76 lines
2.7 KiB
C++
76 lines
2.7 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 Cal3_S2Stereo.cpp
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* @brief The most common 5DOF 3D->2D calibration + Stereo baseline
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* @author Chris Beall
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*/
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#include <gtsam/geometry/Cal3_S2Stereo.h>
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#include <iostream>
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namespace gtsam {
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/* ************************************************************************* */
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std::ostream& operator<<(std::ostream& os, const Cal3_S2Stereo& cal) {
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os << (Cal3_S2&)cal;
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os << ", b: " << cal.baseline();
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return os;
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}
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/* ************************************************************************* */
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void Cal3_S2Stereo::print(const std::string& s) const {
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std::cout << s << (s != "" ? " " : "");
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std::cout << "K: " << (Matrix)K() << std::endl;
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std::cout << "Baseline: " << b_ << std::endl;
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}
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/* ************************************************************************* */
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bool Cal3_S2Stereo::equals(const Cal3_S2Stereo& other, double tol) const {
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const Cal3_S2* base = dynamic_cast<const Cal3_S2*>(&other);
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return (Cal3_S2::equals(*base, tol) &&
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std::fabs(b_ - other.baseline()) < tol);
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}
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/* ************************************************************************* */
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Point2 Cal3_S2Stereo::uncalibrate(const Point2& p, OptionalJacobian<2, 6> Dcal,
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OptionalJacobian<2, 2> Dp) const {
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const double x = p.x(), y = p.y();
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if (Dcal) *Dcal << x, 0.0, y, 1.0, 0.0, 0.0, 0.0, y, 0.0, 0.0, 1.0, 0.0;
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if (Dp) *Dp << fx_, s_, 0.0, fy_;
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return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_);
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}
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/* ************************************************************************* */
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Point2 Cal3_S2Stereo::calibrate(const Point2& p, OptionalJacobian<2, 6> Dcal,
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OptionalJacobian<2, 2> Dp) const {
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const double u = p.x(), v = p.y();
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double delta_u = u - u0_, delta_v = v - v0_;
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double inv_fx = 1 / fx_, inv_fy = 1 / fy_;
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double inv_fy_delta_v = inv_fy * delta_v;
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double inv_fx_s_inv_fy = inv_fx * s_ * inv_fy;
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Point2 point(inv_fx * (delta_u - s_ * inv_fy_delta_v), inv_fy_delta_v);
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if (Dcal) {
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*Dcal << -inv_fx * point.x(), inv_fx * s_ * inv_fy * inv_fy_delta_v,
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-inv_fx * point.y(), -inv_fx, inv_fx_s_inv_fy, 0, 0,
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-inv_fy * point.y(), 0, 0, -inv_fy, 0;
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}
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if (Dp) *Dp << inv_fx, -inv_fx_s_inv_fy, 0, inv_fy;
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return point;
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}
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/* ************************************************************************* */
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} // namespace gtsam
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