172 lines
4.0 KiB
C++
172 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 StereoCamera.h
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* @brief A Rectified Stereo Camera
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* @author Chris Beall
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*/
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#pragma once
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#include <boost/tuple/tuple.hpp>
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#include <gtsam/base/DerivedValue.h>
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#include <gtsam/geometry/Cal3_S2Stereo.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/StereoPoint2.h>
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namespace gtsam {
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class GTSAM_EXPORT StereoCheiralityException: public std::runtime_error {
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public:
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StereoCheiralityException() : std::runtime_error("Stereo Cheirality Exception") {}
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};
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/**
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* A stereo camera class, parameterize by left camera pose and stereo calibration
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* @addtogroup geometry
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*/
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class GTSAM_EXPORT StereoCamera {
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private:
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Pose3 leftCamPose_;
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Cal3_S2Stereo::shared_ptr K_;
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public:
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/// @name Standard Constructors
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/// @{
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StereoCamera() {
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}
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StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo::shared_ptr K);
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const Cal3_S2Stereo::shared_ptr calibration() const {
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return K_;
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}
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/// @}
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/// @name Testable
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/// @{
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void print(const std::string& s = "") const {
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leftCamPose_.print(s + ".camera.");
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K_->print(s + ".calibration.");
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}
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bool equals(const StereoCamera &camera, double tol = 1e-9) const {
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return leftCamPose_.equals(camera.leftCamPose_, tol) && K_->equals(
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*camera.K_, tol);
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}
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/// @}
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/// @name Manifold
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/// @{
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/** Dimensionality of the tangent space */
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inline size_t dim() const {
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return 6;
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}
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/** Dimensionality of the tangent space */
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static inline size_t Dim() {
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return 6;
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}
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/// Updates a with tangent space delta
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inline StereoCamera retract(const Vector& v) const {
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return StereoCamera(pose().retract(v), K_);
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}
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/// Local coordinates of manifold neighborhood around current value
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inline Vector localCoordinates(const StereoCamera& t2) const {
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return Vector(leftCamPose_.localCoordinates(t2.leftCamPose_));
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}
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Pose3 between(const StereoCamera &camera,
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OptionalJacobian<6,6> H1=boost::none,
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OptionalJacobian<6,6> H2=boost::none) const {
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return leftCamPose_.between(camera.pose(), H1, H2);
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}
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/// @}
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/// @name Standard Interface
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/// @{
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const Pose3& pose() const {
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return leftCamPose_;
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}
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double baseline() const {
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return K_->baseline();
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}
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/*
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* project 3D point and compute optional derivatives
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* @param H1 derivative with respect to pose
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* @param H2 derivative with respect to point
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* @param H3 IGNORED (for calibration)
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*/
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StereoPoint2 project(const Point3& point,
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OptionalJacobian<3, 6> H1 = boost::none,
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OptionalJacobian<3, 3> H2 = boost::none,
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OptionalJacobian<3, 6> H3 = boost::none) const;
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/**
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*
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*/
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Point3 backproject(const StereoPoint2& z) const {
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Vector measured = z.vector();
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double Z = K_->baseline()*K_->fx()/(measured[0]-measured[1]);
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double X = Z *(measured[0]- K_->px()) / K_->fx();
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double Y = Z *(measured[2]- K_->py()) / K_->fy();
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Point3 world_point = leftCamPose_.transform_from(Point3(X, Y, Z));
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return world_point;
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}
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/// @}
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private:
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/** utility functions */
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Matrix3 Dproject_to_stereo_camera1(const Point3& P) const;
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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(leftCamPose_);
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ar & BOOST_SERIALIZATION_NVP(K_);
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}
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};
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// Define GTSAM traits
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namespace traits {
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template<>
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struct GTSAM_EXPORT is_manifold<StereoCamera> : public boost::true_type{
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};
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template<>
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struct GTSAM_EXPORT dimension<StereoCamera> : public boost::integral_constant<int, 6>{
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};
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template<>
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struct GTSAM_EXPORT zero<StereoCamera> {
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static StereoCamera value() { return StereoCamera();}
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};
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}
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}
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