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bundler_camera.cpp
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/*===========================================================================*\
* *
* ACG Localizer *
* Copyright (C) 2011-2012 by Computer Graphics Group, RWTH Aachen *
* www.rwth-graphics.de *
* *
*---------------------------------------------------------------------------*
* This file is part of ACG Localizer *
* *
* ACG Localizer is free software: you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* ACG Localizer is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with ACG Localizer. If not, see <http://www.gnu.org/licenses/>. *
* *
\*===========================================================================*/
#include "bundler_camera.hpp"
bundler_camera::bundler_camera() {
rotation.setIdentity();
focal_length = 1.0;
kappa_1 = kappa_2 = 0.0;
translation[0] = translation[1] = translation[2] = 0.0;
width = height = 0;
}
bundler_camera::~bundler_camera() {
}
//-----------------------------------------------------------------------------
Eigen::Matrix<float, 2, 1> bundler_camera::project_f(
const Eigen::Matrix<double, 3, 1> &p) const {
Eigen::Matrix<double, 3, 1> tmp;
tmp = rotation * p;
tmp += translation;
tmp[2] *= -1.0;
for (int i = 0; i < 2; ++i)
tmp[i] /= tmp[2];
double length_sqr = pow((double) tmp[0], 2.0) + pow((double) tmp[1], 2.0);
// compute radial distortion term
double r = 1.0 + kappa_1 * length_sqr + kappa_2 * length_sqr * length_sqr;
return Eigen::Matrix<float, 2, 1>(focal_length * r * tmp[0],
focal_length * r * tmp[1]);
}
//-----------------------------------------------------------------------------
Eigen::Matrix<float, 2, 1> bundler_camera::project_f_undist(
const Eigen::Matrix<double, 3, 1> &p) const {
Eigen::Matrix<double, 3, 1> tmp;
tmp = rotation * p;
tmp += translation;
tmp[2] *= -1.0;
for (int i = 0; i < 2; ++i)
tmp[i] /= tmp[2];
return Eigen::Matrix<float, 2, 1>(focal_length * tmp[0],
focal_length * tmp[1]);
}
//-----------------------------------------------------------------------------
Eigen::Matrix<double, 2, 1> bundler_camera::project_d(
const Eigen::Matrix<double, 3, 1> &p) const {
Eigen::Matrix<double, 3, 1> tmp;
tmp = rotation * p;
tmp += translation;
tmp[2] *= -1.0;
for (int i = 0; i < 2; ++i)
tmp[i] /= tmp[2];
double length_sqr = pow((double) tmp[0], 2.0) + pow((double) tmp[1], 2.0);
// compute radial distortion term
double r = 1.0 + kappa_1 * length_sqr + kappa_2 * length_sqr * length_sqr;
return Eigen::Matrix<double, 2, 1>(focal_length * r * tmp[0],
focal_length * r * tmp[1]);
}
//-----------------------------------------------------------------------------
Eigen::Matrix<double, 2, 1> bundler_camera::project_d_undist(
const Eigen::Matrix<double, 3, 1> &p) const {
Eigen::Matrix<double, 3, 1> tmp;
tmp = rotation * p;
tmp += translation;
tmp[2] *= -1.0;
for (int i = 0; i < 2; ++i)
tmp[i] /= tmp[2];
return Eigen::Matrix<double, 2, 1>(focal_length * tmp[0],
focal_length * tmp[1]);
}
//-----------------------------------------------------------------------------
Eigen::Matrix<float, 3, 1> bundler_camera::get_cam_global_vec_f(
const Eigen::Matrix<double, 3, 1> &_local) const {
Eigen::Matrix<double, 3, 1> g_pos;
g_pos = _local.transpose() * rotation;
return Eigen::Matrix<float, 3, 1>(g_pos[0], g_pos[1], g_pos[2]);
}
//-----------------------------------------------------------------------------
Eigen::Matrix<double, 3, 1> bundler_camera::get_cam_global_vec_d(
const Eigen::Matrix<double, 3, 1> &_local) const {
Eigen::Matrix<double, 3, 1> g_pos;
g_pos = _local.transpose() * rotation;
return g_pos;
}
//-----------------------------------------------------------------------------
Eigen::Matrix<float, 3, 1> bundler_camera::get_cam_position_f() const {
Eigen::Matrix<double, 3, 1> g_pos;
g_pos = translation.transpose() * rotation;
return Eigen::Matrix<float, 3, 1>(-g_pos[0], -g_pos[1], -g_pos[2]);
}
//-----------------------------------------------------------------------------
Eigen::Matrix<double, 3, 1> bundler_camera::get_cam_position_d() const {
Eigen::Matrix<double, 3, 1> g_pos;
g_pos = translation.transpose() * rotation;
return Eigen::Matrix<double, 3, 1>(-g_pos[0], -g_pos[1], -g_pos[2]);
}
//-----------------------------------------------------------------------------
double bundler_camera::compute_reprojection_error_f(
Eigen::Matrix<float, 3, 1> &p, float x, float y) const {
double error = 0.0;
Eigen::Matrix<double, 3, 1> tmp, tmp2(p[0], p[1], p[2]);
tmp = tmp2.transpose() * rotation;
tmp += translation;
tmp[2] *= -1.0;
for (int i = 0; i < 2; ++i)
tmp[i] /= tmp[2];
double length_sqr = pow((double) tmp[0], 2.0) + pow((double) tmp[1], 2.0);
// compute radial distortion term
double r = 1.0 + kappa_1 * length_sqr + kappa_2 * length_sqr * length_sqr;
Eigen::Matrix<double, 2, 1> proj_point(focal_length * r * (double) tmp[0],
focal_length * r * (double) tmp[1]);
error += (x - proj_point[0]) * (x - proj_point[0]);
error += (y - proj_point[1]) * (y - proj_point[1]);
// std::cout << proj_point << " vs ( " << x << " , " << y << " ) " << std::endl;
return sqrt(error);
}
//-----------------------------------------------------------------------------
Eigen::Matrix<double, 3, 1> bundler_camera::to_cam_coords_d(
const Eigen::Matrix<double, 3, 1> &p) const {
Eigen::Matrix<double, 3, 1> tmp;
tmp = rotation * p;
tmp += translation;
return tmp;
}