PinholeBase class
dellaert
parent
14ea858e3f
commit
c20eaecf82
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@ -32,92 +32,32 @@ namespace gtsam {
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* \nosubgrouping
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*/
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template<typename Calibration>
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class PinholePose {
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class PinholeBase {
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private:
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Pose3 pose_;
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boost::shared_ptr<Calibration> K_;
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public:
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enum {
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dimension = 6
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};
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/// @name Standard Constructors
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/// @{
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/** default constructor */
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PinholePose() {
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PinholeBase() {
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}
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/** constructor with pose */
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explicit PinholePose(const Pose3& pose) :
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pose_(pose), K_(new Calibration()) {
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}
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/** constructor with pose and calibration */
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PinholePose(const Pose3& pose, const boost::shared_ptr<Calibration>& K) :
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pose_(pose), K_(K) {
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}
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/// @}
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/// @name Named Constructors
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/// @{
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/**
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* Create a level camera at the given 2D pose and height
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* @param K the calibration
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* @param pose2 specifies the location and viewing direction
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* (theta 0 = looking in direction of positive X axis)
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* @param height camera height
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*/
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static PinholePose Level(const boost::shared_ptr<Calibration>& K,
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const Pose2& pose2, double height) {
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const double st = sin(pose2.theta()), ct = cos(pose2.theta());
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const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0);
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const Rot3 wRc(x, y, z);
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const Point3 t(pose2.x(), pose2.y(), height);
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const Pose3 pose3(wRc, t);
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return PinholePose(pose3, K);
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}
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/// PinholePose::level with default calibration
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static PinholePose Level(const Pose2& pose2, double height) {
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return PinholePose::Level(boost::make_shared<Calibration>(), pose2, height);
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}
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/**
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* Create a camera at the given eye position looking at a target point in the scene
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* with the specified up direction vector.
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* @param eye specifies the camera position
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* @param target the point to look at
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* @param upVector specifies the camera up direction vector,
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* doesn't need to be on the image plane nor orthogonal to the viewing axis
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* @param K optional calibration parameter
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*/
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static PinholePose Lookat(const Point3& eye, const Point3& target,
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const Point3& upVector, const boost::shared_ptr<Calibration>& K =
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boost::make_shared<Calibration>()) {
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Point3 zc = target - eye;
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zc = zc / zc.norm();
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Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down
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xc = xc / xc.norm();
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Point3 yc = zc.cross(xc);
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Pose3 pose3(Rot3(xc, yc, zc), eye);
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return PinholePose(pose3, K);
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explicit PinholeBase(const Pose3& pose) :
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pose_(pose) {
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}
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/// @}
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/// @name Advanced Constructors
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/// @{
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explicit PinholePose(const Vector &v) {
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pose_ = Pose3::Expmap(v);
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}
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PinholePose(const Vector &v, const Vector &K) :
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pose_(Pose3::Expmap(v)), K_(K) {
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explicit PinholeBase(const Vector &v) :
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pose_(Pose3::Expmap(v)) {
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}
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/// @}
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@ -125,35 +65,29 @@ public:
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/// @{
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/// assert equality up to a tolerance
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bool equals(const PinholePose &camera, double tol = 1e-9) const {
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bool equals(const PinholeBase &camera, double tol = 1e-9) const {
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return pose_.equals(camera.pose(), tol);
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}
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/// print
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void print(const std::string& s = "PinholePose") const {
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void print(const std::string& s = "PinholeBase") const {
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pose_.print(s + ".pose");
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K_->print(s + ".calibration");
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}
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/// @}
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/// @name Standard Interface
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/// @{
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virtual ~PinholePose() {
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}
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/// return pose
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inline Pose3& pose() {
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return pose_;
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virtual ~PinholeBase() {
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}
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/// return pose, constant version
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inline const Pose3& pose() const {
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const Pose3& pose() const {
