PinholeCamera.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *
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 *  modification, are permitted provided that the following conditions are met:
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 *   * Redistributions in binary form must reproduce the above copyright notice,
 *     this list of conditions and the following disclaimer in the documentation
 *     and/or other materials provided with the distribution.
 *   * Neither the name of Autonomous Systems Lab / ETH Zurich nor the names of
 *     its contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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 *
 *  Created on: Jan 28, 2015
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Andreas Forster (an.forster@gmail.com)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CAMERAS_PINHOLECAMERA_HPP_
#define INCLUDE_OKVIS_CAMERAS_PINHOLECAMERA_HPP_

#include <vector>
#include <memory>
#include <stdint.h>
#include <Eigen/Core>
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnon-virtual-dtor"
#include <opencv2/core/core.hpp> // Code that causes warning goes here
#pragma GCC diagnostic pop
#include "okvis/cameras/CameraBase.hpp"
#include "okvis/cameras/DistortionBase.hpp"

namespace okvis {
namespace cameras {

template<class DISTORTION_T>
class PinholeCamera : public CameraBase
{
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  typedef DISTORTION_T distortion_t; 

  PinholeCamera(int imageWidth, int imageHeight, double focalLengthU,
                double focalLengthV, double imageCenterU, double imageCenterV,
                const distortion_t & distortion, uint64_t id=-1);

  ~PinholeCamera()
  {
  }

  static const int NumProjectionIntrinsics = 4;  
  static const int NumIntrinsics = NumProjectionIntrinsics
      + distortion_t::NumDistortionIntrinsics; 

  double focalLengthU() const
  {
    return fu_;
  }

  double focalLengthV() const
  {
    return fv_;
  }

  double imageCenterU() const
  {
    return cu_;
  }

  double imageCenterV() const
  {
    return cv_;
  }

  inline void getIntrinsics(Eigen::VectorXd & intrinsics) const ;

  inline bool setIntrinsics(const Eigen::VectorXd & intrinsics);

  inline int noIntrinsicsParameters() const
  {
    return NumIntrinsics;
  }


  inline CameraBase::ProjectionStatus project(
      const Eigen::Vector3d & point, Eigen::Vector2d * imagePoint) const;

  inline CameraBase::ProjectionStatus project(
      const Eigen::Vector3d & point, Eigen::Vector2d * imagePoint,
      Eigen::Matrix<double, 2, 3> * pointJacobian,
      Eigen::Matrix2Xd * intrinsicsJacobian = NULL) const;

  inline CameraBase::ProjectionStatus projectWithExternalParameters(
      const Eigen::Vector3d & point, const Eigen::VectorXd & parameters,
      Eigen::Vector2d * imagePoint, Eigen::Matrix<double, 2, 3> * pointJacobian,
      Eigen::Matrix2Xd * intrinsicsJacobian = NULL) const;

  inline void projectBatch(
      const Eigen::Matrix3Xd & points, Eigen::Matrix2Xd * imagePoints,
      std::vector<CameraBase::ProjectionStatus> * stati) const;

  inline CameraBase::ProjectionStatus projectHomogeneous(
      const Eigen::Vector4d & point, Eigen::Vector2d * imagePoint) const;

  inline CameraBase::ProjectionStatus projectHomogeneous(
      const Eigen::Vector4d & point, Eigen::Vector2d * imagePoint,
      Eigen::Matrix<double, 2, 4> * pointJacobian,
      Eigen::Matrix2Xd * intrinsicsJacobian = NULL) const;

  inline CameraBase::ProjectionStatus projectHomogeneousWithExternalParameters(
      const Eigen::Vector4d & point, const Eigen::VectorXd & parameters,
      Eigen::Vector2d * imagePoint,
      Eigen::Matrix<double, 2, 4> * pointJacobian = NULL,
      Eigen::Matrix2Xd * intrinsicsJacobian = NULL) const;

  inline void projectHomogeneousBatch(
      const Eigen::Matrix4Xd & points, Eigen::Matrix2Xd * imagePoints,
      std::vector<CameraBase::ProjectionStatus> * stati) const;


  inline bool backProject(const Eigen::Vector2d & imagePoint,
                          Eigen::Vector3d * direction) const;

  inline bool backProject(const Eigen::Vector2d & imagePoint,
                          Eigen::Vector3d * direction,
                          Eigen::Matrix<double, 3, 2> * pointJacobian) const;

  inline bool backProjectBatch(const Eigen::Matrix2Xd & imagePoints,
                               Eigen::Matrix3Xd * directions,
                               std::vector<bool> * success) const;

  inline bool backProjectHomogeneous(const Eigen::Vector2d & imagePoint,
                                     Eigen::Vector4d * direction) const;

  inline bool backProjectHomogeneous(
      const Eigen::Vector2d & imagePoint, Eigen::Vector4d * direction,
      Eigen::Matrix<double, 4, 2> * pointJacobian) const;

  inline bool backProjectHomogeneousBatch(const Eigen::Matrix2Xd & imagePoints,
                                          Eigen::Matrix4Xd * directions,
                                          std::vector<bool> * success) const;

  static std::shared_ptr<CameraBase> createTestObject()
  {
    return std::shared_ptr<CameraBase>(new PinholeCamera(752, 480, 350, 360, 378, 238,
                         distortion_t::testObject()));
  }
  static PinholeCamera testObject()
  {
    return PinholeCamera(752, 480, 350, 360, 378, 238,
                          distortion_t::testObject());
  }

  std::string type() const
  {
    return "PinholeCamera<" + distortion_.type() + ">";
  }

  const std::string distortionType() const
  {
    return distortion_.type();
  }

 protected:

  PinholeCamera() = delete;

  distortion_t distortion_;  

  Eigen::Matrix<double, NumIntrinsics, 1> intrinsics_;  
  double fu_;  
  double fv_;  
  double cu_;  
  double cv_;  
  double one_over_fu_;  
  double one_over_fv_;  
  double fu_over_fv_;  

};

}  // namespace cameras
}  // namespace okvis

#include "implementation/PinholeCamera.hpp"

#endif /* INCLUDE_OKVIS_CAMERAS_PINHOLECAMERA_HPP_ */