129 lines
4.6 KiB
C++
129 lines
4.6 KiB
C++
/**
|
|
* @file StereoCamera.h
|
|
* @brief A Stereo Camera based on two Simple Cameras
|
|
* @author Chris Beall
|
|
*/
|
|
|
|
#include <gtsam/geometry/StereoCamera.h>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
namespace gtsam{
|
|
|
|
/* ************************************************************************* */
|
|
StereoCamera::StereoCamera(const Pose3& leftCamPose, const Cal3_S2& K, double baseline) :
|
|
leftCamPose_(leftCamPose), K_(K), baseline_(baseline) {
|
|
Vector calibration = K_.vector();
|
|
fx_ = calibration(0);
|
|
fy_ = calibration(1);
|
|
cx_ = calibration(3);
|
|
cy_ = calibration(4);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
StereoPoint2 StereoCamera::project(const Point3& point) const {
|
|
|
|
Point3 cameraPoint = transform_to(leftCamPose_, point);
|
|
|
|
double d = 1.0 / cameraPoint.z();
|
|
double uL = cx_ + d * fx_ * cameraPoint.x();
|
|
double uR = cx_ + d * fx_ * (cameraPoint.x() - baseline_);
|
|
double v = cy_ + d * fy_ * cameraPoint.y();
|
|
return StereoPoint2(uL,uR,v);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Dproject_to_stereo_camera1(const StereoCamera& camera, const Point3& P) {
|
|
double d = 1.0 / P.z(), d2 = d * d;
|
|
//return Matrix_(2, 3, d, 0.0, -P.x() * d2, 0.0, d, -P.y() * d2);
|
|
return Matrix_(3, 3, d, 0.0, -P.x() * d2, d, 0.0, -(P.x()-camera.baseline()) * d2, 0.0, d, -P.y() * d2);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Duncalibrate2(const Cal3_S2& K) {
|
|
Vector calibration = K.vector(); // I want fx, fx, fy
|
|
Vector calibration2(3);
|
|
calibration2(0) = calibration(0);
|
|
calibration2(1) = calibration(0);
|
|
calibration2(2) = calibration(1);
|
|
return diag(calibration2);
|
|
//return Matrix_(2, 2, K.fx_, K.s_, 0.000, K.fy_);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Dproject_stereo_pose(const StereoCamera& camera, const Point3& point) {
|
|
//Point2 intrinsic = project(camera.calibrated_, point); // unused
|
|
|
|
//Matrix D_intrinsic_pose = Dproject_pose(camera.calibrated_, point);
|
|
//**** above function call inlined
|
|
Point3 cameraPoint = transform_to(camera.pose(), point);
|
|
Matrix D_cameraPoint_pose = Dtransform_to1(camera.pose(), point); // 3x6
|
|
//cout << "D_cameraPoint_pose" << endl;
|
|
//print(D_cameraPoint_pose);
|
|
|
|
//Point2 intrinsic = project_to_camera(cameraPoint); // unused
|
|
Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(camera, cameraPoint); // 3x3 Jacobian
|
|
//cout << "myJacobian" << endl;
|
|
//print(D_intrinsic_cameraPoint);
|
|
|
|
Matrix D_intrinsic_pose = D_intrinsic_cameraPoint * D_cameraPoint_pose;
|
|
|
|
//****
|
|
//Matrix D_projection_intrinsic = Duncalibrate2(camera.K_, intrinsic);
|
|
Matrix D_projection_intrinsic = Duncalibrate2(camera.K()); // 3x3
|
|
|
|
Matrix D_projection_pose = D_projection_intrinsic * D_intrinsic_pose;
|
|
return D_projection_pose;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Matrix Dproject_stereo_point(const StereoCamera& camera, const Point3& point) {
|
|
//Point2 intrinsic = project(camera.calibrated_, point); // unused
|
|
|
|
//Matrix D_intrinsic_point = Dproject_point(camera.calibrated_, point);
|
|
//**** above function call inlined
|
|
Point3 cameraPoint = transform_to(camera.pose(), point);
|
|
Matrix D_cameraPoint_point = Dtransform_to2(camera.pose(), point);
|
|
|
|
//Point2 intrinsic = project_to_camera(cameraPoint); // unused
|
|
Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(camera, cameraPoint); // 3x3 Jacobian
|
|
|
|
Matrix D_intrinsic_point = D_intrinsic_cameraPoint * D_cameraPoint_point;
|
|
|
|
//****
|
|
//Matrix D_projection_intrinsic = Duncalibrate2(camera.K_, intrinsic);
|
|
Matrix D_projection_intrinsic = Duncalibrate2(camera.K()); // 3x3
|
|
|
|
Matrix D_projection_point = D_projection_intrinsic * D_intrinsic_point;
|
|
return D_projection_point;
|
|
}
|
|
|
|
|
|
// calibrated cameras
|
|
/*
|
|
Matrix Dproject_pose(const CalibratedCamera& camera, const Point3& point) {
|
|
Point3 cameraPoint = transform_to(camera.pose(), point);
|
|
Matrix D_cameraPoint_pose = Dtransform_to1(camera.pose(), point);
|
|
|
|
Point2 intrinsic = project_to_camera(cameraPoint);
|
|
Matrix D_intrinsic_cameraPoint = Dproject_to_camera1(cameraPoint);
|
|
|
|
Matrix D_intrinsic_pose = D_intrinsic_cameraPoint * D_cameraPoint_pose;
|
|
return D_intrinsic_pose;
|
|
}
|
|
|
|
Matrix Dproject_point(const CalibratedCamera& camera, const Point3& point) {
|
|
Point3 cameraPoint = transform_to(camera.pose(), point);
|
|
Matrix D_cameraPoint_point = Dtransform_to2(camera.pose());
|
|
|
|
Point2 intrinsic = project_to_camera(cameraPoint);
|
|
Matrix D_intrinsic_cameraPoint = Dproject_to_camera1(cameraPoint);
|
|
|
|
Matrix D_intrinsic_point = D_intrinsic_cameraPoint * D_cameraPoint_point;
|
|
return D_intrinsic_point;
|
|
}
|
|
*/
|
|
|
|
}
|