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Recover camera from 3*4 camera matrix

release/4.3a0
Frank Dellaert 2012-06-30 14:30:24 +00:00
parent 9f99f0f7c5
commit d58d277160
4 changed files with 249 additions and 157 deletions
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332
.cproject
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@ -307,14 +307,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
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</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -341,6 +333,7 @@
</target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -348,6 +341,7 @@
</target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
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@ -395,6 +389,7 @@
</target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -402,6 +397,7 @@
</target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand>
@ -409,6 +405,7 @@
</target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError>
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@ -424,11 +421,20 @@
</target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<runAllBuilders>true</runAllBuilders>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
@ -517,22 +523,6 @@
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
@ -549,6 +539,22 @@
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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</target>
<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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@ -573,26 +579,26 @@
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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@ -677,26 +683,26 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
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@ -951,6 +957,7 @@
</target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<stopOnError>true</stopOnError>
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@ -958,6 +965,7 @@
</target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<stopOnError>true</stopOnError>
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@ -965,6 +973,7 @@
</target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -1092,6 +1101,7 @@
</target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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@ -1465,6 +1475,14 @@
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSimpleCamera.run" path="build/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testSimpleCamera.run</buildTarget>
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</target>
<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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@ -1547,7 +1565,6 @@
</target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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@ -1587,7 +1604,6 @@
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -1595,7 +1611,6 @@
</target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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<stopOnError>true</stopOnError>
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@ -1811,7 +1826,6 @@
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
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@ -1833,102 +1847,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
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<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildArguments>-j2</buildArguments>
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<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testCalibratedCamera.run</buildTarget>
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<buildCommand>make</buildCommand>
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@ -2130,6 +2048,7 @@
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<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand>
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@ -2137,6 +2056,7 @@
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<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2144,6 +2064,7 @@
</target>
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@ -2151,6 +2072,7 @@
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<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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@ -2244,42 +2166,98 @@
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@ -2323,6 +2301,46 @@
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<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap_gtsam" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap_gtsam</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
</buildTargets>
</storageModule>
</cproject>

49
gtsam/geometry/SimpleCamera.cpp Normal file
View File

@ -0,0 +1,49 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file SimpleCamera.cpp
* @brief A simple camera class with a Cal3_S2 calibration
* @date June 30, 2012
* @author Frank Dellaert
*/
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
namespace gtsam {
SimpleCamera simpleCamera(const Matrix& P) {
// P = [A|a] = s K cRw [I|-T], with s the unknown scale
Matrix A = P.topLeftCorner(3, 3);
Vector a = P.col(3);
// do RQ decomposition to get s*K and cRw angles
Matrix sK;
Vector xyz;
boost::tie(sK, xyz) = RQ(A);
// Recover scale factor s and K
double s = sK(2, 2);
Matrix K = sK / s;
// Recover cRw itself, and its inverse
Rot3 cRw = Rot3::RzRyRx(xyz);
Rot3 wRc = cRw.inverse();
// Now, recover T from a = - s K cRw T = - A T
Vector T = -(A.inverse() * a);
return SimpleCamera(Pose3(wRc, T),
Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2)));
}
}

5
gtsam/geometry/SimpleCamera.h
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@ -22,5 +22,10 @@
#include <gtsam/geometry/Cal3_S2.h>
namespace gtsam {
/// A simple camera class with a Cal3_S2 calibration
typedef PinholeCamera<Cal3_S2> SimpleCamera;
/// Recover camera from 3*4 camera matrix
SimpleCamera simpleCamera(const Matrix& P);
}

20
gtsam/geometry/tests/testSimpleCamera.cpp
View File

@ -133,6 +133,26 @@ TEST( SimpleCamera, Dproject_point_pose)
CHECK(assert_equal(Dpoint, numerical_point,1e-7));
}
/* ************************************************************************* */
TEST( SimpleCamera, simpleCamera)
{
Cal3_S2 K(468.2,427.2,91.2,300,200);
Rot3 R(
0.41380,0.90915,0.04708,
-0.57338,0.22011,0.78917,
0.70711,-0.35355,0.61237);
Point3 T(1000,2000,1500);
SimpleCamera expected(Pose3(R.inverse(),T),K);
// H&Z example, 2nd edition, page 163
Matrix P = Matrix_(3,4,
3.53553e2, 3.39645e2, 2.77744e2, -1.44946e6,
-1.03528e2, 2.33212e1, 4.59607e2, -6.32525e5,
7.07107e-1, -3.53553e-1,6.12372e-1, -9.18559e2);
SimpleCamera actual = simpleCamera(P);
// Note precision of numbers given in book
CHECK(assert_equal(expected, actual,1e-1));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */