101 lines
3.3 KiB
C++
101 lines
3.3 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 Stereo Camera based on two Simple Cameras
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*@author Chris Beall
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*/
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#include <gtsam/geometry/StereoCamera.h>
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using namespace std;
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using namespace gtsam;
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namespace gtsam {
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/* ************************************************************************* */
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StereoCamera::StereoCamera(const Pose3& leftCamPose,
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const Cal3_S2Stereo::shared_ptr K) :
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leftCamPose_(leftCamPose), K_(K) {
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}
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/* ************************************************************************* */
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StereoPoint2 StereoCamera::project(const Point3& point,
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OptionalJacobian<3,6> H1, OptionalJacobian<3,3> H2,
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OptionalJacobian<3,0> H3) const {
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#ifdef STEREOCAMERA_CHAIN_RULE
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const Point3 q = leftCamPose_.transform_to(point, H1, H2);
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#else
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// omit derivatives
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const Point3 q = leftCamPose_.transform_to(point);
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#endif
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if ( q.z() <= 0 ) throw StereoCheiralityException();
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// get calibration
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const Cal3_S2Stereo& K = *K_;
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const double fx = K.fx(), fy = K.fy(), b = K.baseline();
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// calculate scaled but not translated image coordinates
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const double d = 1.0 / q.z();
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const double x = q.x(), y = q.y();
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const double dfx = d*fx, dfy = d*fy;
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const double uL = dfx*x;
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const double uR = dfx*(x - b);
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const double v = dfy*y;
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// check if derivatives need to be computed
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if (H1 || H2) {
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#ifdef STEREOCAMERA_CHAIN_RULE
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// just implement chain rule
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Matrix3 D_project_point = Dproject_to_stereo_camera1(q); // 3x3 Jacobian
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if (H1) *H1 = D_project_point*(*H1);
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if (H2) *H2 = D_project_point*(*H2);
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#else
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// optimized version, see StereoCamera.nb
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if (H1) {
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const double v1 = v/fy, v2 = fx*v1, dx=d*x;
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*H1 << uL*v1, -fx-dx*uL, v2, -dfx, 0.0, d*uL,
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uR*v1, -fx-dx*uR, v2, -dfx, 0.0, d*uR,
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fy + v*v1, -dx*v , -x*dfy, 0.0, -dfy, d*v;
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}
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if (H2) {
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const Matrix3 R(leftCamPose_.rotation().matrix());
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*H2 << fx*R(0, 0) - R(0, 2)*uL, fx*R(1, 0) - R(1, 2)*uL, fx*R(2, 0) - R(2, 2)*uL,
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fx*R(0, 0) - R(0, 2)*uR, fx*R(1, 0) - R(1, 2)*uR, fx*R(2, 0) - R(2, 2)*uR,
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fy*R(0, 1) - R(0, 2)*v , fy*R(1, 1) - R(1, 2)*v , fy*R(2, 1) - R(2, 2)*v;
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*H2 << d * (*H2);
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}
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#endif
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if (H3)
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throw std::runtime_error("StereoCamera::project does not support third derivative yet");
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}
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// finally translate
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return StereoPoint2(K.px() + uL, K.px() + uR, K.py() + v);
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}
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/* ************************************************************************* */
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Matrix3 StereoCamera::Dproject_to_stereo_camera1(const Point3& P) const {
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double d = 1.0 / P.z(), d2 = d*d;
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const Cal3_S2Stereo& K = *K_;
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double f_x = K.fx(), f_y = K.fy(), b = K.baseline();
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Matrix3 m;
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m << f_x*d, 0.0, -d2*f_x* P.x(),
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f_x*d, 0.0, -d2*f_x*(P.x() - b),
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0.0, f_y*d, -d2*f_y* P.y();
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return m;
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}
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}
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