149 lines
4.6 KiB
C++
149 lines
4.6 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.cpp
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* @date Mar 8, 2014
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* @author Jing Dong
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* @author Varun Agrawal
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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/Cal3Unified.h>
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#include <cmath>
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namespace gtsam {
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/* ************************************************************************* */
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Vector10 Cal3Unified::vector() const {
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Vector10 v;
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v << Base::vector(), xi_;
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return v;
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}
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/* ************************************************************************* */
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std::ostream& operator<<(std::ostream& os, const Cal3Unified& cal) {
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os << (Cal3DS2_Base&)cal;
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os << ", xi: " << cal.xi();
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return os;
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}
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/* ************************************************************************* */
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void Cal3Unified::print(const std::string& s) const {
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Base::print(s);
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gtsam::print((Vector)(Vector(1) << xi_).finished(), s + ".xi");
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}
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/* ************************************************************************* */
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bool Cal3Unified::equals(const Cal3Unified& K, double tol) const {
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const Cal3DS2_Base* base = dynamic_cast<const Cal3DS2_Base*>(&K);
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return Cal3DS2_Base::equals(*base, tol) && std::fabs(xi_ - K.xi_) < tol;
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}
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/* ************************************************************************* */
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// todo: make a fixed sized jacobian version of this
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Point2 Cal3Unified::uncalibrate(const Point2& p,
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OptionalJacobian<2,10> Dcal,
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OptionalJacobian<2,2> Dp) const {
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// this part of code is modified from Cal3DS2,
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// since the second part of this model (after project to normalized plane)
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// is same as Cal3DS2
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// parameters
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const double xi = xi_;
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// Part1: project 3D space to NPlane
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const double xs = p.x(), ys = p.y(); // normalized points in 3D space
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const double sqrt_nx = sqrt(xs * xs + ys * ys + 1.0);
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const double xi_sqrt_nx = 1.0 / (1 + xi * sqrt_nx);
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const double xi_sqrt_nx2 = xi_sqrt_nx * xi_sqrt_nx;
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const double x = xs * xi_sqrt_nx, y = ys * xi_sqrt_nx; // points on NPlane
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// Part2: project NPlane point to pixel plane: use Cal3DS2
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Point2 m(x,y);
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Matrix29 H1base;
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Matrix2 H2base; // jacobians from Base class
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Point2 puncalib = Base::uncalibrate(m, H1base, H2base);
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// Inlined derivative for calibration
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if (Dcal) {
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// part1
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Vector2 DU;
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DU << -xs * sqrt_nx * xi_sqrt_nx2, //
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-ys * sqrt_nx * xi_sqrt_nx2;
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*Dcal << H1base, H2base * DU;
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}
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// Inlined derivative for points
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if (Dp) {
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// part1
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const double denom = 1.0 * xi_sqrt_nx2 / sqrt_nx;
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const double mid = -(xi * xs*ys) * denom;
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Matrix2 DU;
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DU << (sqrt_nx + xi*(ys*ys + 1)) * denom, mid, //
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mid, (sqrt_nx + xi*(xs*xs + 1)) * denom;
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*Dp << H2base * DU;
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}
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return puncalib;
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}
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/* ************************************************************************* */
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Point2 Cal3Unified::calibrate(const Point2& pi, OptionalJacobian<2, 10> Dcal,
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OptionalJacobian<2, 2> Dp) const {
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// calibrate point to Nplane use base class::calibrate()
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Point2 pnplane = Base::calibrate(pi);
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// call nplane to space
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Point2 pn = this->nPlaneToSpace(pnplane);
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calibrateJacobians<Cal3Unified, dimension>(*this, pn, Dcal, Dp);
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return pn;
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}
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/* ************************************************************************* */
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Point2 Cal3Unified::nPlaneToSpace(const Point2& p) const {
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const double x = p.x(), y = p.y();
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const double xy2 = x * x + y * y;
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const double sq_xy = (xi_ + sqrt(1 + (1 - xi_ * xi_) * xy2)) / (xy2 + 1);
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return Point2((sq_xy * x / (sq_xy - xi_)), (sq_xy * y / (sq_xy - xi_)));
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}
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/* ************************************************************************* */
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Point2 Cal3Unified::spaceToNPlane(const Point2& p) const {
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const double x = p.x(), y = p.y();
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const double sq_xy = 1 + xi_ * sqrt(x * x + y * y + 1);
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return Point2((x / sq_xy), (y / sq_xy));
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}
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/* ************************************************************************* */
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Cal3Unified Cal3Unified::retract(const Vector& d) const {
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return Cal3Unified(vector() + d);
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}
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/* ************************************************************************* */
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Vector Cal3Unified::localCoordinates(const Cal3Unified& T2) const {
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return T2.vector() - vector();
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}
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/* ************************************************************************* */
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} // \ namespace gtsam
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