SphericalCamera.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/base/Manifold.h>
#include <gtsam/base/ThreadsafeException.h>
#include <gtsam/base/concepts.h>
#include <gtsam/dllexport.h>
#include <gtsam/geometry/BearingRange.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Unit3.h>
 
#if GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
 
namespace gtsam {

class GTSAM_EXPORT EmptyCal {
 public:
  inline constexpr static auto dimension = 0;
  EmptyCal() {}
  virtual ~EmptyCal() = default;
  using shared_ptr = std::shared_ptr<EmptyCal>;

  inline static size_t Dim() { return 0; }
  size_t dim() const { return 0; }
 
  void print(const std::string& s) const {
    std::cout << "empty calibration: " << s << std::endl;
  }
 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION  
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp(
        "EmptyCal", boost::serialization::base_object<EmptyCal>(*this));
  }
#endif
};

class GTSAM_EXPORT SphericalCamera {
 public:
  inline constexpr static auto dimension = 6;
 
  using Measurement = Unit3;
  using MeasurementVector = std::vector<Unit3>;
  using CalibrationType = EmptyCal;
 
 private:
  Pose3 pose_;  
 
 protected:
  EmptyCal::shared_ptr emptyCal_;
 
 public:

  SphericalCamera()
      : pose_(Pose3()), emptyCal_(std::make_shared<EmptyCal>()) {}

  explicit SphericalCamera(const Pose3& pose)
      : pose_(pose), emptyCal_(std::make_shared<EmptyCal>()) {}

  explicit SphericalCamera(const Pose3& pose,
                           const EmptyCal::shared_ptr& cal)
      : pose_(pose), emptyCal_(cal) {}

  explicit SphericalCamera(const Vector& v) : pose_(Pose3::Expmap(v)) {}

  virtual ~SphericalCamera() = default;

  const EmptyCal::shared_ptr& sharedCalibration() const {
    return emptyCal_;
  }

  const EmptyCal& calibration() const { return *emptyCal_; }


  bool equals(const SphericalCamera& camera, double tol = 1e-9) const;

  virtual void print(const std::string& s = "SphericalCamera") const;


  const Pose3& pose() const { return pose_; }

  const Rot3& rotation() const { return pose_.rotation(); }

  const Point3& translation() const { return pose_.translation(); }
 
  //  /// return pose, with derivative
  //  const Pose3& getPose(OptionalJacobian<6, 6> H) const;


  std::pair<Unit3, bool> projectSafe(const Point3& pw) const;

  Unit3 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = {},
                 OptionalJacobian<2, 3> Dpoint = {}) const;

  Unit3 project2(const Unit3& pwu, OptionalJacobian<2, 6> Dpose = {},
                 OptionalJacobian<2, 2> Dpoint = {}) const;

  Point3 backproject(const Unit3& p, const double depth) const;

  Unit3 backprojectPointAtInfinity(const Unit3& p) const;

  Unit3 project(const Point3& point, OptionalJacobian<2, 6> Dpose = {},
                OptionalJacobian<2, 3> Dpoint = {}) const;

  Vector2 reprojectionError(const Point3& point, const Unit3& measured,
                            OptionalJacobian<2, 6> Dpose = {},
                            OptionalJacobian<2, 3> Dpoint = {}) const;

  SphericalCamera retract(const Vector6& d) const {
    return SphericalCamera(pose().retract(d));
  }

  Vector6 localCoordinates(const SphericalCamera& p) const {
    return pose().localCoordinates(p.pose());
  }

  static SphericalCamera Identity() {
    return SphericalCamera(
        Pose3::Identity());  // assumes that the default constructor is valid
  }

  Matrix34 cameraProjectionMatrix() const {
    return Matrix34(pose_.inverse().matrix().block(0, 0, 3, 4));
  }

  Vector defaultErrorWhenTriangulatingBehindCamera() const {
    return Eigen::Matrix<double, traits<Point2>::dimension, 1>::Constant(0.0);
  }
 
  size_t dim() const { return 6; }
 
  static size_t Dim() { return 6; }
 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int /*version*/) {
    ar& BOOST_SERIALIZATION_NVP(pose_);
  }
#endif
};
// end of class SphericalCamera
 
template <>
struct traits<SphericalCamera> : public internal::Manifold<SphericalCamera> {};
 
template <>
struct traits<const SphericalCamera> : public internal::Manifold<SphericalCamera> {};
 
}  // namespace gtsam