fixed vector size mismatch between matched and status vectors

.gitignore

@@ -0,0 +1,6 @@
+cmake-build-debug
+build
+Build
+*.*~
+.idea
+doxgen_generated

CMakeLists.txt

@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 2.8.8)
+
+add_subdirectory(camera_models)
+add_subdirectory(loop_fusion)
+

LICENSE

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
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+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    {one line to give the program's name and a brief idea of what it does.}
+    Copyright (C) {year}  {name of author}
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    {project}  Copyright (C) {year}  {fullname}
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

ReadMe.md

@@ -0,0 +1,124 @@
+
+# OpenVINS Secondary Pose Graph Example
+
+
+This is an example secondary thread which provides loop closure in a loosely coupled manner for [OpenVINS](https://github.com/rpng/open_vins).
+This code was originally developed by the HKUST aerial robotics group and can be found in the [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) repository.
+Here we stress that this is a loosely coupled method, thus no information is returned to the estimator to improve the underlying OpenVINS odometry.
+This codebase has been modified in a few key areas including: exposing more loop closure parameters, subscribing to camera intrinsics, simplifying configuration such that only topics need to be supplied, and some tweaks to the loop closure detection to improve frequency.
+Please see the below sections on the dependencies of the system along with a discussion of how the loop closure logic works, its improvements, and limitations.
+
+
+
+## Codebase Disclaimer
+
+This code is provided, as is, and is an example of how to use a secondary thread with the OpenVINS system.
+Thus, this code has been directly adapted from the [VINS-Fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) repository without a thorough investigation of the underlying code.
+Therefore we don't have any guarantee of the accuracy or correctness.
+Additionally, for questions about the underlying implementation (besides discussing the changes introduced from the original codebase) we might not be able to answer in detail.
+
+
+
+## Dependencies
+
+* OpenVINS - https://docs.openvins.com/gs-installing.html
+* Ceres Solver - https://github.com/ceres-solver/ceres-solver
+
+
+
+## Installation Commands
+
+
+```
+# setup our workspace
+mkdir -p catkin_ws_ov/src/
+cd catkin_ws_ov
+catkin init
+# repositories to clone
+cd src
+git clone https://github.com/rpng/open_vins.git
+git clone https://github.com/rpng/ov_secondary.git
+# go back to root and build
+cd ..
+catkin build -j4
+# run the OpenVINS system and loop node
+source devel/setup.bash
+roslaunch ov_msckf pgeneva_ros_eth.launch
+roslaunch loop_fusion posegraph.launch
+```
+
+
+
+## Example Results / Discussion
+
+We found that while the secondary pose graph works well in some cases, in many other cases it fails to improve performance or even hurt it.
+For example on the EurocMav dataset there isn't a clear winner in terms of ATE accuracy of the OpenVINS odometry poses being fed into the loop closure module and its published states.
+On these small room datasets, many loop closure candidates are rejected, and thus there are maybe 2-4 loop closures, with V1\_02\_medium dataset having none over the whole trajectory in most cases.
+Also to ensure there are enough points for PnP, the number of tracked features in ov\_msckf needed to be increased to around 300.
+
+![ate eth example](data/ate_eth.png)
+
+
+On the other hand, there are cases where the loop closure clearly helps.
+For example, on a long dataset such as the corridor1 from the [TUM-VI](https://vision.in.tum.de/data/datasets/visual-inertial-dataset) dataset the system running in monocular mode drifts towards the end of the dataset (blue).
+The loop closure (red) is able to correct this and ensure that the ending pose is correct relative to the start (the sensor system returns to the same location in the bottom left of this trajectory).
+
+![tum example](data/tum_example.png)
+
+
+Looking at some more quantitative results on the TUM-VI dataset, a few runs on the room datasets can clearly show the advantage of loop closure.
+These room datasets are limits to the same vicon room environment, and get very frequent loop closures due to this.
+From the below table, it is very clear that using the secondary loop closure thread in most cases has a clear performance gain as compared to the standard odometry.
+
+![ate tumvi example](data/ate_tumvi.png)
+
+
+
+## How VINS-Fusion Loop Closure Works
+
+
+1. We first wait to ensure we have received an initial camera intrinsic and camera to IMU extrinsic message.
+	- Both of these values will change over time if OpenVINS estimate them online
+	- Thus we will subscribe to updates to get the latest calibration
+2. In `pose_graph_node.cpp` we get an image, pointcloud, odometry messages from the OpenVINS system.
+	- Our pointcloud is special and contains all 3d features (in the global frame) seen from the image
+	- Additionally, it has in its channels the raw uv coordinates, normalized coordinates, and feature id for all features
+	- In this case, our image/pointcloud/odometry will all be of the last marginalized clone in OpenVINS
+3. Add the keyframe to our pose graph
+	- This is only done if we have moved enough (typically a few centimeters to remove stationary cases)
+	- Additionally, one can "skip" every few frames so the pose graph has less keyframes
+4. Preprocess information of the keyframe
+	- We will store all the global 3d position of features and their corresponding uvs
+	- Additionally, more features are extracted to help with bag-of-word frame retrieval
+	- These are called `window_keypoints` and `keypoints` respectively
+	- Brief descriptors are extracted for all features
+5. Trying to detect a loop closure
+	- In `pose_graph.cpp` the `addKeyFrame()` function will call on `detectLoop()` to try to find a keyframe
+	- This will query a [DBoW2](https://github.com/dorian3d/DBoW2) database with all past keyframes in it
+	- From the top *n* returned matches, we select the oldest one that passes all our thresholds
+	- This oldest will have the smallest id, and will need to be able to get a valid PnP pose calculated
+6. Pose graph optimization
+	- If we have found a keyframe match, then we should optimize our graph
+	- The keyframe with a loop closure gets appended to `optimize_buf` and will be read by the `optimize4DoF()` thread
+	- Append all keyframes as parameters
+	- If a keyframe has a loop closure, thenappend that as an edge
+	- Always append the relative between the last frame and the current frame (based on OpenVINS odometry)
+	- After optimizing calculate how much the new keyframe should be "corrected" (e.g. `yaw_drift,r_drift,t_drift`)
+7. Publish the current IMU pose as odometry
+	- It is important to note that the pose graph always "lags" behind the estimate
+	- The current state is rotated into the last added keyframe
+	- Then the "correction" to that original keyframe is applied to the state
+	- The corrected pose is then re-published (see `vio_callback()` function)
+
+
+
+## Identified Limitations
+
+* The graph has constant weighting, and thus a single bad loop closure can corrupt the whole estimate
+* Keyframes can only be loop closed to once, thus a keyframe can't be continuously loop closed too
+* Bag-of-word lookups can fail if not exactly near the same perspective
+* How best to quantify that we have a good PnP result from RANSAC?
+* Features that are used are never improved, nor optimized again, they are taken to be "true"
+* Tuning the system is difficult and can hurt performance if not properly tuned
+
+

