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// Copyright (c) 2020, Viktor Larsson
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef POSELIB_CAMERA_POSE_H_
#define POSELIB_CAMERA_POSE_H_
#include "PoseLib/misc/quaternion.h"
#include "alignment.h"
#include "misc/colmap_models.h"
#include <Eigen/Dense>
#include <vector>
namespace poselib {
struct alignas(32) CameraPose {
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
// Rotation is represented as a unit quaternion
// with real part first, i.e. QW, QX, QY, QZ
Eigen::Vector4d q;
Eigen::Vector3d t;
// Constructors (Defaults to identity camera)
CameraPose() : q(1.0, 0.0, 0.0, 0.0), t(0.0, 0.0, 0.0) {}
CameraPose(const Eigen::Vector4d &qq, const Eigen::Vector3d &tt) : q(qq), t(tt) {}
CameraPose(const Eigen::Matrix3d &R, const Eigen::Vector3d &tt) : q(rotmat_to_quat(R)), t(tt) {}
// Helper functions
inline Eigen::Matrix3d R() const { return quat_to_rotmat(q); }
inline Eigen::Matrix<double, 3, 4> Rt() const {
Eigen::Matrix<double, 3, 4> tmp;
tmp.block<3, 3>(0, 0) = quat_to_rotmat(q);
tmp.col(3) = t;
return tmp;
}
inline Eigen::Vector3d rotate(const Eigen::Vector3d &p) const { return quat_rotate(q, p); }
inline Eigen::Vector3d derotate(const Eigen::Vector3d &p) const { return quat_rotate(quat_conj(q), p); }
inline Eigen::Vector3d apply(const Eigen::Vector3d &p) const { return rotate(p) + t; }
inline Eigen::Vector3d center() const { return -derotate(t); }
};
typedef std::vector<CameraPose> CameraPoseVector;
struct alignas(32) Image {
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
// Struct simply holds information about camera and its pose
CameraPose pose;
Camera camera;
// Constructors (Defaults to identity camera and pose)
Image() : pose(CameraPose()), camera(Camera()) {}
Image(CameraPose pose, Camera camera) : pose(std::move(pose)), camera(std::move(camera)) {}
};
typedef std::vector<Image> ImageVector;
struct alignas(32) ImagePair {
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
// Struct simply holds information about two cameras and their relative pose
CameraPose pose;
Camera camera1;
Camera camera2;
// Constructors (Defaults to identity camera and poses)
ImagePair() : pose(CameraPose()), camera1(Camera()), camera2(Camera()) {}
ImagePair(CameraPose pose, Camera camera1, Camera camera2)
: pose(std::move(pose)), camera1(std::move(camera1)), camera2(std::move(camera2)) {}
};
typedef std::vector<ImagePair> ImagePairVector;
} // namespace poselib
#endif
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