125 lines
3.0 KiB
C++
125 lines
3.0 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 Cal3DS2.h
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* @brief Calibration of a camera with radial distortion, calculations in base class Cal3DS2_Base
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* @date Feb 28, 2010
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* @author ydjian
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*/
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#pragma once
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#include <gtsam/base/DerivedValue.h>
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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 camera with radial distortion
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* @addtogroup geometry
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* \nosubgrouping
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*
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* Uses same distortionmodel as OpenCV, with
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* http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
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* but using only k1,k2,p1, and p2 coefficients.
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* K = [ fx s u0 ; 0 fy v0 ; 0 0 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 Cal3DS2 : public Cal3DS2_Base {
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typedef Cal3DS2_Base Base;
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public:
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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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Cal3DS2() : Base() {}
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Cal3DS2(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) :
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Base(fx, fy, s, u0, v0, k1, k2, p1, p2) {}
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virtual ~Cal3DS2() {}
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/// @}
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/// @name Advanced Constructors
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/// @{
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Cal3DS2(const Vector &v) : Base(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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void print(const std::string& s = "") const ;
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/// assert equality up to a tolerance
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bool equals(const Cal3DS2& K, double tol = 10e-9) 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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Cal3DS2 retract(const Vector& d) const ;
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/// Given a different calibration, calculate update to obtain it
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Vector localCoordinates(const Cal3DS2& T2) const ;
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/// Return dimensions of calibration manifold object
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virtual size_t dim() const { return 9 ; } //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 9; } //TODO: make a final dimension variable
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private:
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/// @}
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/// @name Advanced Interface
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/// @{
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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("Cal3DS2",
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boost::serialization::base_object<Cal3DS2_Base>(*this));
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}
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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 is_manifold<Cal3DS2> : public boost::true_type {
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};
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template<>
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struct dimension<Cal3DS2> : public boost::integral_constant<int, 9> {
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};
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}
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}
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