CamBase.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef OV_CORE_CAM_BASE_H
#define OV_CORE_CAM_BASE_H
 
#include <Eigen/Eigen>
#include <unordered_map>
 
#include <opencv2/opencv.hpp>
 
namespace ov_core {
 
class CamBase {
 
public:
  CamBase(int width, int height) : _width(width), _height(height) {}
 
  virtual ~CamBase() {}
 
  virtual void set_value(const Eigen::MatrixXd &calib) {
 
    // Assert we are of size eight
    assert(calib.rows() == 8);
    camera_values = calib;
 
    // Camera matrix
    cv::Matx33d tempK;
    tempK(0, 0) = calib(0);
    tempK(0, 1) = 0;
    tempK(0, 2) = calib(2);
    tempK(1, 0) = 0;
    tempK(1, 1) = calib(1);
    tempK(1, 2) = calib(3);
    tempK(2, 0) = 0;
    tempK(2, 1) = 0;
    tempK(2, 2) = 1;
    camera_k_OPENCV = tempK;
 
    // Distortion parameters
    cv::Vec4d tempD;
    tempD(0) = calib(4);
    tempD(1) = calib(5);
    tempD(2) = calib(6);
    tempD(3) = calib(7);
    camera_d_OPENCV = tempD;
  }
 
  virtual Eigen::Vector2f undistort_f(const Eigen::Vector2f &uv_dist) = 0;
 
  Eigen::Vector2d undistort_d(const Eigen::Vector2d &uv_dist) {
    Eigen::Vector2f ept1, ept2;
    ept1 = uv_dist.cast<float>();
    ept2 = undistort_f(ept1);
    return ept2.cast<double>();
  }
 
  cv::Point2f undistort_cv(const cv::Point2f &uv_dist) {
    Eigen::Vector2f ept1, ept2;
    ept1 << uv_dist.x, uv_dist.y;
    ept2 = undistort_f(ept1);
    cv::Point2f pt_out;
    pt_out.x = ept2(0);
    pt_out.y = ept2(1);
    return pt_out;
  }
 
  virtual Eigen::Vector2f distort_f(const Eigen::Vector2f &uv_norm) = 0;
 
  Eigen::Vector2d distort_d(const Eigen::Vector2d &uv_norm) {
    Eigen::Vector2f ept1, ept2;
    ept1 = uv_norm.cast<float>();
    ept2 = distort_f(ept1);
    return ept2.cast<double>();
  }
 
  cv::Point2f distort_cv(const cv::Point2f &uv_norm) {
    Eigen::Vector2f ept1, ept2;
    ept1 << uv_norm.x, uv_norm.y;
    ept2 = distort_f(ept1);
    cv::Point2f pt_out;
    pt_out.x = ept2(0);
    pt_out.y = ept2(1);
    return pt_out;
  }
 
  virtual void compute_distort_jacobian(const Eigen::Vector2d &uv_norm, Eigen::MatrixXd &H_dz_dzn, Eigen::MatrixXd &H_dz_dzeta) = 0;
 
  Eigen::MatrixXd get_value() { return camera_values; }
 
  cv::Matx33d get_K() { return camera_k_OPENCV; }
 
  cv::Vec4d get_D() { return camera_d_OPENCV; }
 
  int w() { return _width; }
 
  int h() { return _height; }
 
protected:
  // Cannot construct the base camera class, needs a distortion model
  CamBase() = default;
 
  Eigen::MatrixXd camera_values;
 
  cv::Matx33d camera_k_OPENCV;
 
  cv::Vec4d camera_d_OPENCV;
 
  int _width;
 
  int _height;
};
 
} // namespace ov_core
 
#endif /* OV_CORE_CAM_BASE_H */