209 lines
7.0 KiB
C++
209 lines
7.0 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_Base.cpp
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* @date Feb 28, 2010
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* @author ydjian
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*/
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#include <gtsam/base/Vector.h>
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#include <gtsam/base/Matrix.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/Point3.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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Cal3DS2_Base::Cal3DS2_Base(const Vector &v):
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fx_(v[0]), fy_(v[1]), s_(v[2]), u0_(v[3]), v0_(v[4]), k1_(v[5]), k2_(v[6]), p1_(v[7]), p2_(v[8]){}
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/* ************************************************************************* */
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Matrix Cal3DS2_Base::K() const {
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return (Matrix(3, 3) << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0);
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}
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/* ************************************************************************* */
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Vector Cal3DS2_Base::vector() const {
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return (Vector(9) << fx_, fy_, s_, u0_, v0_, k1_, k2_, p1_, p2_);
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}
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/* ************************************************************************* */
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void Cal3DS2_Base::print(const std::string& s_) const {
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gtsam::print(K(), s_ + ".K");
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gtsam::print(Vector(k()), s_ + ".k");
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}
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/* ************************************************************************* */
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bool Cal3DS2_Base::equals(const Cal3DS2_Base& K, double tol) const {
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if (fabs(fx_ - K.fx_) > tol || fabs(fy_ - K.fy_) > tol || fabs(s_ - K.s_) > tol ||
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fabs(u0_ - K.u0_) > tol || fabs(v0_ - K.v0_) > tol || fabs(k1_ - K.k1_) > tol ||
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fabs(k2_ - K.k2_) > tol || fabs(p1_ - K.p1_) > tol || fabs(p2_ - K.p2_) > 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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static Matrix29 D2dcalibration(double x, double y, double xx,
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double yy, double xy, double rr, double r4, double pnx, double pny,
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const Matrix2& DK) {
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Matrix25 DR1;
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DR1 << pnx, 0.0, pny, 1.0, 0.0, 0.0, pny, 0.0, 0.0, 1.0;
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Matrix24 DR2;
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DR2 << x * rr, x * r4, 2 * xy, rr + 2 * xx, //
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y * rr, y * r4, rr + 2 * yy, 2 * xy;
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Matrix29 D;
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D << DR1, DK * DR2;
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return D;
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}
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/* ************************************************************************* */
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static Matrix2 D2dintrinsic(double x, double y, double rr,
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double g, double k1, double k2, double p1, double p2,
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const Matrix2& DK) {
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const double drdx = 2. * x;
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const double drdy = 2. * y;
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const double dgdx = k1 * drdx + k2 * 2. * rr * drdx;
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const double dgdy = k1 * drdy + k2 * 2. * rr * drdy;
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// Dx = 2*p1*xy + p2*(rr+2*xx);
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// Dy = 2*p2*xy + p1*(rr+2*yy);
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const double dDxdx = 2. * p1 * y + p2 * (drdx + 4. * x);
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const double dDxdy = 2. * p1 * x + p2 * drdy;
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const double dDydx = 2. * p2 * y + p1 * drdx;
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const double dDydy = 2. * p2 * x + p1 * (drdy + 4. * y);
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Matrix2 DR;
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DR << g + x * dgdx + dDxdx, x * dgdy + dDxdy, //
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y * dgdx + dDydx, g + y * dgdy + dDydy;
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return DK * DR;
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}
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/* ************************************************************************* */
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Point2 Cal3DS2_Base::uncalibrate(const Point2& p,
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boost::optional<Matrix29&> H1,
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boost::optional<Matrix2&> H2) const {
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// rr = x^2 + y^2;
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// g = (1 + k(1)*rr + k(2)*rr^2);
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// dp = [2*k(3)*x*y + k(4)*(rr + 2*x^2); 2*k(4)*x*y + k(3)*(rr + 2*y^2)];
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// pi(:,i) = g * pn(:,i) + dp;
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const double x = p.x(), y = p.y(), xy = x * y, xx = x * x, yy = y * y;
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const double rr = xx + yy;
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const double r4 = rr * rr;
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const double g = 1. + k1_ * rr + k2_ * r4; // scaling factor
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// tangential component
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const double dx = 2. * p1_ * xy + p2_ * (rr + 2. * xx);
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const double dy = 2. * p2_ * xy + p1_ * (rr + 2. * yy);
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// Radial and tangential distortion applied
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const double pnx = g * x + dx;