camera_models/CMakeLists.txt

@@ -0,0 +1,70 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(camera_models)
+
+set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")
+
+find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    std_msgs
+    )
+
+find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
+include_directories(${Boost_INCLUDE_DIRS})
+
+set(OpenCV_DIR "/home/admin1/podmivan/opencv-3.4.16/build")
+set(CUDA_DIR "/usr/local/cuda-11.5")
+find_package(OpenCV 3 REQUIRED)
+
+# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3")
+find_package(Ceres REQUIRED)
+include_directories(${CERES_INCLUDE_DIRS})
+
+
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES camera_models
+    CATKIN_DEPENDS roscpp std_msgs
+#    DEPENDS system_lib
+    )
+
+include_directories(
+    ${catkin_INCLUDE_DIRS}
+    )
+
+include_directories("include")
+
+add_executable(Calibrations 
+    src/intrinsic_calib.cc
+    src/chessboard/Chessboard.cc
+    src/calib/CameraCalibration.cc
+    src/camera_models/Camera.cc
+    src/camera_models/CameraFactory.cc
+    src/camera_models/CostFunctionFactory.cc
+    src/camera_models/PinholeCamera.cc
+    src/camera_models/PinholeFullCamera.cc
+    src/camera_models/CataCamera.cc
+    src/camera_models/EquidistantCamera.cc
+    src/camera_models/ScaramuzzaCamera.cc
+    src/sparse_graph/Transform.cc
+    src/gpl/gpl.cc
+    src/gpl/EigenQuaternionParameterization.cc)
+
+add_library(camera_models
+    src/chessboard/Chessboard.cc
+    src/calib/CameraCalibration.cc
+    src/camera_models/Camera.cc
+    src/camera_models/CameraFactory.cc
+    src/camera_models/CostFunctionFactory.cc
+    src/camera_models/PinholeCamera.cc
+    src/camera_models/PinholeFullCamera.cc
+    src/camera_models/CataCamera.cc
+    src/camera_models/EquidistantCamera.cc
+    src/camera_models/ScaramuzzaCamera.cc
+    src/sparse_graph/Transform.cc
+    src/gpl/gpl.cc
+    src/gpl/EigenQuaternionParameterization.cc)
+
+target_link_libraries(Calibrations ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
+target_link_libraries(camera_models ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})

camera_models/camera_calib_example/readme.txt

@@ -0,0 +1,8 @@
+# help for checking input parameters.
+rosrun camera_models Calibrations --help
+
+# example pinhole model.
+rosrun camera_models Calibrations -w 12 -h 8 -s 80 -i calibrationdata --camera-model pinhole
+
+# example mei model.
+rosrun camera_models Calibrations -w 12 -h 8 -s 80 -i calibrationdata --camera-model mei

camera_models/include/camodocal/calib/CameraCalibration.h

@@ -0,0 +1,81 @@
+#ifndef CAMERACALIBRATION_H
+#define CAMERACALIBRATION_H
+
+#include <opencv2/core/core.hpp>
+
+#include "camodocal/camera_models/Camera.h"
+
+namespace camodocal
+{
+
+class CameraCalibration
+{
+public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    CameraCalibration();
+
+    CameraCalibration(Camera::ModelType modelType,
+                      const std::string& cameraName,
+                      const cv::Size& imageSize,
+                      const cv::Size& boardSize,
+                      float squareSize);
+
+    void clear(void);
+
+    void addChessboardData(const std::vector<cv::Point2f>& corners);
+
+    bool calibrate(void);
+
+    int sampleCount(void) const;
+    std::vector<std::vector<cv::Point2f> >& imagePoints(void);
+    const std::vector<std::vector<cv::Point2f> >& imagePoints(void) const;
+    std::vector<std::vector<cv::Point3f> >& scenePoints(void);
+    const std::vector<std::vector<cv::Point3f> >& scenePoints(void) const;
+    CameraPtr& camera(void);
+    const CameraConstPtr camera(void) const;
+
+    Eigen::Matrix2d& measurementCovariance(void);
+    const Eigen::Matrix2d& measurementCovariance(void) const;
+
+    cv::Mat& cameraPoses(void);
+    const cv::Mat& cameraPoses(void) const;
+
+    void drawResults(std::vector<cv::Mat>& images) const;
+
+    void writeParams(const std::string& filename) const;
+
+    bool writeChessboardData(const std::string& filename) const;
+    bool readChessboardData(const std::string& filename);
+
+    void setVerbose(bool verbose);
+
+private:
+    bool calibrateHelper(CameraPtr& camera,
+                         std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs) const;
+
+    void optimize(CameraPtr& camera,
+                  std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs) const;
+
+    template<typename T>
+    void readData(std::ifstream& ifs, T& data) const;
+
+    template<typename T>
+    void writeData(std::ofstream& ofs, T data) const;
+
+    cv::Size m_boardSize;
+    float m_squareSize;
+
+    CameraPtr m_camera;
+    cv::Mat m_cameraPoses;
+
+    std::vector<std::vector<cv::Point2f> > m_imagePoints;
+    std::vector<std::vector<cv::Point3f> > m_scenePoints;
+
+    Eigen::Matrix2d m_measurementCovariance;
+
+    bool m_verbose;
+};
+
+}
+
+#endif

camera_models/include/camodocal/camera_models/Camera.h

@@ -0,0 +1,148 @@
+#ifndef CAMERA_H
+#define CAMERA_H
+
+#include <boost/shared_ptr.hpp>
+#include <eigen3/Eigen/Dense>
+#include <opencv2/core/core.hpp>
+#include <vector>
+
+namespace camodocal
+{
+
+class Camera
+{
+    public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    enum ModelType
+    {
+        KANNALA_BRANDT,
+        MEI,
+        PINHOLE,
+        PINHOLE_FULL,
+        SCARAMUZZA
+    };
+
+    class Parameters
+    {
+        public:
+        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        Parameters( ModelType modelType );
+
+        Parameters( ModelType modelType, const std::string& cameraName, int w, int h );
+
+        ModelType& modelType( void );
+        std::string& cameraName( void );
+        int& imageWidth( void );
+        int& imageHeight( void );
+
+        ModelType modelType( void ) const;
+        const std::string& cameraName( void ) const;
+        int imageWidth( void ) const;
+        int imageHeight( void ) const;
+
+        int nIntrinsics( void ) const;
+
+        virtual bool readFromYamlFile( const std::string& filename )      = 0;
+        virtual void writeToYamlFile( const std::string& filename ) const = 0;
+
+        protected:
+        ModelType m_modelType;
+        int m_nIntrinsics;
+        std::string m_cameraName;
+        int m_imageWidth;
+        int m_imageHeight;
+    };
+
+    virtual ModelType modelType( void ) const           = 0;
+    virtual const std::string& cameraName( void ) const = 0;
+    virtual int imageWidth( void ) const                = 0;
+    virtual int imageHeight( void ) const               = 0;
+
+    virtual cv::Mat& mask( void );
+    virtual const cv::Mat& mask( void ) const;
+
+    virtual void estimateIntrinsics( const cv::Size& boardSize,
+                                     const std::vector< std::vector< cv::Point3f > >& objectPoints,
+                                     const std::vector< std::vector< cv::Point2f > >& imagePoints )
+    = 0;
+    virtual void estimateExtrinsics( const std::vector< cv::Point3f >& objectPoints,
+                                     const std::vector< cv::Point2f >& imagePoints,
+                                     cv::Mat& rvec,
+                                     cv::Mat& tvec ) const;
+
+    // Lift points from the image plane to the sphere
+    virtual void liftSphere( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const = 0;
+    //%output P
+
+    // Lift points from the image plane to the projective space
+    virtual void liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const = 0;
+    //%output P
+
+    // Projects 3D points to the image plane (Pi function)
+    virtual void spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p ) const = 0;
+    //%output p
+
+    // Projects 3D points to the image plane (Pi function)
+    // and calculates jacobian
+    // virtual void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
+    //                          Eigen::Matrix<double,2,3>& J) const = 0;
+    //%output p
+    //%output J
+
+    virtual void undistToPlane( const Eigen::Vector2d& p_u, Eigen::Vector2d& p ) const = 0;
+    //%output p
+
+    // virtual void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0)
+    // const = 0;
+    virtual cv::Mat initUndistortRectifyMap( cv::Mat& map1,
+                                             cv::Mat& map2,
+                                             float fx           = -1.0f,
+                                             float fy           = -1.0f,
+                                             cv::Size imageSize = cv::Size( 0, 0 ),
+                                             float cx           = -1.0f,
+                                             float cy           = -1.0f,
+                                             cv::Mat rmat = cv::Mat::eye( 3, 3, CV_32F ) ) const = 0;
+
+    virtual int parameterCount( void ) const = 0;
+
+    virtual void readParameters( const std::vector< double >& parameters )  = 0;
+    virtual void writeParameters( std::vector< double >& parameters ) const = 0;
+
+    virtual void writeParametersToYamlFile( const std::string& filename ) const = 0;
+
+    virtual std::string parametersToString( void ) const = 0;
+
+    /**
+     * \brief Calculates the reprojection distance between points
+     *
+     * \param P1 first 3D point coordinates
+     * \param P2 second 3D point coordinates
+     * \return euclidean distance in the plane
+     */
+    double reprojectionDist( const Eigen::Vector3d& P1, const Eigen::Vector3d& P2 ) const;
+
+    double reprojectionError( const std::vector< std::vector< cv::Point3f > >& objectPoints,
+                              const std::vector< std::vector< cv::Point2f > >& imagePoints,
+                              const std::vector< cv::Mat >& rvecs,
+                              const std::vector< cv::Mat >& tvecs,
+                              cv::OutputArray perViewErrors = cv::noArray( ) ) const;
+
+    double reprojectionError( const Eigen::Vector3d& P,
+                              const Eigen::Quaterniond& camera_q,
+                              const Eigen::Vector3d& camera_t,
+                              const Eigen::Vector2d& observed_p ) const;
+
+    void projectPoints( const std::vector< cv::Point3f >& objectPoints,
+                        const cv::Mat& rvec,
+                        const cv::Mat& tvec,
+                        std::vector< cv::Point2f >& imagePoints ) const;
+
+    protected:
+    cv::Mat m_mask;
+};
+
+typedef boost::shared_ptr< Camera > CameraPtr;
+typedef boost::shared_ptr< const Camera > CameraConstPtr;
+}
+
+#endif