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return pose_;
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}
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/// return pose, with derivative
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inline const Pose3& getPose(gtsam::OptionalJacobian<6, 6> H) const {
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const Pose3& pose(OptionalJacobian<6, 6> H) const {
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if (H) {
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H->setZero();
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H->block(0, 0, 6, 6) = I_6x6;
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@ -162,45 +96,7 @@ public:
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}
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/// return calibration
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inline boost::shared_ptr<Calibration> calibration() {
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return K_;
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}
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/// return calibration
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inline const boost::shared_ptr<Calibration> calibration() const {
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return K_;
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}
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/// @}
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/// @name Manifold
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/// @{
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/// Manifold 6
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inline size_t dim() const {
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return 6;
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}
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/// Manifold 6
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inline static size_t Dim() {
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return 6;
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}
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typedef Eigen::Matrix<double, 6, 1> VectorK6;
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/// move a cameras according to d
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PinholePose retract(const Vector6& d) const {
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return PinholePose(pose().retract(d), calibration());
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}
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/// return canonical coordinate
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VectorK6 localCoordinates(const PinholePose& p) const {
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return pose().localCoordinates(p.pose());
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}
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/// for Canonical
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static PinholePose identity() {
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return PinholePose(); // assumes that the default constructor is valid
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}
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virtual const Calibration& calibration() const = 0;
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/// @}
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/// @name Transformations and measurement functions
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@ -226,10 +122,10 @@ public:
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}
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/// Project a point into the image and check depth
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inline std::pair<Point2, bool> projectSafe(const Point3& pw) const {
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std::pair<Point2, bool> projectSafe(const Point3& pw) const {
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const Point3 pc = pose_.transform_to(pw);
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const Point2 pn = project_to_camera(pc);
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return std::make_pair(K_->uncalibrate(pn), pc.z() > 0);
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return std::make_pair(calibration().uncalibrate(pn), pc.z() > 0);
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}
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/** project a point from world coordinate to the image, fixed Jacobians
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@ -245,13 +141,13 @@ public:
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const Point2 pn = project_to_camera(pc);
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if (!Dcamera && !Dpoint) {
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return K_->uncalibrate(pn);
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return calibration().uncalibrate(pn);
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} else {
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const double z = pc.z(), d = 1.0 / z;
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// uncalibration
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Matrix2 Dpi_pn;
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const Point2 pi = K_->uncalibrate(pn, boost::none, Dpi_pn);
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const Point2 pi = calibration().uncalibrate(pn, boost::none, Dpi_pn);
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if (Dcamera)
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calculateDpose(pn, d, Dpi_pn, *Dcamera);
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@ -263,15 +159,15 @@ public:
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}
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/// backproject a 2-dimensional point to a 3-dimensional point at given depth
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inline Point3 backproject(const Point2& p, double depth) const {
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const Point2 pn = K_->calibrate(p);
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Point3 backproject(const Point2& p, double depth) const {
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const Point2 pn = calibration().calibrate(p);
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const Point3 pc(pn.x() * depth, pn.y() * depth, depth);
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return pose_.transform_from(pc);
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}
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/// backproject a 2-dimensional point to a 3-dimensional point at infinity
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inline Point3 backprojectPointAtInfinity(const Point2& p) const {
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const Point2 pn = K_->calibrate(p);
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Point3 backprojectPointAtInfinity(const Point2& p) const {
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const Point2 pn = calibration().calibrate(p);
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const Point3 pc(pn.x(), pn.y(), 1.0); //by convention the last element is 1
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return pose_.rotation().rotate(pc);
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}
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@ -313,7 +209,7 @@ public:
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*/
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template<class CalibrationB>
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double range(
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const PinholePose<CalibrationB>& camera, //
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const PinholeBase<CalibrationB>& camera, //
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OptionalJacobian<1, 6> Dcamera = boost::none,
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OptionalJacobian<1, 6> Dother = boost::none) const {
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return pose_.range(camera.pose(), Dcamera, Dother);
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@ -384,10 +280,346 @@ private:
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version) {
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ar & BOOST_SERIALIZATION_NVP(pose_);
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}
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};
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// end of class PinholeBase
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/**
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* A pinhole camera class that has a Pose3 and a *fixed* Calibration.
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* Instead of using this class, one might consider calibrating the measurements
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* and using CalibratedCamera, which would then be faster.
