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/*
* =====================================================================================
*
* Filename: camera.cpp
*
* Description: Class for camera
*
* Version: 1.0
* Created: 03/19/2017 09:39:58 PM
* Revision: none
* Compiler: gcc
*
* Author: Martin Miller (MHM), miller7@illinois.edu
* Organization: Aerospace Robotics and Controls Lab (ARC)
*
* =====================================================================================
*/
#include "camera.h"
#include <iostream>
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera
* Description: constructor
*--------------------------------------------------------------------------------------
*/
Camera::Camera (const char *fin)
{
YAML::Node config = YAML::LoadFile(fin);
_K(0,0) = BINNING*config["camera_matrix"]["data"][0].as<double>();
_K(0,1) = BINNING*config["camera_matrix"]["data"][1].as<double>();
_K(0,2) = BINNING*config["camera_matrix"]["data"][2].as<double>();
_K(1,0) = BINNING*config["camera_matrix"]["data"][3].as<double>();
_K(1,1) = BINNING*config["camera_matrix"]["data"][4].as<double>();
_K(1,2) = BINNING*config["camera_matrix"]["data"][5].as<double>();
_K(2,0) = BINNING*config["camera_matrix"]["data"][6].as<double>();
_K(2,1) = BINNING*config["camera_matrix"]["data"][7].as<double>();
_K(2,2) = config["camera_matrix"]["data"][8].as<double>();
_d[0] = config["distortion_coefficients"]["data"][0].as<double>();
_d[1] = config["distortion_coefficients"]["data"][1].as<double>();
_d[2] = config["distortion_coefficients"]["data"][2].as<double>();
_d[3] = config["distortion_coefficients"]["data"][3].as<double>();
_T(0,0) = config["T_cam_imu"][0][0].as<double>();
_T(0,1) = config["T_cam_imu"][0][1].as<double>();
_T(0,2) = config["T_cam_imu"][0][2].as<double>();
_T(0,3) = config["T_cam_imu"][0][3].as<double>();
_T(1,0) = config["T_cam_imu"][1][0].as<double>();
_T(1,1) = config["T_cam_imu"][1][1].as<double>();
_T(1,2) = config["T_cam_imu"][1][2].as<double>();
_T(1,3) = config["T_cam_imu"][1][3].as<double>();
_T(2,0) = config["T_cam_imu"][2][0].as<double>();
_T(2,1) = config["T_cam_imu"][2][1].as<double>();
_T(2,2) = config["T_cam_imu"][2][2].as<double>();
_T(2,3) = config["T_cam_imu"][2][3].as<double>();
_T(3,0) = config["T_cam_imu"][3][0].as<double>();
_T(3,1) = config["T_cam_imu"][3][1].as<double>();
_T(3,2) = config["T_cam_imu"][3][2].as<double>();
_T(3,3) = config["T_cam_imu"][3][3].as<double>();
} /* ----- end of method Camera::Camera (constructor) ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: Rc2b
* Description: Returns the rotation matrix that transforms a point from the
* camera frame to the body frame.
*--------------------------------------------------------------------------------------
*/
Matrix<double,3,3>
Camera::Rc2b ( ) const
{
#ifdef DOYAWCORRECT
double yaw;
yaw = M_PI*( YAWCORRECT )/180.;
Matrix<double,3,3> Ry;
Ry = Eigen::AngleAxisd(yaw, Vector3d::UnitZ());
return Ry*_T.block<3,3>(0,0).transpose();
#else
return _T.block<3,3>(0,0).transpose();
#endif
} /* ----- end of method Camera::Rc2b ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: Rc2b4
* Description: Returns the 4x4 Rc2b matrix
*--------------------------------------------------------------------------------------
*/
Matrix<double,4,4>
Camera::Rc2b4 ( ) const
{
#ifdef DOYAWCORRECT
double yaw;
yaw = M_PI*( YAWCORRECT )/180.;
Matrix<double,3,3> Ry;
Ry = Eigen::AngleAxisd(yaw, Vector3d::UnitZ());
Matrix<double,4,4> R;
R = Matrix<double,4,4>::Identity();
R.block<3,3>(0,0) = Ry*Rc2b();
#else
Matrix<double,4,4> R;
R = Matrix<double,4,4>::Identity();
R.block<3,3>(0,0) = Rc2b();
#endif
return R ;
} /* ----- end of method Camera::Rc2b4 ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: K4
* Description: Returns the 4x4 camera matrix.