camera_models/include/camodocal/camera_models/CameraFactory.h

@@ -0,0 +1,32 @@
+#ifndef CAMERAFACTORY_H
+#define CAMERAFACTORY_H
+
+#include <boost/shared_ptr.hpp>
+#include <opencv2/core/core.hpp>
+
+#include "camodocal/camera_models/Camera.h"
+
+namespace camodocal
+{
+
+class CameraFactory
+{
+public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    CameraFactory();
+
+    static boost::shared_ptr<CameraFactory> instance(void);
+
+    CameraPtr generateCamera(Camera::ModelType modelType,
+                             const std::string& cameraName,
+                             cv::Size imageSize) const;
+
+    CameraPtr generateCameraFromYamlFile(const std::string& filename);
+
+private:
+    static boost::shared_ptr<CameraFactory> m_instance;
+};
+
+}
+
+#endif

camera_models/include/camodocal/camera_models/CataCamera.h

@@ -0,0 +1,210 @@
+#ifndef CATACAMERA_H
+#define CATACAMERA_H
+
+#include <opencv2/core/core.hpp>
+#include <string>
+
+#include "ceres/rotation.h"
+#include "Camera.h"
+
+namespace camodocal
+{
+
+/**
+ * C. Mei, and P. Rives, Single View Point Omnidirectional Camera Calibration
+ * from Planar Grids, ICRA 2007
+ */
+
+class CataCamera: public Camera
+{
+public:
+    class Parameters: public Camera::Parameters
+    {
+    public:
+        Parameters();
+        Parameters(const std::string& cameraName,
+                   int w, int h,
+                   double xi,
+                   double k1, double k2, double p1, double p2,
+                   double gamma1, double gamma2, double u0, double v0);
+
+        double& xi(void);
+        double& k1(void);
+        double& k2(void);
+        double& p1(void);
+        double& p2(void);
+        double& gamma1(void);
+        double& gamma2(void);
+        double& u0(void);
+        double& v0(void);
+
+        double xi(void) const;
+        double k1(void) const;
+        double k2(void) const;
+        double p1(void) const;
+        double p2(void) const;
+        double gamma1(void) const;
+        double gamma2(void) const;
+        double u0(void) const;
+        double v0(void) const;
+
+        bool readFromYamlFile(const std::string& filename);
+        void writeToYamlFile(const std::string& filename) const;
+
+        Parameters& operator=(const Parameters& other);
+        friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
+
+    private:
+        double m_xi;
+        double m_k1;
+        double m_k2;
+        double m_p1;
+        double m_p2;
+        double m_gamma1;
+        double m_gamma2;
+        double m_u0;
+        double m_v0;
+    };
+
+    CataCamera();
+
+    /**
+    * \brief Constructor from the projection model parameters
+    */
+    CataCamera(const std::string& cameraName,
+               int imageWidth, int imageHeight,
+               double xi, double k1, double k2, double p1, double p2,
+               double gamma1, double gamma2, double u0, double v0);
+    /**
+    * \brief Constructor from the projection model parameters
+    */
+    CataCamera(const Parameters& params);
+
+    Camera::ModelType modelType(void) const;
+    const std::string& cameraName(void) const;
+    int imageWidth(void) const;
+    int imageHeight(void) const;
+
+    void estimateIntrinsics(const cv::Size& boardSize,
+                            const std::vector< std::vector<cv::Point3f> >& objectPoints,
+                            const std::vector< std::vector<cv::Point2f> >& imagePoints);
+
+    // Lift points from the image plane to the sphere
+    void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
+    //%output P
+
+    // Lift points from the image plane to the projective space
+    void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
+    //%output P
+
+    // Projects 3D points to the image plane (Pi function)
+    void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;
+    //%output p
+
+    // Projects 3D points to the image plane (Pi function)
+    // and calculates jacobian
+    void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
+                      Eigen::Matrix<double,2,3>& J) const;
+    //%output p
+    //%output J
+
+    void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;
+    //%output p
+
+    template <typename T>
+    static void spaceToPlane(const T* const params,
+                             const T* const q, const T* const t,
+                             const Eigen::Matrix<T, 3, 1>& P,
+                             Eigen::Matrix<T, 2, 1>& p);
+
+    void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const;
+    void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u,
+                    Eigen::Matrix2d& J) const;
+
+    void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;
+    cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
+                                    float fx = -1.0f, float fy = -1.0f,
+                                    cv::Size imageSize = cv::Size(0, 0),
+                                    float cx = -1.0f, float cy = -1.0f,
+                                    cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;
+
+    int parameterCount(void) const;
+
+    const Parameters& getParameters(void) const;
+    void setParameters(const Parameters& parameters);
+
+    void readParameters(const std::vector<double>& parameterVec);
+    void writeParameters(std::vector<double>& parameterVec) const;
+
+    void writeParametersToYamlFile(const std::string& filename) const;
+
+    std::string parametersToString(void) const;
+
+private:
+    Parameters mParameters;
+
+    double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
+    bool m_noDistortion;
+};
+
+typedef boost::shared_ptr<CataCamera> CataCameraPtr;
+typedef boost::shared_ptr<const CataCamera> CataCameraConstPtr;
+
+template <typename T>
+void
+CataCamera::spaceToPlane(const T* const params,
+                         const T* const q, const T* const t,
+                         const Eigen::Matrix<T, 3, 1>& P,
+                         Eigen::Matrix<T, 2, 1>& p)
+{
+    T P_w[3];
+    P_w[0] = T(P(0));
+    P_w[1] = T(P(1));
+    P_w[2] = T(P(2));
+
+    // Convert quaternion from Eigen convention (x, y, z, w)
+    // to Ceres convention (w, x, y, z)
+    T q_ceres[4] = {q[3], q[0], q[1], q[2]};
+
+    T P_c[3];
+    ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
+
+    P_c[0] += t[0];
+    P_c[1] += t[1];
+    P_c[2] += t[2];
+
+    // project 3D object point to the image plane
+    T xi = params[0];
+    T k1 = params[1];
+    T k2 = params[2];
+    T p1 = params[3];
+    T p2 = params[4];
+    T gamma1 = params[5];
+    T gamma2 = params[6];
+    T alpha = T(0); //cameraParams.alpha();
+    T u0 = params[7];
+    T v0 = params[8];
+
+    // Transform to model plane
+    T len = sqrt(P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2]);
+    P_c[0] /= len;
+    P_c[1] /= len;
+    P_c[2] /= len;
+
+    T u = P_c[0] / (P_c[2] + xi);
+    T v = P_c[1] / (P_c[2] + xi);
+
+    T rho_sqr = u * u + v * v;
+    T L = T(1.0) + k1 * rho_sqr + k2 * rho_sqr * rho_sqr;
+    T du = T(2.0) * p1 * u * v + p2 * (rho_sqr + T(2.0) * u * u);
+    T dv = p1 * (rho_sqr + T(2.0) * v * v) + T(2.0) * p2 * u * v;
+
+    u = L * u + du;
+    v = L * v + dv;
+    p(0) = gamma1 * (u + alpha * v) + u0;
+    p(1) = gamma2 * v + v0;
+}
+
+}
+
+#endif

