diff --git a/gtsam/geometry/DisplacedPinholeCamera.h b/gtsam/geometry/DisplacedPinholeCamera.h deleted file mode 100644 index f1ce1ddda..000000000 --- a/gtsam/geometry/DisplacedPinholeCamera.h +++ /dev/null @@ -1,24 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file DisplacedPinholeCamera.h - * @brief Pinhold camera with extrinsic pose - * @author Luca Carlone - * @date Feb 12, 2021 - */ - -#pragma once - -namespace gtsam { - - -} // \ gtsam diff --git a/gtsam/geometry/tests/testDisplacedPinholeCamera.cpp b/gtsam/geometry/tests/testDisplacedPinholeCamera.cpp deleted file mode 100644 index 1754c8d83..000000000 --- a/gtsam/geometry/tests/testDisplacedPinholeCamera.cpp +++ /dev/null @@ -1,352 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file testPinholeCamera.cpp - * @author Luca Carlone and Frank Dellaert - * @brief test DisplacedPinholeCamera class - */ - -#include -#include -#include -#include -#include -#include - -#include - -#include -#include - -using namespace std; -using namespace gtsam; - -typedef PinholeCamera Camera; - -static const Cal3_S2 K(625, 625, 0, 0, 0); - -static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5)); -static const Camera camera(pose, K); - -static const Pose3 pose1(Rot3(), Point3(0, 1, 0.5)); -static const Camera camera1(pose1, K); - -static const Point3 point1(-0.08,-0.08, 0.0); -static const Point3 point2(-0.08, 0.08, 0.0); -static const Point3 point3( 0.08, 0.08, 0.0); -static const Point3 point4( 0.08,-0.08, 0.0); - -static const Unit3 point1_inf(-0.16,-0.16, -1.0); -static const Unit3 point2_inf(-0.16, 0.16, -1.0); -static const Unit3 point3_inf( 0.16, 0.16, -1.0); -static const Unit3 point4_inf( 0.16,-0.16, -1.0); - -/* ************************************************************************* * -TEST( PinholeCamera, constructor) -{ - EXPECT(assert_equal( K, camera.calibration())); - EXPECT(assert_equal( pose, camera.pose())); -} - -//****************************************************************************** * -TEST(PinholeCamera, Create) { - - Matrix actualH1, actualH2; - EXPECT(assert_equal(camera, Camera::Create(pose,K, actualH1, actualH2))); - - // Check derivative - boost::function f = // - boost::bind(Camera::Create,_1,_2,boost::none,boost::none); - Matrix numericalH1 = numericalDerivative21(f,pose,K); - EXPECT(assert_equal(numericalH1, actualH1, 1e-9)); - Matrix numericalH2 = numericalDerivative22(f,pose,K); - EXPECT(assert_equal(numericalH2, actualH2, 1e-8)); -} - -//****************************************************************************** * -TEST(PinholeCamera, Pose) { - - Matrix actualH; - EXPECT(assert_equal(pose, camera.getPose(actualH))); - - // Check derivative - boost::function f = // - boost::bind(&Camera::getPose,_1,boost::none); - Matrix numericalH = numericalDerivative11(f,camera); - EXPECT(assert_equal(numericalH, actualH, 1e-9)); -} - -/* ************************************************************************* * -TEST( PinholeCamera, level2) -{ - // Create a level camera, looking in Y-direction - Pose2 pose2(0.4,0.3,M_PI/2.0); - Camera camera = Camera::Level(K, pose2, 0.1); - - // expected - Point3 x(1,0,0),y(0,0,-1),z(0,1,0); - Rot3 wRc(x,y,z); - Pose3 expected(wRc,Point3(0.4,0.3,0.1)); - EXPECT(assert_equal( camera.pose(), expected)); -} - -/* ************************************************************************* * -TEST( PinholeCamera, lookat) -{ - // Create a level camera, looking in Y-direction - Point3 C(10,0,0); - Camera camera = Camera::Lookat(C, Point3(0,0,0), Point3(0,0,1)); - - // expected - Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0); - Pose3 expected(Rot3(xc,yc,zc),C); - EXPECT(assert_equal(camera.pose(), expected)); - - Point3 C2(30,0,10); - Camera camera2 = Camera::Lookat(C2, Point3(0,0,0), Point3(0,0,1)); - - Matrix R = camera2.pose().rotation().matrix(); - Matrix I = trans(R)*R; - EXPECT(assert_equal(I, I_3x3)); -} - -/* ************************************************************************* * -TEST( PinholeCamera, project) -{ - EXPECT(assert_equal( camera.project(point1), Point2(-100, 100) )); - EXPECT(assert_equal( camera.project(point2), Point2(-100, -100) )); - EXPECT(assert_equal( camera.project(point3), Point2( 100, -100) )); - EXPECT(assert_equal( camera.project(point4), Point2( 100, 100) )); -} - -/* ************************************************************************* * -TEST( PinholeCamera, backproject) -{ - EXPECT(assert_equal( camera.backproject(Point2(-100, 100), 0.5), point1)); - EXPECT(assert_equal( camera.backproject(Point2(-100, -100), 0.5), point2)); - EXPECT(assert_equal( camera.backproject(Point2( 100, -100), 0.5), point3)); - EXPECT(assert_equal( camera.backproject(Point2( 100, 100), 0.5), point4)); -} - -/* ************************************************************************* * -TEST( PinholeCamera, backprojectInfinity) -{ - EXPECT(assert_equal( camera.backprojectPointAtInfinity(Point2(-100, 100)), point1_inf)); - EXPECT(assert_equal( camera.backprojectPointAtInfinity(Point2(-100, -100)), point2_inf)); - EXPECT(assert_equal( camera.backprojectPointAtInfinity(Point2( 100, -100)), point3_inf)); - EXPECT(assert_equal( camera.backprojectPointAtInfinity(Point2( 100, 100)), point4_inf)); -} - -/* ************************************************************************* * -TEST( PinholeCamera, backproject2) -{ - Point3 origin(0,0,0); - Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera1 looking down - Camera camera(Pose3(rot, origin), K); - - Point3 actual = camera.backproject(Point2(0,0), 1.); - Point3 expected(0., 1., 0.); - pair x = camera.projectSafe(expected); - - EXPECT(assert_equal(expected, actual)); - EXPECT(assert_equal(Point2(0,0), x.first)); - EXPECT(x.second); -} - -/* ************************************************************************* * -TEST( PinholeCamera, backprojectInfinity2) -{ - Point3 origin(0,0,0); - Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera1 looking down - Camera camera(Pose3(rot, origin), K); - - Unit3 actual = camera.backprojectPointAtInfinity(Point2(0,0)); - Unit3 expected(0., 1., 0.); - Point2 x = camera.project(expected); - - EXPECT(assert_equal(expected, actual)); - EXPECT(assert_equal(Point2(0,0), x)); -} - -/* ************************************************************************* * -TEST( PinholeCamera, backprojectInfinity3) -{ - Point3 origin(0,0,0); - Rot3 rot(1., 0., 0., 0., 1., 0., 0., 0., 1.); // identity - Camera camera(Pose3(rot, origin), K); - - Unit3 actual = camera.backprojectPointAtInfinity(Point2(0,0)); - Unit3 expected(0., 0., 1.); - Point2 x = camera.project(expected); - - EXPECT(assert_equal(expected, actual)); - EXPECT(assert_equal(Point2(0,0), x)); -} - -/* ************************************************************************* * -static Point2 project3(const Pose3& pose, const Point3& point, const Cal3_S2& cal) { - return Camera(pose,cal).project(point); -} - -/* ************************************************************************* * -TEST( PinholeCamera, Dproject) -{ - Matrix Dpose, Dpoint, Dcal; - Point2 result = camera.project(point1, Dpose, Dpoint, Dcal); - Matrix numerical_pose = numericalDerivative31(project3, pose, point1, K); - Matrix Hexpected2 = numericalDerivative32(project3, pose, point1, K); - Matrix numerical_cal = numericalDerivative33(project3, pose, point1, K); - EXPECT(assert_equal(Point2(-100, 100), result)); - EXPECT(assert_equal(numerical_pose, Dpose, 1e-7)); - EXPECT(assert_equal(Hexpected2, Dpoint, 1e-7)); - EXPECT(assert_equal(numerical_cal, Dcal, 1e-7)); -} - -/* ************************************************************************* * -static Point2 projectInfinity3(const Pose3& pose, const Unit3& point3D, const Cal3_S2& cal) { - return Camera(pose,cal).project(point3D); -} - -TEST( PinholeCamera, Dproject_Infinity) -{ - Matrix Dpose, Dpoint, Dcal; - Unit3 point3D(point1.x(), point1.y(), -10.0); // a point in front of the camera1 - - // test Projection - Point2 actual = camera.project(point3D, Dpose, Dpoint, Dcal); - Point2 expected(-5.0, 5.0); - EXPECT(assert_equal(actual, expected, 1e-7)); - - // test Jacobians - Matrix numerical_pose = numericalDerivative31(projectInfinity3, pose, point3D, K); - Matrix Hexpected2 = numericalDerivative32(projectInfinity3, pose, point3D, K); - Matrix numerical_point2x2 = Hexpected2.block(0,0,2,2); // only the direction to the point matters - Matrix numerical_cal = numericalDerivative33(projectInfinity3, pose, point3D, K); - EXPECT(assert_equal(numerical_pose, Dpose, 1e-7)); - EXPECT(assert_equal(numerical_point2x2, Dpoint, 1e-7)); - EXPECT(assert_equal(numerical_cal, Dcal, 1e-7)); -} - -/* ************************************************************************* * -static Point2 project4(const