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thirdparty/basalt-headers/include/basalt/camera/pinhole_camera.hpp
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thirdparty/basalt-headers/include/basalt/camera/pinhole_camera.hpp
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/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt-headers.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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@file
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@brief Implementation of pinhole camera model
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*/
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#pragma once
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#include <basalt/camera/camera_static_assert.hpp>
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#include <basalt/utils/sophus_utils.hpp>
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namespace basalt {
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using std::sqrt;
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/// @brief Pinhole camera model
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///
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/// This model has N=4 parameters \f$ \mathbf{i} = \left[f_x, f_y, c_x, c_y
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/// \right]^T \f$ with. See \ref
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/// project and \ref unproject functions for more details.
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template <typename Scalar_ = double>
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class PinholeCamera {
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public:
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using Scalar = Scalar_;
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static constexpr int N = 4; ///< Number of intrinsic parameters.
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using Vec2 = Eigen::Matrix<Scalar, 2, 1>;
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using Vec4 = Eigen::Matrix<Scalar, 4, 1>;
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using VecN = Eigen::Matrix<Scalar, N, 1>;
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using Mat24 = Eigen::Matrix<Scalar, 2, 4>;
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using Mat2N = Eigen::Matrix<Scalar, 2, N>;
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using Mat42 = Eigen::Matrix<Scalar, 4, 2>;
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using Mat4N = Eigen::Matrix<Scalar, 4, N>;
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/// @brief Default constructor with zero intrinsics
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PinholeCamera() { param_.setZero(); }
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/// @brief Construct camera model with given vector of intrinsics
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///
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/// @param[in] p vector of intrinsic parameters [fx, fy, cx, cy]
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explicit PinholeCamera(const VecN& p) { param_ = p; }
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/// @brief Cast to different scalar type
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template <class Scalar2>
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PinholeCamera<Scalar2> cast() const {
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return PinholeCamera<Scalar2>(param_.template cast<Scalar2>());
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}
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/// @brief Camera model name
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///
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/// @return "pinhole"
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static std::string getName() { return "pinhole"; }
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/// @brief Project the point and optionally compute Jacobians
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///
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/// Projection function is defined as follows:
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/// \f{align}{
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/// \pi(\mathbf{x}, \mathbf{i}) &=
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/// \begin{bmatrix}
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/// f_x{\frac{x}{z}}
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/// \\ f_y{\frac{y}{z}}
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/// \\ \end{bmatrix}
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/// +
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/// \begin{bmatrix}
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/// c_x
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/// \\ c_y
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/// \\ \end{bmatrix}.
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/// \f}
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/// A set of 3D points that results in valid projection is expressed as
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/// follows: \f{align}{
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/// \Omega &= \{\mathbf{x} \in \mathbb{R}^3 ~|~ z > 0 \}
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/// \f}
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///
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/// @param[in] p3d point to project
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/// @param[out] proj result of projection
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/// @param[out] d_proj_d_p3d if not nullptr computed Jacobian of projection
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/// with respect to p3d
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/// @param[out] d_proj_d_param point if not nullptr computed Jacobian of
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/// projection with respect to intrinsic parameters
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/// @return if projection is valid
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template <class DerivedPoint3D, class DerivedPoint2D,
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class DerivedJ3D = std::nullptr_t,
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class DerivedJparam = std::nullptr_t>
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inline bool project(const Eigen::MatrixBase<DerivedPoint3D>& p3d,
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Eigen::MatrixBase<DerivedPoint2D>& proj,
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DerivedJ3D d_proj_d_p3d = nullptr,
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DerivedJparam d_proj_d_param = nullptr) const {
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checkProjectionDerivedTypes<DerivedPoint3D, DerivedPoint2D, DerivedJ3D,
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DerivedJparam, N>();
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const typename EvalOrReference<DerivedPoint3D>::Type p3d_eval(p3d);
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const Scalar& fx = param_[0];
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const Scalar& fy = param_[1];
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const Scalar& cx = param_[2];
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const Scalar& cy = param_[3];
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const Scalar& x = p3d_eval[0];
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const Scalar& y = p3d_eval[1];
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const Scalar& z = p3d_eval[2];
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proj[0] = fx * x / z + cx;
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proj[1] = fy * y / z + cy;
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const bool is_valid = z >= Sophus::Constants<Scalar>::epsilonSqrt();
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if constexpr (!std::is_same_v<DerivedJ3D, std::nullptr_t>) {
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BASALT_ASSERT(d_proj_d_p3d);
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d_proj_d_p3d->setZero();
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const Scalar z2 = z * z;
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(*d_proj_d_p3d)(0, 0) = fx / z;
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(*d_proj_d_p3d)(0, 2) = -fx * x / z2;
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(*d_proj_d_p3d)(1, 1) = fy / z;
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(*d_proj_d_p3d)(1, 2) = -fy * y / z2;
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} else {
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UNUSED(d_proj_d_p3d);
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}
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if constexpr (!std::is_same_v<DerivedJparam, std::nullptr_t>) {
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BASALT_ASSERT(d_proj_d_param);
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d_proj_d_param->setZero();
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(*d_proj_d_param)(0, 0) = x / z;
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(*d_proj_d_param)(0, 2) = Scalar(1);
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(*d_proj_d_param)(1, 1) = y / z;
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(*d_proj_d_param)(1, 3) = Scalar(1);
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} else {
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UNUSED(d_proj_d_param);
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}
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return is_valid;
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}
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/// @brief Unproject the point and optionally compute Jacobians
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///
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/// The unprojection function is computed as follows: \f{align}{
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/// \pi^{-1}(\mathbf{u}, \mathbf{i}) &=
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/// \frac{1}{m_x^2 + m_y^2 + 1}
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/// \begin{bmatrix}
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/// m_x \\ m_y \\ 1
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/// \\ \end{bmatrix}
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/// \\ m_x &= \frac{u - c_x}{f_x},
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/// \\ m_y &= \frac{v - c_y}{f_y}.