camera_models/include/camodocal/camera_models/CostFunctionFactory.h

@@ -0,0 +1,82 @@
+#ifndef COSTFUNCTIONFACTORY_H
+#define COSTFUNCTIONFACTORY_H
+
+#include <boost/shared_ptr.hpp>
+#include <opencv2/core/core.hpp>
+
+#include "camodocal/camera_models/Camera.h"
+
+namespace ceres
+{
+    class CostFunction;
+}
+
+namespace camodocal
+{
+
+enum
+{
+    CAMERA_INTRINSICS =         1 << 0,
+    CAMERA_POSE =               1 << 1,
+    POINT_3D =                  1 << 2,
+    ODOMETRY_INTRINSICS =       1 << 3,
+    ODOMETRY_3D_POSE =          1 << 4,
+    ODOMETRY_6D_POSE =          1 << 5,
+    CAMERA_ODOMETRY_TRANSFORM = 1 << 6
+};
+
+class CostFunctionFactory
+{
+public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    CostFunctionFactory();
+
+    static boost::shared_ptr<CostFunctionFactory> instance(void);
+
+    ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
+                                              const Eigen::Vector3d& observed_P,
+                                              const Eigen::Vector2d& observed_p,
+                                              int flags) const;
+
+    ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
+                                              const Eigen::Vector3d& observed_P,
+                                              const Eigen::Vector2d& observed_p,
+                                              const Eigen::Matrix2d& sqrtPrecisionMat,
+                                              int flags) const;
+
+    ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
+                                              const Eigen::Vector2d& observed_p,
+                                              int flags, bool optimize_cam_odo_z = true) const;
+
+    ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
+                                              const Eigen::Vector2d& observed_p,
+                                              const Eigen::Matrix2d& sqrtPrecisionMat,
+                                              int flags, bool optimize_cam_odo_z = true) const;
+
+    ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
+                                              const Eigen::Vector3d& odo_pos,
+                                              const Eigen::Vector3d& odo_att,
+                                              const Eigen::Vector2d& observed_p,
+                                              int flags, bool optimize_cam_odo_z = true) const;
+
+    ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
+                                              const Eigen::Quaterniond& cam_odo_q,
+                                              const Eigen::Vector3d& cam_odo_t,
+                                              const Eigen::Vector3d& odo_pos,
+                                              const Eigen::Vector3d& odo_att,
+                                              const Eigen::Vector2d& observed_p,
+                                              int flags) const;
+
+    ceres::CostFunction* generateCostFunction(const CameraConstPtr& cameraLeft,
+                                              const CameraConstPtr& cameraRight,
+                                              const Eigen::Vector3d& observed_P,
+                                              const Eigen::Vector2d& observed_p_left,
+                                              const Eigen::Vector2d& observed_p_right) const;
+
+private:
+    static boost::shared_ptr<CostFunctionFactory> m_instance;
+};
+
+}
+
+#endif

