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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 ( )
{
#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 ( )
{
#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 ( )
{
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 ( )
{
return _K ;
} /* ----- end of method Camera::K ----- */
/*
*--------------------------------------------------------------------------------------
* Class: Camera
* Method: Camera :: d
* Description: Returns the distortion coefficients.
*--------------------------------------------------------------------------------------
*/
Vector4d
Camera::d ( )
{
return _d;
} /* ----- end of method Camera::d ----- */
/*
*--------------------------------------------------------------------------------------
* 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 ( Vector3d &xi )
{
Vector3d xc, xb;
xc = K().inverse()*xi;
// Normalize
xc /= xc.norm();
xb = Rc2b()*xc;
return xb;
} /* ----- end of method Camera::img2body ----- */
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