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thirdparty/basalt-headers/include/basalt/camera/generic_camera.hpp vendored Normal file
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/**
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 generic camera model
*/
#pragma once
#include <basalt/camera/bal_camera.hpp>
#include <basalt/camera/double_sphere_camera.hpp>
#include <basalt/camera/extended_camera.hpp>
#include <basalt/camera/fov_camera.hpp>
#include <basalt/camera/kannala_brandt_camera4.hpp>
#include <basalt/camera/pinhole_camera.hpp>
#include <basalt/camera/unified_camera.hpp>
#include <variant>
namespace basalt {
using std::sqrt;
/// @brief Generic camera model that can store different camera models
///
/// Particular class of camera model is stored as \ref variant and can be casted
/// to specific type using std::visit.
template <typename Scalar_>
class GenericCamera {
using Scalar = Scalar_;
using Vec2 = Eigen::Matrix<Scalar, 2, 1>;
using Vec3 = Eigen::Matrix<Scalar, 3, 1>;
using Vec4 = Eigen::Matrix<Scalar, 4, 1>;
using VecX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
using Mat24 = Eigen::Matrix<Scalar, 2, 4>;
using Mat42 = Eigen::Matrix<Scalar, 4, 2>;
using Mat4 = Eigen::Matrix<Scalar, 4, 4>;
using VariantT =
std::variant<ExtendedUnifiedCamera<Scalar>, DoubleSphereCamera<Scalar>,
KannalaBrandtCamera4<Scalar>, UnifiedCamera<Scalar>,
PinholeCamera<Scalar>>; ///< Possible variants of camera
///< models.
public:
/// @brief Cast to different scalar type
template <typename Scalar2>
inline GenericCamera<Scalar2> cast() const {
GenericCamera<Scalar2> res;
std::visit([&](const auto& v) { res.variant = v.template cast<Scalar2>(); },
variant);
return res;
}
/// @brief Number of intrinsic parameters
inline int getN() const {
int res;
std::visit([&](const auto& v) { res = v.N; }, variant);
return res;
}
/// @brief Camera model name
inline std::string getName() const {
std::string res;
std::visit([&](const auto& v) { res = v.getName(); }, variant);
return res;
}
/// @brief Set parameters from initialization
///
/// @param[in] init vector [fx, fy, cx, cy]
inline void setFromInit(const Vec4& init) {
std::visit([&](auto& v) { return v.setFromInit(init); }, variant);
}
/// @brief Increment intrinsic parameters by inc and if necessary clamp the
/// values to the valid range
inline void applyInc(const VecX& inc) {
std::visit([&](auto& v) { return v += inc; }, variant);
}
/// @brief Returns a vector of intrinsic parameters
///
/// The order of parameters depends on the stored model.
/// @return vector of intrinsic parameters vector
inline VecX getParam() const {
VecX res;
std::visit([&](const auto& cam) { res = cam.getParam(); }, variant);
return res;
}
/// @brief Project a single point and optionally compute Jacobian
///
/// **SLOW** function, as it requires vtable lookup for every projection.
///
/// @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
/// @return if projection is valid
template <typename DerivedJ3DPtr = std::nullptr_t>
inline bool project(const Vec4& p3d, Vec2& proj,
DerivedJ3DPtr d_proj_d_p3d = nullptr) const {
if constexpr (!std::is_same_v<DerivedJ3DPtr, std::nullptr_t>) {
static_assert(std::is_pointer_v<DerivedJ3DPtr>);
using DerivedJ3D = typename std::remove_pointer<DerivedJ3DPtr>::type;
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(DerivedJ3D, 2, 4);
}
bool res;
std::visit(
[&](const auto& cam) { res = cam.project(p3d, proj, d_proj_d_p3d); },
variant);
return res;
}
/// @brief Unproject a single point and optionally compute Jacobian
///
/// **SLOW** function, as it requires vtable lookup for every unprojection.
///
/// @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
/// @return if unprojection is valid
template <typename DerivedJ2DPtr = std::nullptr_t>
inline bool unproject(const Vec2& proj, Vec4& p3d,
DerivedJ2DPtr d_p3d_d_proj = nullptr) const {
if constexpr (!std::is_same_v<DerivedJ2DPtr, std::nullptr_t>) {
static_assert(std::is_pointer_v<DerivedJ2DPtr>);
using DerivedJ2D = typename std::remove_pointer<DerivedJ2DPtr>::type;
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(DerivedJ2D, 4, 2);
}
bool res;
std::visit(
[&](const auto& cam) { res = cam.unproject(proj, p3d, d_p3d_d_proj); },
variant);
return res;
}
/// @brief Project a single point and optionally compute Jacobian
///
/// **SLOW** function, as it requires vtable lookup for every projection.
///
/// @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
/// @return if projection is valid
template <typename DerivedJ3DPtr = std::nullptr_t>
inline bool project(const Vec3& p3d, Vec2& proj,
DerivedJ3DPtr d_proj_d_p3d = nullptr) const {
if constexpr (!std::is_same_v<DerivedJ3DPtr, std::nullptr_t>) {
static_assert(std::is_pointer_v<DerivedJ3DPtr>);
using DerivedJ3D = typename std::remove_pointer<DerivedJ3DPtr>::type;
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(DerivedJ3D, 2, 3);
}
bool res;
std::visit(
[&](const auto& cam) { res = cam.project(p3d, proj, d_proj_d_p3d); },
variant);
return res;
}
/// @brief Unproject a single point and optionally compute Jacobian
///
/// **SLOW** function, as it requires vtable lookup for every unprojection.