camera_models/include/camodocal/camera_models/EquidistantCamera.h

@@ -0,0 +1,215 @@
+#ifndef EQUIDISTANTCAMERA_H
+#define EQUIDISTANTCAMERA_H
+
+#include <opencv2/core/core.hpp>
+#include <string>
+
+#include "ceres/rotation.h"
+#include "Camera.h"
+
+namespace camodocal
+{
+
+/**
+ * J. Kannala, and S. Brandt, A Generic Camera Model and Calibration Method
+ * for Conventional, Wide-Angle, and Fish-Eye Lenses, PAMI 2006
+ */
+
+class EquidistantCamera: public Camera
+{
+public:
+    class Parameters: public Camera::Parameters
+    {
+    public:
+        Parameters();
+        Parameters(const std::string& cameraName,
+                   int w, int h,
+                   double k2, double k3, double k4, double k5,
+                   double mu, double mv,
+                   double u0, double v0);
+
+        double& k2(void);
+        double& k3(void);
+        double& k4(void);
+        double& k5(void);
+        double& mu(void);
+        double& mv(void);
+        double& u0(void);
+        double& v0(void);
+
+        double k2(void) const;
+        double k3(void) const;
+        double k4(void) const;
+        double k5(void) const;
+        double mu(void) const;
+        double mv(void) const;
+        double u0(void) const;
+        double v0(void) const;
+
+        bool readFromYamlFile(const std::string& filename);
+        void writeToYamlFile(const std::string& filename) const;
+
+        Parameters& operator=(const Parameters& other);
+        friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
+
+    private:
+        // projection
+        double m_k2;
+        double m_k3;
+        double m_k4;
+        double m_k5;
+
+        double m_mu;
+        double m_mv;
+        double m_u0;
+        double m_v0;
+    };
+
+    EquidistantCamera();
+
+    /**
+    * \brief Constructor from the projection model parameters
+    */
+    EquidistantCamera(const std::string& cameraName,
+                      int imageWidth, int imageHeight,
+                      double k2, double k3, double k4, double k5,
+                      double mu, double mv,
+                      double u0, double v0);
+    /**
+    * \brief Constructor from the projection model parameters
+    */
+    EquidistantCamera(const Parameters& params);
+
+    Camera::ModelType modelType(void) const;
+    const std::string& cameraName(void) const;
+    int imageWidth(void) const;
+    int imageHeight(void) const;
+
+    void estimateIntrinsics(const cv::Size& boardSize,
+                            const std::vector< std::vector<cv::Point3f> >& objectPoints,
+                            const std::vector< std::vector<cv::Point2f> >& imagePoints);
+
+    // Lift points from the image plane to the sphere
+    virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
+    //%output P
+
+    // Lift points from the image plane to the projective space
+    void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
+    //%output P
+
+    // Projects 3D points to the image plane (Pi function)
+    void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;
+    //%output p
+
+    // Projects 3D points to the image plane (Pi function)
+    // and calculates jacobian
+    void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
+                      Eigen::Matrix<double,2,3>& J) const;
+    //%output p
+    //%output J
+
+    void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;
+    //%output p
+
+    template <typename T>
+    static void spaceToPlane(const T* const params,
+                             const T* const q, const T* const t,
+                             const Eigen::Matrix<T, 3, 1>& P,
+                             Eigen::Matrix<T, 2, 1>& p);
+
+    void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;
+    cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
+                                    float fx = -1.0f, float fy = -1.0f,
+                                    cv::Size imageSize = cv::Size(0, 0),
+                                    float cx = -1.0f, float cy = -1.0f,
+                                    cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;
+
+    int parameterCount(void) const;
+
+    const Parameters& getParameters(void) const;
+    void setParameters(const Parameters& parameters);
+
+    void readParameters(const std::vector<double>& parameterVec);
+    void writeParameters(std::vector<double>& parameterVec) const;
+
+    void writeParametersToYamlFile(const std::string& filename) const;
+
+    std::string parametersToString(void) const;
+
+private:
+    template<typename T>
+    static T r(T k2, T k3, T k4, T k5, T theta);
+
+
+    void fitOddPoly(const std::vector<double>& x, const std::vector<double>& y,
+                    int n, std::vector<double>& coeffs) const;
+
+    void backprojectSymmetric(const Eigen::Vector2d& p_u,
+                              double& theta, double& phi) const;
+
+    Parameters mParameters;
+
+    double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
+};
+
+typedef boost::shared_ptr<EquidistantCamera> EquidistantCameraPtr;
+typedef boost::shared_ptr<const EquidistantCamera> EquidistantCameraConstPtr;
+
+template<typename T>
+T
+EquidistantCamera::r(T k2, T k3, T k4, T k5, T theta)
+{
+    // k1 = 1
+    return theta +
+           k2 * theta * theta * theta +
+           k3 * theta * theta * theta * theta * theta +
+           k4 * theta * theta * theta * theta * theta * theta * theta +
+           k5 * theta * theta * theta * theta * theta * theta * theta * theta * theta;
+}
+
+template <typename T>
+void
+EquidistantCamera::spaceToPlane(const T* const params,
+                                const T* const q, const T* const t,
+                                const Eigen::Matrix<T, 3, 1>& P,
+                                Eigen::Matrix<T, 2, 1>& p)
+{
+    T P_w[3];
+    P_w[0] = T(P(0));
+    P_w[1] = T(P(1));
+    P_w[2] = T(P(2));
+
+    // Convert quaternion from Eigen convention (x, y, z, w)
+    // to Ceres convention (w, x, y, z)
+    T q_ceres[4] = {q[3], q[0], q[1], q[2]};
+
+    T P_c[3];
+    ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
+
+    P_c[0] += t[0];
+    P_c[1] += t[1];
+    P_c[2] += t[2];
+
+    // project 3D object point to the image plane;
+    T k2 = params[0];
+    T k3 = params[1];
+    T k4 = params[2];
+    T k5 = params[3];
+    T mu = params[4];
+    T mv = params[5];
+    T u0 = params[6];
+    T v0 = params[7];
+