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* @addtogroup geometry
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* \nosubgrouping
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*/
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template<typename Calibration>
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class PinholePose: public PinholeBase<Calibration> {
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private:
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typedef PinholeBase<Calibration> Base;
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boost::shared_ptr<Calibration> K_;
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public:
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enum {
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dimension = 6
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};
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/// @name Standard Constructors
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/// @{
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/** default constructor */
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PinholePose() {
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}
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/** constructor with pose, uses default calibration */
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explicit PinholePose(const Pose3& pose) :
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Base(pose), K_(new Calibration()) {
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}
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/** constructor with pose and calibration */
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PinholePose(const Pose3& pose, const boost::shared_ptr<Calibration>& K) :
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Base(pose), K_(K) {
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}
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/// @}
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/// @name Named Constructors
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/// @{
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/**
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* Create a level camera at the given 2D pose and height
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* @param K the calibration
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* @param pose2 specifies the location and viewing direction
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* (theta 0 = looking in direction of positive X axis)
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* @param height camera height
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*/
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static PinholePose Level(const boost::shared_ptr<Calibration>& K,
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const Pose2& pose2, double height) {
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return PinholePose(CalibratedCamera::LevelPose(pose2, height), K);
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}
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/// PinholePose::level with default calibration
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static PinholePose Level(const Pose2& pose2, double height) {
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return PinholePose::Level(boost::make_shared<Calibration>(), pose2, height);
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}
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/**
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* Create a camera at the given eye position looking at a target point in the scene
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* with the specified up direction vector.
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* @param eye specifies the camera position
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* @param target the point to look at
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* @param upVector specifies the camera up direction vector,
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* doesn't need to be on the image plane nor orthogonal to the viewing axis
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* @param K optional calibration parameter
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*/
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static PinholePose Lookat(const Point3& eye, const Point3& target,
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const Point3& upVector, const boost::shared_ptr<Calibration>& K =
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boost::make_shared<Calibration>()) {
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return PinholePose(CalibratedCamera::LookatPose(eye, target, upVector), K);
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}
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/// @}
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/// @name Advanced Constructors
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/// @{
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explicit PinholePose(const Vector &v) :
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Base(v), K_(new Calibration()) {
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}
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PinholePose(const Vector &v, const Vector &K) :
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Base(v), K_(new Calibration(K)) {
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}
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/// @}
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/// @name Testable
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/// @{
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/// assert equality up to a tolerance
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bool equals(const Base &camera, double tol = 1e-9) const {
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const PinholePose* e = dynamic_cast<const PinholePose*>(&camera);
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return Base::equals(camera, tol) && K_->equals(e->calibration(), tol);
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}
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/// print
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void print(const std::string& s = "PinholePose") const {
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Base::print(s);
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K_->print(s + ".calibration");
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}
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/// @}
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/// @name Standard Interface
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/// @{
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virtual ~PinholePose() {
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}
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/// return calibration
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const Calibration& calibration() const {
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return *K_;
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}
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/// @}
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/// @name Manifold
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/// @{
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/// Manifold 6
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size_t dim() const {
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return 6;
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}
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/// Manifold 6
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static size_t Dim() {
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return 6;
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}
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typedef Eigen::Matrix<double, 6, 1> VectorK6;
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/// move a cameras according to d
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PinholePose retract(const Vector6& d) const {
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return PinholePose(Base::pose().retract(d), K_);
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}
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/// return canonical coordinate
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VectorK6 localCoordinates(const PinholePose& p) const {
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return Base::pose().localCoordinates(p.Base::pose());
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}
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/// for Canonical
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static PinholePose identity() {
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return PinholePose(); // assumes that the default constructor is valid
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}
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/// @}