*--------------------------------------------------------------------------------------
*/
Matrix<double,4,4>
Camera::K4 ( ) const
{
Matrix<double,4,4> K4;
K4 = Matrix<double,4,4>::Identity();
K4.block<3,3>(0,0) = K();
return K4 ;
} /* ----- end of method Camera::K4 ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: K
* Description: Returns the 3x3 camera matrix.
*--------------------------------------------------------------------------------------
*/
Matrix<double,3,3>
Camera::K ( ) const
{
return _K ;
} /* ----- end of method Camera::K ----- */
cv::Matx33d
Camera::K (int x) const
{
cv::Matx33d k;
k << _K(0,0), _K(0,1), _K(0,2),
_K(1,0), _K(1,1), _K(1,2),
_K(2,0), _K(2,1), _K(2,2);
return k;
}
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: d
* Description: Returns the distortion coefficients.
*--------------------------------------------------------------------------------------
*/
Vector4d
Camera::d ( ) const
{
return _d;
} /* ----- end of method Camera::d ----- */
cv::Vec4d
Camera::d ( int x ) const
{
return cv::Vec4d( _d(0), _d(1), _d(2), _d(3));
}
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: img2body
* Description: Returns image points (pixel coordinates) in the body frame.
* That is xi: -> K -> xc -> Rc2b -> xb, the point is tranformed to the camera
* frame by K and to the body frame by Rc2b.
*--------------------------------------------------------------------------------------
*/
Vector3d
Camera::img2body ( const Vector3d &xi ) const
{
Vector3d xc, xb;
xc = K().inverse()*xi;
// Normalize
xc /= xc.norm();
xb = Rc2b()*xc;
return xb;
} /* ----- end of method Camera::img2body ----- */
Vector3d
Camera::body2img ( const Vector3d &xb ) const
{
Vector3d xc,xi;
xc = Rc2b().transpose()*xb;
xi = K()*xc;
xi /= xi[2];
return xi;
} /* ----- end of method Camera::body2img ----- */
Vector3d
Camera::principalPoint ( ) const
{
return _K.col(2);
} /* ----- end of method Camera::principalPoint ----- */
cv::Mat
Camera::warpPatch ( const cv::Mat &p, const Quaterniond &q0, const Quaterniond &q1 ) const
{
cv::Mat w;
Matrix<double,3,3> R;
R = Rc2b().transpose() * q1.toRotationMatrix().transpose() *
q0.toRotationMatrix() * Rc2b();
cv::Matx23d Rmat;
Rmat << R(0,0), R(0,1), R(0,2),
R(1,0), R(1,1), R(1,2);
//R(2,0), R(2,1), R(2,2);
cv::Size sz(PATCHSIZE,PATCHSIZE);
cv::warpAffine(p, w, Rmat, sz);
return w;
} /* ----- end of method Camera::warpPatch ----- */
cv::Mat
Camera::reflectPatch( const cv::Mat &p, const Quaterniond &q0, const Quaterniond &q1 ) const
{
using Eigen::AngleAxisd;
cv::Mat w1, w2, w3;
Matrix<double,3,3> R1, R2;
Matrix<double,3,3> J;
Matrix<double,3,3> Rbw, Rb0w;
double roll0, pitch0;
double roll1, pitch1;
roll0 = roll(q0);
pitch0 = pitch(q0);
roll1 = roll(q1);
pitch1 = pitch(q1);
Rb0w = AngleAxisd(roll0, Vector3d::UnitX())
* AngleAxisd(pitch0, Vector3d::UnitY());
Rbw = AngleAxisd(roll1, Vector3d::UnitX())
* AngleAxisd(pitch1, Vector3d::UnitY());
R1 = Rc2b().transpose() * Rb0w * Rc2b();
R2 = Rc2b().transpose() * Rbw.transpose() * Rc2b();
cv::Matx23d Rmat1, Rmat2;
Rmat1 << R1(0,0), R1(0,1), R1(0,2),
R1(1,0), R1(1,1), R1(1,2);
Rmat2 << R2(0,0), R2(0,1), R2(0,2),
R2(1,0), R2(1,1), R2(1,2);
cv::Size sz(PATCHSIZE,PATCHSIZE);
cv::warpAffine(p, w1, Rmat1, sz);
cv::flip(w1, w2, 0);
cv::warpAffine(w2, w3, Rmat2, sz);
return w3;
} /* ----- end of method Camera::warpPatch ----- */
double
Camera::roll(const Quaterniond &q) const
{
return atan2( 2*(q.w()*q.x() + q.y()*q.z()), 1-2*(q.x()*q.x() + q.y()+q.y()));
}
double
Camera::pitch(const Quaterniond &q) const
{
return asin( 2*(q.w()*q.y() - q.z()*q.x()));
}
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