+    T len = sqrt(P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2]);
+    T theta = acos(P_c[2] / len);
+    T phi = atan2(P_c[1], P_c[0]);
+
+    Eigen::Matrix<T,2,1> p_u = r(k2, k3, k4, k5, theta) * Eigen::Matrix<T,2,1>(cos(phi), sin(phi));
+
+    p(0) = mu * p_u(0) + u0;
+    p(1) = mv * p_u(1) + v0;
+}
+
+}
+
+#endif

camera_models/include/camodocal/camera_models/PinholeCamera.h

@@ -0,0 +1,196 @@
+#ifndef PINHOLECAMERA_H
+#define PINHOLECAMERA_H
+
+#include <opencv2/core/core.hpp>
+#include <string>
+
+#include "ceres/rotation.h"
+#include "Camera.h"
+
+namespace camodocal
+{
+
+class PinholeCamera: public Camera
+{
+public:
+    class Parameters: public Camera::Parameters
+    {
+    public:
+        Parameters();
+        Parameters(const std::string& cameraName,
+                   int w, int h,
+                   double k1, double k2, double p1, double p2,
+                   double fx, double fy, double cx, double cy);
+
+        double& k1(void);
+        double& k2(void);
+        double& p1(void);
+        double& p2(void);
+        double& fx(void);
+        double& fy(void);
+        double& cx(void);
+        double& cy(void);
+
+        double xi(void) const;
+        double k1(void) const;
+        double k2(void) const;
+        double p1(void) const;
+        double p2(void) const;
+        double fx(void) const;
+        double fy(void) const;
+        double cx(void) const;
+        double cy(void) const;
+
+        bool readFromYamlFile(const std::string& filename);
+        void writeToYamlFile(const std::string& filename) const;
+
+        Parameters& operator=(const Parameters& other);
+        friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
+
+    private:
+        double m_k1;
+        double m_k2;
+        double m_p1;
+        double m_p2;
+        double m_fx;
+        double m_fy;
+        double m_cx;
+        double m_cy;
+    };
+
+    PinholeCamera();
+
+    /**
+    * \brief Constructor from the projection model parameters
+    */
+    PinholeCamera(const std::string& cameraName,
+                  int imageWidth, int imageHeight,
+                  double k1, double k2, double p1, double p2,
+                  double fx, double fy, double cx, double cy);
+    /**
+    * \brief Constructor from the projection model parameters
+    */
+    PinholeCamera(const Parameters& params);
+
+    Camera::ModelType modelType(void) const;
+    const std::string& cameraName(void) const;
+    int imageWidth(void) const;
+    int imageHeight(void) const;
+
+    void estimateIntrinsics(const cv::Size& boardSize,
+                            const std::vector< std::vector<cv::Point3f> >& objectPoints,
+                            const std::vector< std::vector<cv::Point2f> >& imagePoints);
+
+    // Lift points from the image plane to the sphere
+    virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
+    //%output P
+
+    // Lift points from the image plane to the projective space
+    void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
+    //%output P
+
+    // Projects 3D points to the image plane (Pi function)
+    void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;
+    //%output p
+
+    // Projects 3D points to the image plane (Pi function)
+    // and calculates jacobian
+    void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
+                      Eigen::Matrix<double,2,3>& J) const;
+    //%output p
+    //%output J
+
+    void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;
+    //%output p
+
+    template <typename T>
+    static void spaceToPlane(const T* const params,
+                             const T* const q, const T* const t,
+                             const Eigen::Matrix<T, 3, 1>& P,
+                             Eigen::Matrix<T, 2, 1>& p);
+
+    void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const;
+    void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u,
+                    Eigen::Matrix2d& J) const;
+
+    void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;
+    cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
+                                    float fx = -1.0f, float fy = -1.0f,
+                                    cv::Size imageSize = cv::Size(0, 0),
+                                    float cx = -1.0f, float cy = -1.0f,
+                                    cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;
+
+    int parameterCount(void) const;
+
+    const Parameters& getParameters(void) const;
+    void setParameters(const Parameters& parameters);
+
+    void readParameters(const std::vector<double>& parameterVec);
+    void writeParameters(std::vector<double>& parameterVec) const;
+
+    void writeParametersToYamlFile(const std::string& filename) const;
+
+    std::string parametersToString(void) const;
+
+private:
+    Parameters mParameters;
+
+    double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
+    bool m_noDistortion;
+};
+
+typedef boost::shared_ptr<PinholeCamera> PinholeCameraPtr;
+typedef boost::shared_ptr<const PinholeCamera> PinholeCameraConstPtr;
+
+template <typename T>
+void
+PinholeCamera::spaceToPlane(const T* const params,
+                            const T* const q, const T* const t,
+                            const Eigen::Matrix<T, 3, 1>& P,
+                            Eigen::Matrix<T, 2, 1>& p)
+{
+    T P_w[3];
+    P_w[0] = T(P(0));
+    P_w[1] = T(P(1));
+    P_w[2] = T(P(2));
+
+    // Convert quaternion from Eigen convention (x, y, z, w)
+    // to Ceres convention (w, x, y, z)
+    T q_ceres[4] = {q[3], q[0], q[1], q[2]};
+
+    T P_c[3];
+    ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
+
+    P_c[0] += t[0];
+    P_c[1] += t[1];
+    P_c[2] += t[2];
+
+    // project 3D object point to the image plane
+    T k1 = params[0];
+    T k2 = params[1];
+    T p1 = params[2];
+    T p2 = params[3];
+    T fx = params[4];
+    T fy = params[5];
+    T alpha = T(0); //cameraParams.alpha();
+    T cx = params[6];
+    T cy = params[7];
+
+    // Transform to model plane
+    T u = P_c[0] / P_c[2];
+    T v = P_c[1] / P_c[2];
+
+    T rho_sqr = u * u + v * v;
+    T L = T(1.0) + k1 * rho_sqr + k2 * rho_sqr * rho_sqr;
+    T du = T(2.0) * p1 * u * v + p2 * (rho_sqr + T(2.0) * u * u);
+    T dv = p1 * (rho_sqr + T(2.0) * v * v) + T(2.0) * p2 * u * v;
+
+    u = L * u + du;
+    v = L * v + dv;
+    p(0) = fx * (u + alpha * v) + cx;
+    p(1) = fy * v + cy;
+}
+
+}
+
+#endif