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const double pny = g * y + dy;
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Matrix2 DK;
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if (H1 || H2) DK << fx_, s_, 0.0, fy_;
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// Derivative for calibration
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if (H1)
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*H1 = D2dcalibration(x, y, xx, yy, xy, rr, r4, pnx, pny, DK);
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// Derivative for points
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if (H2)
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*H2 = D2dintrinsic(x, y, rr, g, k1_, k2_, p1_, p2_, DK);
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// Regular uncalibrate after distortion
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return Point2(fx_ * pnx + s_ * pny + u0_, fy_ * pny + v0_);
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}
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/* ************************************************************************* */
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Point2 Cal3DS2_Base::uncalibrate(const Point2& p,
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boost::optional<Matrix&> H1,
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boost::optional<Matrix&> H2) const {
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if (H1 || H2) {
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Matrix29 D1;
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Matrix2 D2;
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Point2 pu = uncalibrate(p, D1, D2);
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if (H1)
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*H1 = D1;
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if (H2)
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*H2 = D2;
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return pu;
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} else {
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return uncalibrate(p);
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}
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}
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/* ************************************************************************* */
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Point2 Cal3DS2_Base::calibrate(const Point2& pi, const double tol) const {
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// Use the following fixed point iteration to invert the radial distortion.
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// pn_{t+1} = (inv(K)*pi - dp(pn_{t})) / g(pn_{t})
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const Point2 invKPi ((1 / fx_) * (pi.x() - u0_ - (s_ / fy_) * (pi.y() - v0_)),
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(1 / fy_) * (pi.y() - v0_));
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// initialize by ignoring the distortion at all, might be problematic for pixels around boundary
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Point2 pn = invKPi;
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// iterate until the uncalibrate is close to the actual pixel coordinate
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const int maxIterations = 10;
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int iteration;
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for (iteration = 0; iteration < maxIterations; ++iteration) {
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if (uncalibrate(pn).distance(pi) <= tol) break;
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const double x = pn.x(), y = pn.y(), xy = x * y, xx = x * x, yy = y * y;
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const double rr = xx + yy;
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const double g = (1 + k1_ * rr + k2_ * rr * rr);
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const double dx = 2 * p1_ * xy + p2_ * (rr + 2 * xx);
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const double dy = 2 * p2_ * xy + p1_ * (rr + 2 * yy);
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pn = (invKPi - Point2(dx, dy)) / g;
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}
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if ( iteration >= maxIterations )
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throw std::runtime_error("Cal3DS2::calibrate fails to converge. need a better initialization");
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return pn;
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}
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/* ************************************************************************* */
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Matrix Cal3DS2_Base::D2d_intrinsic(const Point2& p) const {
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const double x = p.x(), y = p.y(), xx = x * x, yy = y * y;
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const double rr = xx + yy;
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const double r4 = rr * rr;
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const double g = (1 + k1_ * rr + k2_ * r4);
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Matrix2 DK;
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DK << fx_, s_, 0.0, fy_;
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return D2dintrinsic(x, y, rr, g, k1_, k2_, p1_, p2_, DK);
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}
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/* ************************************************************************* */
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Matrix Cal3DS2_Base::D2d_calibration(const Point2& p) const {
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const double x = p.x(), y = p.y(), xx = x * x, yy = y * y, xy = x * y;
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const double rr = xx + yy;
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const double r4 = rr * rr;
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const double g = (1 + k1_ * rr + k2_ * r4);
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const double dx = 2 * p1_ * xy + p2_ * (rr + 2 * xx);
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const double dy = 2 * p2_ * xy + p1_ * (rr + 2 * yy);
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const double pnx = g * x + dx;
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const double pny = g * y + dy;
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Matrix2 DK;
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DK << fx_, s_, 0.0, fy_;
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return D2dcalibration(x, y, xx, yy, xy, rr, r4, pnx, pny, DK);
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}
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}
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/* ************************************************************************* */
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