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