camera_models/include/camodocal/camera_models/PinholeFullCamera.h

@@ -0,0 +1,274 @@
+#ifndef PinholeFullCAMERA_H
+#define PinholeFullCAMERA_H
+
+#include <opencv2/core/core.hpp>
+#include <string>
+
+#include "Camera.h"
+#include "ceres/rotation.h"
+
+namespace camodocal
+{
+
+class PinholeFullCamera : public Camera
+{
+    public:
+    class Parameters : public Camera::Parameters
+    {
+        public:
+        Parameters( );
+        Parameters( const std::string& cameraName,
+                    int w,
+                    int h,
+                    double k1,
+                    double k2,
+                    double k3,
+                    double k4,
+                    double k5,
+                    double k6,
+                    double p1,
+                    double p2,
+                    double fx,
+                    double fy,
+                    double cx,
+                    double cy );
+
+        double& k1( void );
+        double& k2( void );
+        double& k3( void );
+        double& k4( void );
+        double& k5( void );
+        double& k6( void );
+        double& p1( void );
+        double& p2( void );
+        double& fx( void );
+        double& fy( void );
+        double& cx( void );
+        double& cy( void );
+
+        double xi( void ) const;
+        double k1( void ) const;
+        double k2( void ) const;
+        double k3( void ) const;
+        double k4( void ) const;
+        double k5( void ) const;
+        double k6( void ) const;
+        double p1( void ) const;
+        double p2( void ) const;
+        double fx( void ) const;
+        double fy( void ) const;
+        double cx( void ) const;
+        double cy( void ) const;
+
+        bool readFromYamlFile( const std::string& filename );
+        void writeToYamlFile( const std::string& filename ) const;
+
+        Parameters& operator=( const Parameters& other );
+        friend std::ostream& operator<<( std::ostream& out, const Parameters& params );
+
+        private:
+        double m_k1;
+        double m_k2;
+        double m_p1;
+        double m_p2;
+        double m_fx;
+        double m_fy;
+        double m_cx;
+        double m_cy;
+        double m_k3;
+        double m_k4;
+        double m_k5;
+        double m_k6;
+    };
+
+    PinholeFullCamera( );
+
+    /**
+     * \brief Constructor from the projection model parameters
+     */
+    PinholeFullCamera( const std::string& cameraName,
+                       int imageWidth,
+                       int imageHeight,
+                       double k1,
+                       double k2,
+                       double k3,
+                       double k4,
+                       double k5,
+                       double k6,
+                       double p1,
+                       double p2,
+                       double fx,
+                       double fy,
+                       double cx,
+                       double cy );
+    /**
+     * \brief Constructor from the projection model parameters
+     */
+    PinholeFullCamera( const Parameters& params );
+
+    Camera::ModelType modelType( void ) const;
+    const std::string& cameraName( void ) const;
+    int imageWidth( void ) const;
+    int imageHeight( void ) const;
+    cv::Size imageSize( ) const { return cv::Size( imageWidth( ), imageHeight( ) ); }
+    cv::Point2f getPrinciple( ) const
+    {
+        return cv::Point2f( mParameters.cx( ), mParameters.cy( ) );
+    }
+
+    void estimateIntrinsics( const cv::Size& boardSize,
+                             const std::vector< std::vector< cv::Point3f > >& objectPoints,
+                             const std::vector< std::vector< cv::Point2f > >& imagePoints );
+
+    void setInitIntrinsics( const std::vector< std::vector< cv::Point3f > >& objectPoints,
+                            const std::vector< std::vector< cv::Point2f > >& imagePoints )
+    {
+        Parameters params = getParameters( );
+
+        params.k1( ) = 0.0;
+        params.k2( ) = 0.0;
+        params.k3( ) = 0.0;
+        params.k4( ) = 0.0;
+        params.k5( ) = 0.0;
+        params.k6( ) = 0.0;
+        params.p1( ) = 0.0;
+        params.p2( ) = 0.0;
+
+        double cx    = params.imageWidth( ) / 2.0;
+        double cy    = params.imageHeight( ) / 2.0;
+        params.cx( ) = cx;
+        params.cy( ) = cy;
+        params.fx( ) = 1200;
+        params.fy( ) = 1200;
+
+        setParameters( params );
+    }
+
+    // Lift points from the image plane to the sphere
+    virtual void liftSphere( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const;
+    //%output P
+
+    // Lift points from the image plane to the projective space
+    void liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const;
+    //%output P
+
+    void liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P, float image_scale ) const;
+
+    // Projects 3D points to the image plane (Pi function)
+    void spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p ) const;
+    //%output p
+
+    void spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p, float image_scalse ) const;
+
+    // Projects 3D points to the image plane (Pi function)
+    // and calculates jacobian
+    void spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p, Eigen::Matrix< double, 2, 3 >& J ) const;
+    //%output p
+    //%output J
+
+    void undistToPlane( const Eigen::Vector2d& p_u, Eigen::Vector2d& p ) const;
+    //%output p
+
+    template< typename T >
+    static void spaceToPlane( const T* const params,
+                              const T* const q,
+                              const T* const t,
+                              const Eigen::Matrix< T, 3, 1 >& P,
+                              Eigen::Matrix< T, 2, 1 >& p );
+
+    void distortion( const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u ) const;
+    void distortion( const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u, Eigen::Matrix2d& J ) const;
+
+    void initUndistortMap( cv::Mat& map1, cv::Mat& map2, double fScale = 1.0 ) const;
+    cv::Mat initUndistortRectifyMap( cv::Mat& map1,
+                                     cv::Mat& map2,
+                                     float fx           = -1.0f,
+                                     float fy           = -1.0f,
+                                     cv::Size imageSize = cv::Size( 0, 0 ),
+                                     float cx           = -1.0f,
+                                     float cy           = -1.0f,
+                                     cv::Mat rmat = cv::Mat::eye( 3, 3, CV_32F ) ) const;
+
+    int parameterCount( void ) const;
+
+    const Parameters& getParameters( void ) const;
+    void setParameters( const Parameters& parameters );
+
+    void readParameters( const std::vector< double >& parameterVec );
+    void writeParameters( std::vector< double >& parameterVec ) const;
+
+    void writeParametersToYamlFile( const std::string& filename ) const;
+
+    std::string parametersToString( void ) const;
+
+    private:
+    Parameters mParameters;
+
+    double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
+    bool m_noDistortion;
+};
+
+typedef boost::shared_ptr< PinholeFullCamera > PinholeFullCameraPtr;
+typedef boost::shared_ptr< const PinholeFullCamera > PinholeFullCameraConstPtr;
+
+template< typename T >
+void
+PinholeFullCamera::spaceToPlane( const T* const params,
+                                 const T* const q,
+                                 const T* const t,
+                                 const Eigen::Matrix< T, 3, 1 >& P,
+                                 Eigen::Matrix< T, 2, 1 >& p )
+{
+    T P_w[3];
+    P_w[0] = T( P( 0 ) );
+    P_w[1] = T( P( 1 ) );
+    P_w[2] = T( P( 2 ) );
+
+    // Convert quaternion from Eigen convention (x, y, z, w)
+    // to Ceres convention (w, x, y, z)
+    T q_ceres[4] = { q[3], q[0], q[1], q[2] };
+
+    T P_c[3];
+    ceres::QuaternionRotatePoint( q_ceres, P_w, P_c );
+
+    P_c[0] += t[0];
+    P_c[1] += t[1];
+    P_c[2] += t[2];
+
+    // project 3D object point to the image plane
+    T k1    = params[0];
+    T k2    = params[1];
+    T k3    = params[2];
+    T k4    = params[3];
+    T k5    = params[4];
+    T k6    = params[5];
+    T p1    = params[6];
+    T p2    = params[7];
+    T fx    = params[8];
+    T fy    = params[9];
+    T alpha = T( 0 ); // cameraParams.alpha();
+    T cx    = params[10];
+    T cy    = params[11];
+
+    // Transform to model plane
+    T x = P_c[0] / P_c[2];
+    T y = P_c[1] / P_c[2];
+    // T z = P_c[2] / P_c[2];
+
+    T r2      = x * x + y * y;
+    T r4      = r2 * r2;
+    T r6      = r4 * r2;
+    T a1      = T( 2 ) * x * y;
+    T a2      = r2 + T( 2 ) * x * x;
+    T a3      = r2 + T( 2 ) * y * y;
+    T cdist   = T( 1 ) + k1 * r2 + k2 * r4 + k3 * r6;
+    T icdist2 = T( 1. ) / ( T( 1 ) + k4 * r2 + k5 * r4 + k6 * r6 );
+    T xd0     = x * cdist * icdist2 + p1 * a1 + p2 * a2; // + k[8] * r2 + k[9] * r4;
+    T yd0     = y * cdist * icdist2 + p1 * a3 + p2 * a1; // + k[10] * r2 + k[11] * r4;
+
+    p( 0 ) = xd0 * fx + cx;
+    p( 1 ) = yd0 * fy + cy;
+}
+}
+
+#endif