///
/// @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
/// @return if unprojection is valid
template <typename DerivedJ2DPtr = std::nullptr_t>
inline bool unproject(const Vec2& proj, Vec3& p3d,
DerivedJ2DPtr d_p3d_d_proj = nullptr) const {
if constexpr (!std::is_same_v<DerivedJ2DPtr, std::nullptr_t>) {
static_assert(std::is_pointer_v<DerivedJ2DPtr>);
using DerivedJ2D = typename std::remove_pointer<DerivedJ2DPtr>::type;
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(DerivedJ2D, 3, 2);
}
bool res;
std::visit(
[&](const auto& cam) { res = cam.unproject(proj, p3d, d_p3d_d_proj); },
variant);
return res;
}
/// @brief Project a vector of points
///
/// @param[in] p3d points to project
/// @param[in] T_c_w transformation from world to camera frame that should be
/// applied to points before projection
/// @param[out] proj results of projection
/// @param[out] proj_success if projection is valid
inline void project(const Eigen::aligned_vector<Vec3>& p3d, const Mat4& T_c_w,
Eigen::aligned_vector<Vec2>& proj,
std::vector<bool>& proj_success) const {
std::visit(
[&](const auto& cam) {
proj.resize(p3d.size());
proj_success.resize(p3d.size());
for (size_t i = 0; i < p3d.size(); i++) {
proj_success[i] =
cam.project(T_c_w * p3d[i].homogeneous(), proj[i]);
}
},
variant);
}
/// @brief Project a vector of points
///
/// @param[in] p3d points to project
/// @param[in] T_c_w transformation from world to camera frame that should be
/// applied to points before projection
/// @param[out] proj results of projection
/// @param[out] proj_success if projection is valid
inline void project(const Eigen::aligned_vector<Vec4>& p3d, const Mat4& T_c_w,
Eigen::aligned_vector<Vec2>& proj,
std::vector<bool>& proj_success) const {
std::visit(
[&](const auto& cam) {
proj.resize(p3d.size());
proj_success.resize(p3d.size());
for (size_t i = 0; i < p3d.size(); i++) {
proj_success[i] = cam.project(T_c_w * p3d[i], proj[i]);
}
},
variant);
}
/// @brief Project a vector of points
///
/// @param[in] p3d points to project
/// @param[out] proj results of projection
/// @param[out] proj_success if projection is valid
inline void project(const Eigen::aligned_vector<Vec4>& p3d,
Eigen::aligned_vector<Vec2>& proj,
std::vector<bool>& proj_success) const {
std::visit(
[&](const auto& cam) {
proj.resize(p3d.size());
proj_success.resize(p3d.size());
for (size_t i = 0; i < p3d.size(); i++) {
proj_success[i] = cam.project(p3d[i], proj[i]);
}
},
variant);
}
/// @brief Project a vector of points, compute polar and azimuthal angles
///
/// @param[in] p3d points to project
/// @param[in] T_c_w transformation from world to camera frame that should be
/// applied to points before projection
/// @param[out] proj results of projection
/// @param[out] proj_success if projection is valid
inline void project(
const Eigen::aligned_vector<Vec4>& p3d, const Mat4& T_c_w,
Eigen::aligned_vector<Vec2>& proj, std::vector<bool>& proj_success,
Eigen::aligned_vector<Vec2>& polar_azimuthal_angle) const {
std::visit(
[&](const auto& cam) {
proj.resize(p3d.size());
proj_success.resize(p3d.size());
polar_azimuthal_angle.resize(p3d.size());
for (size_t i = 0; i < p3d.size(); i++) {
Vec4 p3dt = T_c_w * p3d[i];
proj_success[i] = cam.project(p3dt, proj[i]);
Scalar r2 = p3dt[0] * p3dt[0] + p3dt[1] * p3dt[1];
Scalar r = std::sqrt(r2);
polar_azimuthal_angle[i][0] = std::atan2(r, p3dt[2]);
polar_azimuthal_angle[i][1] = std::atan2(p3dt[0], p3dt[1]);
}
},
variant);
}
/// @brief Unproject a vector of points
///
/// @param[in] proj points to unproject
/// @param[out] p3d results of unprojection
/// @param[out] unproj_success if unprojection is valid
inline void unproject(const Eigen::aligned_vector<Vec2>& proj,
Eigen::aligned_vector<Vec4>& p3d,
std::vector<bool>& unproj_success) const {
std::visit(
[&](const auto& cam) {
p3d.resize(proj.size());
unproj_success.resize(proj.size());
for (size_t i = 0; i < p3d.size(); i++) {
unproj_success[i] = cam.unproject(proj[i], p3d[i]);
}
},
variant);
}
/// @brief Construct a particular type of camera model from name
static GenericCamera<Scalar> fromString(const std::string& name) {
GenericCamera<Scalar> res;
constexpr size_t VARIANT_SIZE = std::variant_size<VariantT>::value;
visitAllTypes<VARIANT_SIZE - 1>(res, name);
return res;
}
VariantT variant;
private:
/// @brief Iterate over all possible types of the variant and construct that
/// type that has a matching name
template <int I>
static void visitAllTypes(GenericCamera<Scalar>& res,
const std::string& name) {
if constexpr (I >= 0) {
using cam_t = typename std::variant_alternative<I, VariantT>::type;
if (cam_t::getName() == name) {
cam_t val;
res.variant = val;
}
visitAllTypes<I - 1>(res, name);
}
}
};
} // namespace basalt