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/// @name Transformations and measurement functions
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/// @{
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/**
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* projects a 3-dimensional point in camera coordinates into the
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* camera and returns a 2-dimensional point, no calibration applied
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* @param P A point in camera coordinates
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* @param Dpoint is the 2*3 Jacobian w.r.t. P
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*/
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static Point2 project_to_camera(const Point3& P, //
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OptionalJacobian<2, 3> Dpoint = boost::none) {
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#ifdef GTSAM_THROW_CHEIRALITY_EXCEPTION
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if (P.z() <= 0)
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throw CheiralityException();
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#endif
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double d = 1.0 / P.z();
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const double u = P.x() * d, v = P.y() * d;
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if (Dpoint)
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*Dpoint << d, 0.0, -u * d, 0.0, d, -v * d;
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return Point2(u, v);
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}
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/// Project a point into the image and check depth
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std::pair<Point2, bool> projectSafe(const Point3& pw) const {
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const Point3 pc = Base::pose().transform_to(pw);
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const Point2 pn = project_to_camera(pc);
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return std::make_pair(calibration().uncalibrate(pn), pc.z() > 0);
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}
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/** project a point from world coordinate to the image, fixed Jacobians
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* @param pw is a point in the world coordinate
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* @param Dcamera is the Jacobian w.r.t. [pose3 calibration]
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* @param Dpoint is the Jacobian w.r.t. point3
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*/
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Point2 project2(const Point3& pw,
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OptionalJacobian<2, 6> Dcamera = boost::none,
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OptionalJacobian<2, 3> Dpoint = boost::none) const {
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const Point3 pc = Base::pose().transform_to(pw);
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const Point2 pn = project_to_camera(pc);
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if (!Dcamera && !Dpoint) {
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return calibration().uncalibrate(pn);
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} else {
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const double z = pc.z(), d = 1.0 / z;
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// uncalibration
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Matrix2 Dpi_pn;
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const Point2 pi = calibration().uncalibrate(pn, boost::none, Dpi_pn);
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if (Dcamera)
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calculateDpose(pn, d, Dpi_pn, *Dcamera);
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if (Dpoint)
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calculateDpoint(pn, d, Base::pose().rotation().matrix(), Dpi_pn,
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*Dpoint);
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return pi;
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}
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}
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/// backproject a 2-dimensional point to a 3-dimensional point at given depth
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Point3 backproject(const Point2& p, double depth) const {
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const Point2 pn = calibration().calibrate(p);
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const Point3 pc(pn.x() * depth, pn.y() * depth, depth);
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return Base::pose().transform_from(pc);
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}
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/// backproject a 2-dimensional point to a 3-dimensional point at infinity
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Point3 backprojectPointAtInfinity(const Point2& p) const {
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const Point2 pn = calibration().calibrate(p);
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const Point3 pc(pn.x(), pn.y(), 1.0); //by convention the last element is 1
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return Base::pose().rotation().rotate(pc);
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}
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/**
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* Calculate range to a landmark
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* @param point 3D location of landmark
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* @param Dcamera the optionally computed Jacobian with respect to pose
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* @param Dpoint the optionally computed Jacobian with respect to the landmark
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* @return range (double)
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*/
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double range(
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const Point3& point, //
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OptionalJacobian<1, 6> Dcamera = boost::none,
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OptionalJacobian<1, 3> Dpoint = boost::none) const {
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return Base::pose().range(point, Dcamera, Dpoint);
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}
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/**
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* Calculate range to another pose
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* @param pose Other SO(3) pose
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* @param Dcamera the optionally computed Jacobian with respect to pose
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* @param Dpose2 the optionally computed Jacobian with respect to the other pose
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* @return range (double)
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*/
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double range(
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const Pose3& pose, //
|
||||
OptionalJacobian<1, 6> Dcamera = boost::none,
|
||||
OptionalJacobian<1, 6> Dpose = boost::none) const {
|
||||
return Base::pose().range(pose, Dcamera, Dpose);
|
||||
}
|
||||
|
||||
/**
|
||||
* Calculate range to another camera
|
||||
* @param camera Other camera
|
||||
* @param Dcamera the optionally computed Jacobian with respect to pose
|
||||
* @param Dother the optionally computed Jacobian with respect to the other camera
|
||||
* @return range (double)
|
||||
*/
|
||||
template<class CalibrationB>
|
||||
double range(
|
||||
const PinholePose<CalibrationB>& camera, //
|
||||
OptionalJacobian<1, 6> Dcamera = boost::none,
|
||||
OptionalJacobian<1, 6> Dother = boost::none) const {
|
||||
return Base::pose().range(camera.pose(), Dcamera, Dother);
|
||||
}
|
||||
|
||||
/**
|
||||
* Calculate range to another camera
|
||||
* @param camera Other camera
|
||||
* @param Dcamera the optionally computed Jacobian with respect to pose
|
||||
* @param Dother the optionally computed Jacobian with respect to the other camera
|
||||
* @return range (double)
|
||||
*/
|
||||
double range(
|
||||
const CalibratedCamera& camera, //
|
||||
OptionalJacobian<1, 6> Dcamera = boost::none,
|
||||
OptionalJacobian<1, 6> Dother = boost::none) const {
|
||||
return range(camera.pose(), Dcamera, Dother);
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* Calculate Jacobian with respect to pose
|
||||
* @param pn projection in normalized coordinates
|
||||
* @param d disparity (inverse depth)
|
||||
* @param Dpi_pn derivative of uncalibrate with respect to pn
|
||||
* @param Dpose Output argument, can be matrix or block, assumed right size !