camera_models/include/camodocal/camera_models/ScaramuzzaCamera.h

@@ -0,0 +1,348 @@
+#ifndef SCARAMUZZACAMERA_H
+#define SCARAMUZZACAMERA_H
+
+#include <opencv2/core/core.hpp>
+#include <string>
+
+#include "ceres/rotation.h"
+#include "Camera.h"
+
+namespace camodocal
+{
+
+#define SCARAMUZZA_POLY_SIZE 5
+#define SCARAMUZZA_INV_POLY_SIZE 20
+
+#define SCARAMUZZA_CAMERA_NUM_PARAMS (SCARAMUZZA_POLY_SIZE + SCARAMUZZA_INV_POLY_SIZE + 2 /*center*/ + 3 /*affine*/)
+
+/**
+ * Scaramuzza Camera (Omnidirectional)
+ * https://sites.google.com/site/scarabotix/ocamcalib-toolbox
+ */
+
+class OCAMCamera: public Camera
+{
+public:
+    class Parameters: public Camera::Parameters
+    {
+    public:
+        Parameters();
+
+        double& C(void) { return m_C; }
+        double& D(void) { return m_D; }
+        double& E(void) { return m_E; }
+
+        double& center_x(void) { return m_center_x; }
+        double& center_y(void) { return m_center_y; }
+
+        double& poly(int idx) { return m_poly[idx]; }
+        double& inv_poly(int idx) { return m_inv_poly[idx]; }
+
+        double C(void) const { return m_C; }
+        double D(void) const { return m_D; }
+        double E(void) const { return m_E; }
+
+        double center_x(void) const { return m_center_x; }
+        double center_y(void) const { return m_center_y; }
+
+        double poly(int idx) const { return m_poly[idx]; }
+        double inv_poly(int idx) const { return m_inv_poly[idx]; }
+
+        bool readFromYamlFile(const std::string& filename);
+        void writeToYamlFile(const std::string& filename) const;
+
+        Parameters& operator=(const Parameters& other);
+        friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
+
+    private:
+        double m_poly[SCARAMUZZA_POLY_SIZE];
+        double m_inv_poly[SCARAMUZZA_INV_POLY_SIZE];
+        double m_C;
+        double m_D;
+        double m_E;
+        double m_center_x;
+        double m_center_y;
+    };
+
+    OCAMCamera();
+
+    /**
+    * \brief Constructor from the projection model parameters
+    */
+    OCAMCamera(const Parameters& params);
+
+    Camera::ModelType modelType(void) const;
+    const std::string& cameraName(void) const;
+    int imageWidth(void) const;
+    int imageHeight(void) const;
+
+    void estimateIntrinsics(const cv::Size& boardSize,
+                            const std::vector< std::vector<cv::Point3f> >& objectPoints,
+                            const std::vector< std::vector<cv::Point2f> >& imagePoints);
+
+    // Lift points from the image plane to the sphere
+    void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
+    //%output P
+
+    // Lift points from the image plane to the projective space
+    void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
+    //%output P
+
+    // Projects 3D points to the image plane (Pi function)
+    void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;
+    //%output p
+
+    // Projects 3D points to the image plane (Pi function)
+    // and calculates jacobian
+    //void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
+    //                  Eigen::Matrix<double,2,3>& J) const;
+    //%output p
+    //%output J
+
+    void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;
+    //%output p
+
+    template <typename T>
+    static void spaceToPlane(const T* const params,
+                             const T* const q, const T* const t,
+                             const Eigen::Matrix<T, 3, 1>& P,
+                             Eigen::Matrix<T, 2, 1>& p);
+    template <typename T>
+    static void spaceToSphere(const T* const params,
+                              const T* const q, const T* const t,
+                              const Eigen::Matrix<T, 3, 1>& P,
+                              Eigen::Matrix<T, 3, 1>& P_s);
+    template <typename T>
+    static void LiftToSphere(const T* const params,
+                              const Eigen::Matrix<T, 2, 1>& p,
+                              Eigen::Matrix<T, 3, 1>& P);
+
+    template <typename T>
+    static void SphereToPlane(const T* const params, const Eigen::Matrix<T, 3, 1>& P,
+                               Eigen::Matrix<T, 2, 1>& p);
+
+
+    void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;
+    cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
+                                    float fx = -1.0f, float fy = -1.0f,
+                                    cv::Size imageSize = cv::Size(0, 0),
+                                    float cx = -1.0f, float cy = -1.0f,
+                                    cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;
+
+    int parameterCount(void) const;
+
+    const Parameters& getParameters(void) const;
+    void setParameters(const Parameters& parameters);
+
+    void readParameters(const std::vector<double>& parameterVec);
+    void writeParameters(std::vector<double>& parameterVec) const;
+
+    void writeParametersToYamlFile(const std::string& filename) const;
+
+    std::string parametersToString(void) const;
+
+private:
+    Parameters mParameters;
+
+    double m_inv_scale;
+};
+
+typedef boost::shared_ptr<OCAMCamera> OCAMCameraPtr;
+typedef boost::shared_ptr<const OCAMCamera> OCAMCameraConstPtr;
+
+template <typename T>
+void
+OCAMCamera::spaceToPlane(const T* const params,
+                         const T* const q, const T* const t,
+                         const Eigen::Matrix<T, 3, 1>& P,
+                         Eigen::Matrix<T, 2, 1>& p)
+{
+    T P_c[3];
+    {
+        T P_w[3];
+        P_w[0] = T(P(0));
+        P_w[1] = T(P(1));
+        P_w[2] = T(P(2));
+
+        // Convert quaternion from Eigen convention (x, y, z, w)
+        // to Ceres convention (w, x, y, z)
+        T q_ceres[4] = {q[3], q[0], q[1], q[2]};
+
+        ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
+
+        P_c[0] += t[0];
+        P_c[1] += t[1];
+        P_c[2] += t[2];
+    }
+
+    T c = params[0];
+    T d = params[1];
+    T e = params[2];
+    T xc[2] = { params[3], params[4] };
+
+    //T poly[SCARAMUZZA_POLY_SIZE];
+    //for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)
+    //    poly[i] = params[5+i];
+
+    T inv_poly[SCARAMUZZA_INV_POLY_SIZE];
+    for (int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++)
+        inv_poly[i] = params[5 + SCARAMUZZA_POLY_SIZE + i];
+
+    T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1];
+    T norm = T(0.0);
+    if (norm_sqr > T(0.0))
+        norm = sqrt(norm_sqr);
+
+    T theta = atan2(-P_c[2], norm);
+    T rho = T(0.0);
+    T theta_i = T(1.0);
+
+    for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++)
+    {
+        rho += theta_i * inv_poly[i];
+        theta_i *= theta;
+    }
+
+    T invNorm = T(1.0) / norm;
+    T xn[2] = {
+        P_c[0] * invNorm * rho,
+        P_c[1] * invNorm * rho
+    };
+
+    p(0) = xn[0] * c + xn[1] * d + xc[0];
+    p(1) = xn[0] * e + xn[1]     + xc[1];
+}
+
+template <typename T>
+void
+OCAMCamera::spaceToSphere(const T* const params,
+                          const T* const q, const T* const t,
+                          const Eigen::Matrix<T, 3, 1>& P,
+                          Eigen::Matrix<T, 3, 1>& P_s)
+{
+    T P_c[3];
+    {
+        T P_w[3];
+        P_w[0] = T(P(0));
+        P_w[1] = T(P(1));
+        P_w[2] = T(P(2));
+
+        // Convert quaternion from Eigen convention (x, y, z, w)
+        // to Ceres convention (w, x, y, z)
+        T q_ceres[4] = {q[3], q[0], q[1], q[2]};
+
+        ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
+
+        P_c[0] += t[0];
+        P_c[1] += t[1];
+        P_c[2] += t[2];
+    }
+
+    //T poly[SCARAMUZZA_POLY_SIZE];
+    //for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)
+    //    poly[i] = params[5+i];
+
+    T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2];
+    T norm = T(0.0);
+    if (norm_sqr > T(0.0))
+        norm = sqrt(norm_sqr);
+
+    P_s(0) = P_c[0] / norm;
+    P_s(1) = P_c[1] / norm;
+    P_s(2) = P_c[2] / norm;
+}
+
+template <typename T>
+void
+OCAMCamera::LiftToSphere(const T* const params,
+                          const Eigen::Matrix<T, 2, 1>& p,
+                          Eigen::Matrix<T, 3, 1>& P)
+{
+    T c = params[0];
+    T d = params[1];
+    T e = params[2];
+    T cc[2] = { params[3], params[4] };
+    T poly[SCARAMUZZA_POLY_SIZE];
+    for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)
+       poly[i] = params[5+i];
+
+    // Relative to Center
+    T p_2d[2];
+    p_2d[0] = T(p(0));
+    p_2d[1] = T(p(1));
+
+    T xc[2] = { p_2d[0] - cc[0], p_2d[1] - cc[1]};
+
+    T inv_scale = T(1.0) / (c - d * e);
+
+    // Affine Transformation
+    T xc_a[2];
+
+    xc_a[0] = inv_scale * (xc[0] - d * xc[1]);
+    xc_a[1] = inv_scale * (-e * xc[0] + c * xc[1]);
+
+    T norm_sqr = xc_a[0] * xc_a[0] + xc_a[1] * xc_a[1];
+    T phi = sqrt(norm_sqr);
+    T phi_i = T(1.0);
+    T z = T(0.0);
+
+    for (int i = 0; i < SCARAMUZZA_POLY_SIZE; i++)
+    {
+        if (i!=1) {
+            z += phi_i * poly[i];
+        }
+        phi_i *= phi;
+    }
+
+    T p_3d[3];
+    p_3d[0] = xc[0];
+    p_3d[1] = xc[1];
+    p_3d[2] = -z;
+
+    T p_3d_norm_sqr = p_3d[0] * p_3d[0] + p_3d[1] * p_3d[1] + p_3d[2] * p_3d[2];
+    T p_3d_norm = sqrt(p_3d_norm_sqr);
+
+    P << p_3d[0] / p_3d_norm, p_3d[1] / p_3d_norm, p_3d[2] / p_3d_norm;
+}
+
+template <typename T>
+void OCAMCamera::SphereToPlane(const T* const params, const Eigen::Matrix<T, 3, 1>& P,
+                               Eigen::Matrix<T, 2, 1>& p) {
+    T P_c[3];
+    {
+        P_c[0] = T(P(0));
+        P_c[1] = T(P(1));
+        P_c[2] = T(P(2));
+    }
+
+    T c = params[0];
+    T d = params[1];
+    T e = params[2];
+    T xc[2] = {params[3], params[4]};
+
+    T inv_poly[SCARAMUZZA_INV_POLY_SIZE];
+    for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++)
+        inv_poly[i] = params[5 + SCARAMUZZA_POLY_SIZE + i];
+
+    T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1];
+    T norm = T(0.0);
+    if (norm_sqr > T(0.0)) norm = sqrt(norm_sqr);
+
+    T theta = atan2(-P_c[2], norm);
+    T rho = T(0.0);
+    T theta_i = T(1.0);
+
+    for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++) {
+        rho += theta_i * inv_poly[i];
+        theta_i *= theta;
+    }
+
+    T invNorm = T(1.0) / norm;
+    T xn[2] = {P_c[0] * invNorm * rho, P_c[1] * invNorm * rho};
+
+    p(0) = xn[0] * c + xn[1] * d + xc[0];
+    p(1) = xn[0] * e + xn[1] + xc[1];
+}
+}
+
+#endif