Camera& camera, const Point3& point) { - return camera.project2(point); -} - -/* ************************************************************************* * -TEST( PinholeCamera, Dproject2) -{ - Matrix Dcamera, Dpoint; - Point2 result = camera.project2(point1, Dcamera, Dpoint); - Matrix Hexpected1 = numericalDerivative21(project4, camera, point1); - Matrix Hexpected2 = numericalDerivative22(project4, camera, point1); - EXPECT(assert_equal(result, Point2(-100, 100) )); - EXPECT(assert_equal(Hexpected1, Dcamera, 1e-7)); - EXPECT(assert_equal(Hexpected2, Dpoint, 1e-7)); -} - -/* ************************************************************************* * -// Add a test with more arbitrary rotation -TEST( PinholeCamera, Dproject3) -{ - static const Pose3 pose1(Rot3::Ypr(0.1, -0.1, 0.4), Point3(0, 0, -10)); - static const Camera camera(pose1); - Matrix Dpose, Dpoint; - camera.project2(point1, Dpose, Dpoint); - Matrix numerical_pose = numericalDerivative21(project4, camera, point1); - Matrix numerical_point = numericalDerivative22(project4, camera, point1); - CHECK(assert_equal(numerical_pose, Dpose, 1e-7)); - CHECK(assert_equal(numerical_point, Dpoint, 1e-7)); -} - -/* ************************************************************************* * -static double range0(const Camera& camera, const Point3& point) { - return camera.range(point); -} - -/* ************************************************************************* * -TEST( PinholeCamera, range0) { - Matrix D1; Matrix D2; - double result = camera.range(point1, D1, D2); - Matrix Hexpected1 = numericalDerivative21(range0, camera, point1); - Matrix Hexpected2 = numericalDerivative22(range0, camera, point1); - EXPECT_DOUBLES_EQUAL(distance3(point1, camera.pose().translation()), result, - 1e-9); - EXPECT(assert_equal(Hexpected1, D1, 1e-7)); - EXPECT(assert_equal(Hexpected2, D2, 1e-7)); -} - -/* ************************************************************************* * -static double range1(const Camera& camera, const Pose3& pose) { - return camera.range(pose); -} - -/* ************************************************************************* * -TEST( PinholeCamera, range1) { - Matrix D1; Matrix D2; - double result = camera.range(pose1, D1, D2); - Matrix Hexpected1 = numericalDerivative21(range1, camera, pose1); - Matrix Hexpected2 = numericalDerivative22(range1, camera, pose1); - EXPECT_DOUBLES_EQUAL(1, result, 1e-9); - EXPECT(assert_equal(Hexpected1, D1, 1e-7)); - EXPECT(assert_equal(Hexpected2, D2, 1e-7)); -} - -/* ************************************************************************* * -typedef PinholeCamera Camera2; -static const Cal3Bundler K2(625, 1e-3, 1e-3); -static const Camera2 camera2(pose1, K2); -static double range2(const Camera& camera, const Camera2& camera2) { - return camera.range(camera2); -} - -/* ************************************************************************* * -TEST( PinholeCamera, range2) { - Matrix D1; Matrix D2; - double result = camera.range(camera2, D1, D2); - Matrix Hexpected1 = numericalDerivative21(range2, camera, camera2); - Matrix Hexpected2 = numericalDerivative22(range2, camera, camera2); - EXPECT_DOUBLES_EQUAL(1, result, 1e-9); - EXPECT(assert_equal(Hexpected1, D1, 1e-7)); - EXPECT(assert_equal(Hexpected2, D2, 1e-7)); -} - -/* ************************************************************************* * -static const CalibratedCamera camera3(pose1); -static double range3(const Camera& camera, const CalibratedCamera& camera3) { - return camera.range(camera3); -} - -/* ************************************************************************* * -TEST( PinholeCamera, range3) { - Matrix D1; Matrix D2; - double result = camera.range(camera3, D1, D2); - Matrix Hexpected1 = numericalDerivative21(range3, camera, camera3); - Matrix Hexpected2 = numericalDerivative22(range3, camera, camera3); - EXPECT_DOUBLES_EQUAL(1, result, 1e-9); - EXPECT(assert_equal(Hexpected1, D1, 1e-7)); - EXPECT(assert_equal(Hexpected2, D2, 1e-7)); -} - -/* ************************************************************************* * -TEST( PinholeCamera, Cal3Bundler) { - Cal3Bundler calibration; - Pose3 wTc; - PinholeCamera camera(wTc, calibration); - Point2 p(50, 100); - camera.backproject(p, 10); -} - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } -/* ************************************************************************* */ - -