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// Copyright (c) 2021, 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 HOLDERS OR CONTRIBUTORS 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_COLMAP_MODELS_H_
#define POSELIB_COLMAP_MODELS_H_
#include <Eigen/Dense>
#include <vector>
namespace poselib {
struct Camera {
int model_id;
int width;
int height;
std::vector<double> params;
Camera();
Camera(const std::string &model_name, const std::vector<double> ¶ms, int width, int height);
Camera(int model_id, const std::vector<double> ¶ms, int width, int height);
// Projection and distortion
void project(const Eigen::Vector2d &x, Eigen::Vector2d *xp) const;
void project_with_jac(const Eigen::Vector2d &x, Eigen::Vector2d *xp, Eigen::Matrix2d *jac) const;
void unproject(const Eigen::Vector2d &xp, Eigen::Vector2d *x) const;
// vector wrappers for the project/unprojection
void project(const std::vector<Eigen::Vector2d> &x, std::vector<Eigen::Vector2d> *xp) const;
void project_with_jac(const std::vector<Eigen::Vector2d> &x, std::vector<Eigen::Vector2d> *xp,
std::vector<Eigen::Matrix<double, 2, 2>> *jac) const;
void unproject(const std::vector<Eigen::Vector2d> &xp, std::vector<Eigen::Vector2d> *x) const;
// Update the camera parameters such that the projections are rescaled
void rescale(double scale);
// Return camera model as string
std::string model_name() const;
// Returns focal length (average in case of non-unit aspect ratio)
double focal() const;
double focal_x() const;
double focal_y() const;
Eigen::Vector2d principal_point() const;
// Parses a camera from a line from cameras.txt, returns the camera_id
int initialize_from_txt(const std::string &line);
// Creates line for cameras.txt (inverse of initialize_from_txt)
// If camera_id == -1 it is ommited
std::string to_cameras_txt(int camera_id = -1) const;
// helpers for camera model ids
static int id_from_string(const std::string &model_name);
static std::string name_from_id(int id);
};
#define SETUP_CAMERA_SHARED_DEFS(ClassName, ModelName, ModelId) \
class ClassName { \
public: \
static void project(const std::vector<double> ¶ms, const Eigen::Vector2d &x, Eigen::Vector2d *xp); \
static void project_with_jac(const std::vector<double> ¶ms, const Eigen::Vector2d &x, Eigen::Vector2d *xp, \
Eigen::Matrix2d *jac); \
static void unproject(const std::vector<double> ¶ms, const Eigen::Vector2d &xp, Eigen::Vector2d *x); \
static const std::vector<size_t> focal_idx; \
static const std::vector<size_t> principal_point_idx; \
static const int model_id = ModelId; \
static const std::string to_string() { return ModelName; } \
};
SETUP_CAMERA_SHARED_DEFS(NullCameraModel, "NULL", -1);
SETUP_CAMERA_SHARED_DEFS(SimplePinholeCameraModel, "SIMPLE_PINHOLE", 0);
SETUP_CAMERA_SHARED_DEFS(PinholeCameraModel, "PINHOLE", 1);
SETUP_CAMERA_SHARED_DEFS(SimpleRadialCameraModel, "SIMPLE_RADIAL", 2);
SETUP_CAMERA_SHARED_DEFS(RadialCameraModel, "RADIAL", 3);
SETUP_CAMERA_SHARED_DEFS(OpenCVCameraModel, "OPENCV", 4);
SETUP_CAMERA_SHARED_DEFS(OpenCVFisheyeCameraModel, "OPENCV_FISHEYE", 5);
SETUP_CAMERA_SHARED_DEFS(FullOpenCVCameraModel, "FULL_OPENCV", 6);
#define SWITCH_CAMERA_MODELS \
SWITCH_CAMERA_MODEL_CASE(NullCameraModel) \
SWITCH_CAMERA_MODEL_CASE(SimplePinholeCameraModel) \
SWITCH_CAMERA_MODEL_CASE(PinholeCameraModel) \
SWITCH_CAMERA_MODEL_CASE(SimpleRadialCameraModel) \
SWITCH_CAMERA_MODEL_CASE(RadialCameraModel) \
SWITCH_CAMERA_MODEL_CASE(OpenCVCameraModel) \
SWITCH_CAMERA_MODEL_CASE(OpenCVFisheyeCameraModel) \
SWITCH_CAMERA_MODEL_CASE(FullOpenCVCameraModel)
#undef SETUP_CAMERA_SHARED_DEFS
} // namespace poselib
#endif
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