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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 ( )
{
return _T.block<3,3>(0,0).transpose();
} /* ----- end of method Camera::Rc2b ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: Rc2b4
* Description: Returns the 4x4 Rc2b matrix
*--------------------------------------------------------------------------------------
*/
Matrix<double,4,4>
Camera::Rc2b4 ( )
{
Matrix<double,4,4> R;
R = Matrix<double,4,4>::Identity();
R.block<3,3>(0,0) = Rc2b();
return R ;
} /* ----- end of method Camera::Rc2b4 ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: K4
* Description: Returns the 4x4 camera matrix.
*--------------------------------------------------------------------------------------
*/
Matrix<double,4,4>
Camera::K4 ( )
{
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 ----- */
Matrix<double,3,3>
Camera::K ( )
{
return _K ;
} /* ----- end of method Camera::K ----- */
Vector4d
Camera::d ( )
{
return _d;
} /* ----- end of method Camera::d ----- */
Vector3d
Camera::img2body ( Vector3d &xi )
{
Vector3d xc, xb;
xc = K().inverse()*xi;
// Normalize
xc /= xc.norm();
xb = Rc2b()*xc;
return xb;
} /* ----- end of method Camera::img2body ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: ref2body
* Description: Determines the feature position with respect to the body from a
* source reflection correspondence xs & sr given the body rotation and height.
*--------------------------------------------------------------------------------------
*/
Vector3d
Camera::ref2body ( double z, const Quaterniond &qbw, const Vector3d &xs,
const Vector3d &xr )
{
// The output vector
Vector3d xb;
Vector4d xb4;
// Rotation from body to camera
Matrix<double,4,4> Rbc4;
Rbc4 = Rc2b4().transpose();
// Projection matrices
Matrix<double,4,4> P1,P2,P;
P1 = K4()*Rbc4;
// Rotation from body to world
Matrix<double,3,3> Rbw;
Matrix<double,4,4> Rbw4,Rwb4;
Rbw = qbw.toRotationMatrix();
Rbw4 = Matrix<double,4,4>::Identity();
Rbw4.block<3,3>(0,0) = Rbw;
Rwb4 = Rbw4.transpose();
Matrix<double,4,4> J; // Reflection matrix
J = Matrix<double,4,4>::Identity();
J(2,2) = -1;
J(2,3) = -2*z;
P2 = K4()*Rbc4*Rwb4*J*Rbw4;
P.block<3,4>(0,0) = P1.block<3,4>(0,0);
P.block<1,4>(3,0) = P2.block<1,4>(1,0);
Vector4d b;
b.segment<3>(0) = xs;
b[3] = xr[1];
xb4 = P.inverse()*b;
xb4 /= xb4[3];
xb = xb4.segment<3>(0);
return xb ;
} /* ----- end of method Camera::ref2body ----- */
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