
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return false;
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return true;
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const Cal3* base = dynamic_cast<const Cal3*>(&K);
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return Cal3::equals(*base, tol) && std::fabs(k1_ - K.k1_) < tol &&
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std::fabs(k2_ - K.k2_) < tol && std::fabs(k3_ - K.k3_) < tol &&
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std::fabs(k4_ - K.k4_) < tol;
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}
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/* ************************************************************************* */
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Cal3Fisheye Cal3Fisheye::retract(const Vector& d) const {
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return Cal3Fisheye(vector() + d);
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}
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/* ************************************************************************* */
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Vector Cal3Fisheye::localCoordinates(const Cal3Fisheye& T2) const {
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return T2.vector() - vector();
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}
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} // namespace gtsam
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/* ************************************************************************* */
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} // \ namespace gtsam
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@ -46,11 +46,10 @@ namespace gtsam {
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* K = [fx s u0; 0 fy v0 ;0 0 1]
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* [u; v; 1] = K*[x_d; y_d; 1]
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*/
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class GTSAM_EXPORT Cal3Fisheye {
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class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
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private:
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double fx_, fy_, s_, u0_, v0_; // focal length, skew and principal point
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double k1_, k2_, k3_, k4_; // fisheye distortion coefficients
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double tol_ = 1e-5; // tolerance value when calibrating
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double k1_, k2_, k3_, k4_; ///< fisheye distortion coefficients
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double tol_ = 1e-5; ///< tolerance value when calibrating
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public:
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enum { dimension = 9 };
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@ -61,17 +60,12 @@ class GTSAM_EXPORT Cal3Fisheye {
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/// @{
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/// Default Constructor with only unit focal length
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Cal3Fisheye()
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: fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0), tol_(1e-5) {}
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Cal3Fisheye() : Cal3(), k1_(0), k2_(0), k3_(0), k4_(0), tol_(1e-5) {}
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Cal3Fisheye(const double fx, const double fy, const double s, const double u0,
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const double v0, const double k1, const double k2,
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const double k3, const double k4, double tol = 1e-5)
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: fx_(fx),
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fy_(fy),
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s_(s),
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u0_(u0),
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v0_(v0),
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: Cal3(fx, fy, s, u0, v0),
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k1_(k1),
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k2_(k2),
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k3_(k3),
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@ -84,27 +78,17 @@ class GTSAM_EXPORT Cal3Fisheye {
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/// @name Advanced Constructors
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/// @{
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explicit Cal3Fisheye(const Vector9& v);
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explicit Cal3Fisheye(const Vector9& v)
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: Cal3(v(0), v(1), v(2), v(3), v(4)),
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k1_(v(5)),
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k2_(v(6)),
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k3_(v(7)),
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k4_(v(8)) {}
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/// @}
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/// @name Standard Interface
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/// @{
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/// focal length x
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inline double fx() const { return fx_; }
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/// focal length x
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inline double fy() const { return fy_; }
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/// skew
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inline double skew() const { return s_; }
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/// image center in x
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inline double px() const { return u0_; }
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/// image center in y
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inline double py() const { return v0_; }
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/// First distortion coefficient
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inline double k1() const { return k1_; }
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@ -117,9 +101,6 @@ class GTSAM_EXPORT Cal3Fisheye {
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/// Second tangential distortion coefficient
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inline double k4() const { return k4_; }
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/// return calibration matrix
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Matrix3 K() const;
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/// return distortion parameter vector
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Vector4 k() const { return Vector4(k1_, k2_, k3_, k4_); }
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@ -133,16 +114,21 @@ class GTSAM_EXPORT Cal3Fisheye {
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* @brief convert intrinsic coordinates [x_i; y_i] to (distorted) image
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* coordinates [u; v]
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* @param p point in intrinsic coordinates
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* @param Dcal optional 2*9 Jacobian wrpt intrinsic parameters (fx, fy, ...,
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* k4)
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* @param Dcal optional 2*9 Jacobian wrpt intrinsic parameters
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* @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi)
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* @return point in (distorted) image coordinates
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*/
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Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 9> Dcal = boost::none,
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OptionalJacobian<2, 2> Dp = boost::none) const;
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/// Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i,
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/// y_i]
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/**
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* Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i,
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* y_i]
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* @param p point in image coordinates
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* @param Dcal optional 2*9 Jacobian wrpt intrinsic parameters
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* @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi)
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* @return point in intrinsic coordinates
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*/
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Point2 calibrate(const Point2& p, OptionalJacobian<2, 9> Dcal = boost::none,
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OptionalJacobian<2, 2> Dp = boost::none) const;
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@ -151,7 +137,7 @@ class GTSAM_EXPORT Cal3Fisheye {
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/// @{
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/// print with optional string
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virtual void print(const std::string& s = "") const;
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virtual void print(const std::string& s = "") const override;
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/// assert equality up to a tolerance
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bool equals(const Cal3Fisheye& K, double tol = 10e-9) const;
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/// @name Manifold
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/// @{
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/// Return dimensions of calibration manifold object
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virtual size_t dim() const { return dimension; }
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/// Return dimensions of calibration manifold object
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static size_t Dim() { return dimension; }
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/// Given delta vector, update calibration
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Cal3Fisheye retract(const Vector& d) const;
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inline Cal3Fisheye retract(const Vector& d) const {
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return Cal3Fisheye(vector() + d);
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}
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/// Given a different calibration, calculate update to obtain it
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Vector localCoordinates(const Cal3Fisheye& T2) const;
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/// Return dimensions of calibration manifold object
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virtual size_t dim() const { return 9; }
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/// Return dimensions of calibration manifold object
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static size_t Dim() { return 9; }
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Vector localCoordinates(const Cal3Fisheye& T2) const {
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return T2.vector() - vector();
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}
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/// @}
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/// @name Clone
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@ -191,11 +181,8 @@ class GTSAM_EXPORT Cal3Fisheye {
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friend class boost::serialization::access;
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template <class Archive>
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void serialize(Archive& ar, const unsigned int /*version*/) {
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ar& BOOST_SERIALIZATION_NVP(fx_);
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ar& BOOST_SERIALIZATION_NVP(fy_);
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ar& BOOST_SERIALIZATION_NVP(s_);
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ar& BOOST_SERIALIZATION_NVP(u0_);
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ar& BOOST_SERIALIZATION_NVP(v0_);
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ar& boost::serialization::make_nvp(
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"Cal3Fisheye", boost::serialization::base_object<Cal3>(*this));
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ar& BOOST_SERIALIZATION_NVP(k1_);
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ar& BOOST_SERIALIZATION_NVP(k2_);
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ar& BOOST_SERIALIZATION_NVP(k3_);
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