|
||||
* See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html
|
||||
*/
|
||||
template<typename Derived>
|
||||
static void calculateDpose(const Point2& pn, double d, const Matrix2& Dpi_pn,
|
||||
Eigen::MatrixBase<Derived> const & Dpose) {
|
||||
// optimized version of derivatives, see CalibratedCamera.nb
|
||||
const double u = pn.x(), v = pn.y();
|
||||
double uv = u * v, uu = u * u, vv = v * v;
|
||||
Matrix26 Dpn_pose;
|
||||
Dpn_pose << uv, -1 - uu, v, -d, 0, d * u, 1 + vv, -uv, -u, 0, -d, d * v;
|
||||
assert(Dpose.rows()==2 && Dpose.cols()==6);
|
||||
const_cast<Eigen::MatrixBase<Derived>&>(Dpose) = //
|
||||
Dpi_pn * Dpn_pose;
|
||||
}
|
||||
|
||||
/**
|
||||
* Calculate Jacobian with respect to point
|
||||
* @param pn projection in normalized coordinates
|
||||
* @param d disparity (inverse depth)
|
||||
* @param Dpi_pn derivative of uncalibrate with respect to pn
|
||||
* @param Dpoint Output argument, can be matrix or block, assumed right size !
|
||||
* See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html
|
||||
*/
|
||||
template<typename Derived>
|
||||
static void calculateDpoint(const Point2& pn, double d, const Matrix3& R,
|
||||
const Matrix2& Dpi_pn, Eigen::MatrixBase<Derived> const & Dpoint) {
|
||||
// optimized version of derivatives, see CalibratedCamera.nb
|
||||
const double u = pn.x(), v = pn.y();
|
||||
Matrix23 Dpn_point;
|
||||
Dpn_point << //
|
||||
R(0, 0) - u * R(0, 2), R(1, 0) - u * R(1, 2), R(2, 0) - u * R(2, 2), //
|
||||
/**/R(0, 1) - v * R(0, 2), R(1, 1) - v * R(1, 2), R(2, 1) - v * R(2, 2);
|
||||
Dpn_point *= d;
|
||||
assert(Dpoint.rows()==2 && Dpoint.cols()==3);
|
||||
const_cast<Eigen::MatrixBase<Derived>&>(Dpoint) = //
|
||||
Dpi_pn * Dpn_point;
|
||||
}
|
||||
|
||||
/** Serialization function */
|
||||
friend class boost::serialization::access;
|
||||
template<class Archive>
|
||||
void serialize(Archive & ar, const unsigned int version) {
|
||||
ar
|
||||
& boost::serialization::make_nvp("PinholeBase",
|
||||
boost::serialization::base_object<Base>(*this));
|
||||
ar & BOOST_SERIALIZATION_NVP(K_);
|
||||
}
|
||||
|
||||
};
|
||||
// end of class PinholePose
|
||||
|
||||
template<typename Calibration>
|
||||
struct traits<PinholePose<Calibration> > : public internal::Manifold<
|
||||
|
|
|
|||
Loading…
Reference in New Issue