95 lines
2.6 KiB
C++
95 lines
2.6 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file SimpleCamera.h
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* @brief A simple camera class with a Cal3_S2 calibration
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* @date Aug 16, 2009
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* @author Frank Dellaert
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*/
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#pragma once
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#include <gtsam/geometry/CalibratedCamera.h>
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#include <gtsam/geometry/Cal3_S2.h>
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namespace gtsam {
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/**
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* A simple camera class with a Cal3_S2 calibration
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* Basically takes a Calibrated camera and adds calibration information
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* to produce measurements in pixels.
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* Not a sublass as a SimpleCamera *is not* a CalibratedCamera.
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*/
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class SimpleCamera {
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private:
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CalibratedCamera calibrated_; // Calibrated camera
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Cal3_S2 K_; // Calibration
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public:
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SimpleCamera(const Cal3_S2& K, const CalibratedCamera& calibrated);
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SimpleCamera(const Cal3_S2& K, const Pose3& pose);
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/** constructor for serialization */
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SimpleCamera(){}
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virtual ~SimpleCamera();
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const Pose3& pose() const {
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return calibrated_.pose();
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}
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const Cal3_S2& calibration() const {
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return K_;
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}
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/**
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* project a 3d point to the camera and also check the depth
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*/
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std::pair<Point2,bool> projectSafe(const Point3& P) const;
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/**
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* backproject a 2d point from the camera up to a given scale
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*/
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Point3 backproject(const Point2& projection, const double scale) const;
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/**
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* Create a level camera at the given 2D pose and height
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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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*/
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static SimpleCamera level(const Cal3_S2& K, const Pose2& pose2, double height);
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/**
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* This function receives the camera pose and the landmark location and
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* returns the location the point is supposed to appear in the image
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*/
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Point2 project(const Point3& point,
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boost::optional<Matrix&> H1 = boost::none,
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boost::optional<Matrix&> H2 = boost::none) const;
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bool equals(const SimpleCamera& X, double tol=1e-9) const {
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return calibrated_.equals(X.calibrated_, tol) && K_.equals(X.K_, tol);
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}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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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(calibrated_);
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ar & BOOST_SERIALIZATION_NVP(K_);
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}
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};
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}
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