111 lines
3.4 KiB
C++
111 lines
3.4 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Cal3_S2.cpp
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* @brief The most common 5DOF 3D->2D calibration
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* @author Frank Dellaert
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*/
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#include <gtsam/geometry/Cal3_S2.h>
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#include <cmath>
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#include <fstream>
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#include <iostream>
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namespace gtsam {
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using namespace std;
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/* ************************************************************************* */
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Cal3_S2::Cal3_S2(double fov, int w, int h) :
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s_(0), u0_((double) w / 2.0), v0_((double) h / 2.0) {
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double a = fov * M_PI / 360.0; // fov/2 in radians
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fx_ = (double) w / (2.0 * tan(a)); // old formula: fx_ = (double) w * tan(a);
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fy_ = fx_;
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}
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/* ************************************************************************* */
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Cal3_S2::Cal3_S2(const std::string &path) :
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fx_(320), fy_(320), s_(0), u0_(320), v0_(140) {
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char buffer[200];
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buffer[0] = 0;
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sprintf(buffer, "%s/calibration_info.txt", path.c_str());
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std::ifstream infile(buffer, std::ios::in);
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if (infile)
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infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_;
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else {
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printf("Unable to load the calibration\n");
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exit(0);
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}
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infile.close();
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}
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/* ************************************************************************* */
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void Cal3_S2::print(const std::string& s) const {
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gtsam::print((Matrix)matrix(), s);
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}
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/* ************************************************************************* */
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bool Cal3_S2::equals(const Cal3_S2& K, double tol) const {
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if (fabs(fx_ - K.fx_) > tol)
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return false;
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if (fabs(fy_ - K.fy_) > tol)
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return false;
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if (fabs(s_ - K.s_) > tol)
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return false;
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if (fabs(u0_ - K.u0_) > tol)
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return false;
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if (fabs(v0_ - K.v0_) > tol)
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return false;
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return true;
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}
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/* ************************************************************************* */
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Point2 Cal3_S2::uncalibrate(const Point2& p, OptionalJacobian<2, 5> Dcal,
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OptionalJacobian<2, 2> Dp) const {
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const double x = p.x(), y = p.y();
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if (Dcal)
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*Dcal << x, 0.0, y, 1.0, 0.0, 0.0, y, 0.0, 0.0, 1.0;
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if (Dp)
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*Dp << fx_, s_, 0.0, fy_;
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return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_);
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}
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/* ************************************************************************* */
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Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal,
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OptionalJacobian<2,2> Dp) const {
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const double u = p.x(), v = p.y();
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double delta_u = u - u0_, delta_v = v - v0_;
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double inv_fx = 1/ fx_, inv_fy = 1/fy_;
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double inv_fy_delta_v = inv_fy * delta_v, inv_fx_s_inv_fy = inv_fx * s_ * inv_fy;
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Point2 point(inv_fx * (delta_u - s_ * inv_fy_delta_v),
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inv_fy_delta_v);
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if(Dcal)
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*Dcal << - inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy_delta_v, -inv_fx * point.y(),
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-inv_fx, inv_fx_s_inv_fy,
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0, -inv_fy * point.y(), 0, 0, -inv_fy;
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if(Dp)
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*Dp << inv_fx, -inv_fx_s_inv_fy, 0, inv_fy;
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return point;
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}
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/* ************************************************************************* */
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Vector3 Cal3_S2::calibrate(const Vector3& p) const {
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return matrix_inverse() * p;
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}
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/* ************************************************************************* */
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} // namespace gtsam
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