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/// \f}
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///
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///
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/// @param[in] proj point to unproject
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/// @param[out] p3d result of unprojection
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/// @param[out] d_p3d_d_proj if not nullptr computed Jacobian of
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/// unprojection with respect to proj
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/// @param[out] d_p3d_d_param point if not nullptr computed Jacobian of
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/// unprojection with respect to intrinsic parameters
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/// @return if unprojection is valid
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template <class DerivedPoint2D, class DerivedPoint3D,
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class DerivedJ2D = std::nullptr_t,
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class DerivedJparam = std::nullptr_t>
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inline bool unproject(const Eigen::MatrixBase<DerivedPoint2D>& proj,
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Eigen::MatrixBase<DerivedPoint3D>& p3d,
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DerivedJ2D d_p3d_d_proj = nullptr,
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DerivedJparam d_p3d_d_param = nullptr) const {
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checkUnprojectionDerivedTypes<DerivedPoint2D, DerivedPoint3D, DerivedJ2D,
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DerivedJparam, N>();
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const typename EvalOrReference<DerivedPoint2D>::Type proj_eval(proj);
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const Scalar& fx = param_[0];
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const Scalar& fy = param_[1];
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const Scalar& cx = param_[2];
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const Scalar& cy = param_[3];
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const Scalar mx = (proj_eval[0] - cx) / fx;
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const Scalar my = (proj_eval[1] - cy) / fy;
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const Scalar r2 = mx * mx + my * my;
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const Scalar norm = sqrt(Scalar(1) + r2);
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const Scalar norm_inv = Scalar(1) / norm;
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p3d.setZero();
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p3d[0] = mx * norm_inv;
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p3d[1] = my * norm_inv;
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p3d[2] = norm_inv;
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if constexpr (!std::is_same_v<DerivedJ2D, std::nullptr_t> ||
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!std::is_same_v<DerivedJparam, std::nullptr_t>) {
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const Scalar d_norm_inv_d_r2 =
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-Scalar(0.5) * norm_inv * norm_inv * norm_inv;
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constexpr int SIZE_3D = DerivedPoint3D::SizeAtCompileTime;
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Eigen::Matrix<Scalar, SIZE_3D, 1> c0, c1;
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c0.setZero();
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c0(0) = (norm_inv + 2 * mx * mx * d_norm_inv_d_r2) / fx;
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c0(1) = (2 * my * mx * d_norm_inv_d_r2) / fx;
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c0(2) = 2 * mx * d_norm_inv_d_r2 / fx;
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c1.setZero();
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c1(0) = (2 * my * mx * d_norm_inv_d_r2) / fy;
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c1(1) = (norm_inv + 2 * my * my * d_norm_inv_d_r2) / fy;
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c1(2) = 2 * my * d_norm_inv_d_r2 / fy;
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if constexpr (!std::is_same_v<DerivedJ2D, std::nullptr_t>) {
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BASALT_ASSERT(d_p3d_d_proj);
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d_p3d_d_proj->col(0) = c0;
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d_p3d_d_proj->col(1) = c1;
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} else {
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UNUSED(d_p3d_d_proj);
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}
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if constexpr (!std::is_same_v<DerivedJparam, std::nullptr_t>) {
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BASALT_ASSERT(d_p3d_d_param);
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d_p3d_d_param->col(2) = -c0;
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d_p3d_d_param->col(3) = -c1;
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d_p3d_d_param->col(0) = -c0 * mx;
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d_p3d_d_param->col(1) = -c1 * my;
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} else {
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UNUSED(d_p3d_d_param);
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}
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} else {
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UNUSED(d_p3d_d_proj);
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UNUSED(d_p3d_d_param);
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}
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return true;
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}
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/// @brief Set parameters from initialization
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///
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/// Initializes the camera model to \f$ \left[f_x, f_y, c_x, c_y, \right]^T
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/// \f$
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///
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/// @param[in] init vector [fx, fy, cx, cy]
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inline void setFromInit(const Vec4& init) {
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param_[0] = init[0];
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param_[1] = init[1];
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param_[2] = init[2];
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param_[3] = init[3];
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}
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/// @brief Increment intrinsic parameters by inc
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///
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/// @param[in] inc increment vector
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void operator+=(const VecN& inc) { param_ += inc; }
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/// @brief Returns a const reference to the intrinsic parameters vector
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///
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/// The order is following: \f$ \left[f_x, f_y, c_x, c_y, \right]^T \f$
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/// @return const reference to the intrinsic parameters vector
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const VecN& getParam() const { return param_; }
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/// @brief Projections used for unit-tests
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static Eigen::aligned_vector<PinholeCamera> getTestProjections() {
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Eigen::aligned_vector<PinholeCamera> res;
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VecN vec1;
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// Euroc
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vec1 << 460.76484651566468, 459.4051018049483, 365.8937161309615,
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249.33499869752445;
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res.emplace_back(vec1);
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// TUM VI 512
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vec1 << 191.14799816648748, 191.13150946585135, 254.95857715233118,
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256.8815466235898;
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res.emplace_back(vec1);
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return res;
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}
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/// @brief Resolutions used for unit-tests
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static Eigen::aligned_vector<Eigen::Vector2i> getTestResolutions() {
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Eigen::aligned_vector<Eigen::Vector2i> res;
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res.emplace_back(752, 480);
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res.emplace_back(512, 512);
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return res;
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}
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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private:
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VecN param_;
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};
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} // namespace basalt
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