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added calibrate function which transforms image coordinates to intrinsic coordinates and added a unit test to check the validity

release/4.3a0
Manohar Paluri 2010-03-09 22:23:33 +00:00
parent bfd5b5ab5d
commit fd863fa7ac
2 changed files with 19 additions and 0 deletions
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8
cpp/Cal3_S2.h
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@ -91,6 +91,14 @@ namespace gtsam {
return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_); return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_);
} }
/**
* convert image coordinates uv to intrinsic coordinates xy
*/
Point2 calibrate(const Point2& p) const {
const double u = p.x(), v = p.y();
return Point2((1/fx_)*(u-u0_ - (s_/fy_)*(v-v0_)), (1/fy_)*(v-v0_));
}
/** friends */ /** friends */
friend Matrix Duncalibrate2(const Cal3_S2& K, const Point2& p); friend Matrix Duncalibrate2(const Cal3_S2& K, const Point2& p);
friend Cal3_S2 expmap(const Cal3_S2& cal, const Vector& d); friend Cal3_S2 expmap(const Cal3_S2& cal, const Vector& d);

11
cpp/testCal3_S2.cpp
View File

@ -24,6 +24,17 @@ TEST( Cal3_S2, easy_constructor)
CHECK(assert_equal(expected,actual,1e-3)); CHECK(assert_equal(expected,actual,1e-3));
} }
/* ************************************************************************* */
TEST( Cal3_S2, calibrate)
{
Cal3_S2 K1(500, 500, 0.1, 640 / 2, 480 / 2);
Point2 intrinsic(2,3);
Point2 expectedimage(1320.3, 1740);
Point2 imagecoordinates = K1.uncalibrate(intrinsic);
CHECK(assert_equal(expectedimage,imagecoordinates));
CHECK(assert_equal(intrinsic,K1.calibrate(imagecoordinates)));
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Cal3_S2, Duncalibrate1) TEST( Cal3_S2, Duncalibrate1)
{ {