153 lines
4.0 KiB
C++
153 lines
4.0 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 Cal3Unified.h
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* @brief Unified Calibration Model, see Mei07icra for details
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* @date Mar 8, 2014
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* @author Jing Dong
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*/
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/**
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* @addtogroup geometry
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*/
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#pragma once
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#include <gtsam/geometry/Cal3DS2_Base.h>
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namespace gtsam {
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/**
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* @brief Calibration of a omni-directional camera with mirror + lens radial distortion
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* @addtogroup geometry
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* \nosubgrouping
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*
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* Similar to Cal3DS2, does distortion but has additional mirror parameter xi
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* K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ]
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* Pn = [ P.x / (1 + xi * \sqrt{P.x^2 + P.y^2 + 1}), P.y / (1 + xi * \sqrt{P.x^2 + P.y^2 + 1})]
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* rr = Pn.x^2 + Pn.y^2
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* \hat{pn} = (1 + k1*rr + k2*rr^2 ) pn + [ 2*k3 pn.x pn.y + k4 (rr + 2 Pn.x^2) ;
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* k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y ]
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* pi = K*pn
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*/
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class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
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typedef Cal3Unified This;
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typedef Cal3DS2_Base Base;
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private:
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double xi_; // mirror parameter
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public:
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enum { dimension = 10 };
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/// @name Standard Constructors
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/// @{
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/// Default Constructor with only unit focal length
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Cal3Unified() : Base(), xi_(0) {}
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Cal3Unified(double fx, double fy, double s, double u0, double v0,
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double k1, double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0) :
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Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {}
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virtual ~Cal3Unified() {}
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/// @}
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/// @name Advanced Constructors
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/// @{
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Cal3Unified(const Vector &v) ;
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/// @}
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/// @name Testable
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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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/// assert equality up to a tolerance
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bool equals(const Cal3Unified& K, double tol = 10e-9) const;
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/// @}
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/// @name Standard Interface
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/// @{
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/// mirror parameter
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inline double xi() const { return xi_;}
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/**
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* convert intrinsic coordinates xy to image coordinates uv
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* @param p point in intrinsic coordinates
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* @param Dcal optional 2*10 Jacobian wrpt Cal3Unified 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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Point2 uncalibrate(const Point2& p,
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OptionalJacobian<2,10> Dcal = boost::none,
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OptionalJacobian<2,2> Dp = boost::none) const ;
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/// Conver a pixel coordinate to ideal coordinate
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Point2 calibrate(const Point2& p, const double tol=1e-5) const;
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/// Convert a 3D point to normalized unit plane
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Point2 spaceToNPlane(const Point2& p) const;
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/// Convert a normalized unit plane point to 3D space
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Point2 nPlaneToSpace(const Point2& p) const;
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/// @}
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/// @name Manifold
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/// @{
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/// Given delta vector, update calibration
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Cal3Unified retract(const Vector& d) const ;
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/// Given a different calibration, calculate update to obtain it
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Vector10 localCoordinates(const Cal3Unified& T2) const ;
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/// Return dimensions of calibration manifold object
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virtual size_t dim() const { return 10 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2)
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/// Return dimensions of calibration manifold object
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static size_t Dim() { return 10; } //TODO: make a final dimension variable
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/// Return all parameters as a vector
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Vector10 vector() const ;
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/// @}
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private:
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/** Serialization function */
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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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{
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ar & boost::serialization::make_nvp("Cal3Unified",
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boost::serialization::base_object<Cal3DS2_Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(xi_);
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}
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};
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template<>
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struct traits<Cal3Unified> : public internal::Manifold<Cal3Unified> {};
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template<>
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struct traits<const Cal3Unified> : public internal::Manifold<Cal3Unified> {};
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}
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