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Repository: heguixiang/Remove_ROS_VINS
Branch: master
Commit: 9b654de20f18
Files: 156
Total size: 1.1 MB
Directory structure:
gitextract__17qxa0t/
├── .gitignore
├── .kdev4/
│ └── src.kdev4
├── LICENCE
├── README.md
├── ar_demo/
│ ├── CMakeLists.txt
│ ├── CMakeLists.txt.back
│ ├── launch/
│ │ ├── 3dm_bag.launch
│ │ ├── ar_A3.launch
│ │ └── ar_rviz.launch
│ ├── package.xml
│ ├── package.xml.back
│ └── src/
│ └── ar_demo_node.cpp
├── benchmark_publisher/
│ ├── CMakeLists.txt
│ ├── CMakeLists.txt.back
│ ├── launch/
│ │ └── publish.launch
│ ├── package.xml
│ ├── package.xml.back
│ └── src/
│ └── benchmark_publisher_node.cpp
├── camera_model/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── camodocal/
│ │ ├── calib/
│ │ │ └── CameraCalibration.h
│ │ ├── camera_models/
│ │ │ ├── Camera.h
│ │ │ ├── CameraFactory.h
│ │ │ ├── CataCamera.h
│ │ │ ├── CostFunctionFactory.h
│ │ │ ├── EquidistantCamera.h
│ │ │ ├── PinholeCamera.h
│ │ │ └── ScaramuzzaCamera.h
│ │ ├── chessboard/
│ │ │ ├── Chessboard.h
│ │ │ ├── ChessboardCorner.h
│ │ │ ├── ChessboardQuad.h
│ │ │ └── Spline.h
│ │ ├── gpl/
│ │ │ ├── EigenQuaternionParameterization.h
│ │ │ ├── EigenUtils.h
│ │ │ └── gpl.h
│ │ └── sparse_graph/
│ │ └── Transform.h
│ ├── instruction
│ ├── package.xml
│ ├── readme.md
│ └── src/
│ ├── calib/
│ │ └── CameraCalibration.cc
│ ├── camera_models/
│ │ ├── Camera.cc
│ │ ├── CameraFactory.cc
│ │ ├── CataCamera.cc
│ │ ├── CostFunctionFactory.cc
│ │ ├── EquidistantCamera.cc
│ │ ├── PinholeCamera.cc
│ │ └── ScaramuzzaCamera.cc
│ ├── chessboard/
│ │ └── Chessboard.cc
│ ├── gpl/
│ │ ├── EigenQuaternionParameterization.cc
│ │ └── gpl.cc
│ ├── intrinsic_calib.cc
│ └── sparse_graph/
│ └── Transform.cc
├── config/
│ ├── 3dm/
│ │ └── 3dm_config.yaml
│ ├── A3/
│ │ └── A3_config.yaml
│ ├── AR_demo.rviz
│ ├── euroc/
│ │ ├── euroc_config.yaml
│ │ ├── euroc_config_no_extrinsic.yaml
│ │ ├── ex_calib_result.yaml
│ │ └── vins_result.csv
│ └── vins_rviz_config.rviz
├── generate.sh
├── include/
│ ├── ChannelFloat32.h
│ ├── Float32.h
│ ├── Header.h
│ ├── Imu.h
│ ├── Odometry.h
│ ├── Path.h
│ ├── Point.h
│ ├── Point32.h
│ ├── PointCloud.h
│ ├── PointStamped
│ ├── Pose.h
│ ├── PoseStamped.h
│ ├── PoseWithCovariance.h
│ ├── Quaternion.h
│ ├── Time.h
│ ├── Twist.h
│ ├── TwistWithCovariance.h
│ └── Vector3.h
├── src.kdev4
├── support_files/
│ ├── brief_pattern.yml
│ └── cmake/
│ └── FindEigen.cmake
└── vins_estimator/
├── .kdev4/
│ └── vins_estimator.kdev4
├── CMakeLists.txt
├── launch/
│ ├── 3dm.launch
│ ├── A3.launch
│ ├── euroc.launch
│ ├── euroc_no_extrinsic_param.launch
│ └── vins_rviz.launch
├── package.xml
└── src/
├── estimator.cpp
├── estimator.h
├── estimator_node.cpp
├── factor/
│ ├── imu_factor.h
│ ├── integration_base.h
│ ├── marginalization_factor.cpp
│ ├── marginalization_factor.h
│ ├── pose_local_parameterization.cpp
│ ├── pose_local_parameterization.h
│ ├── projection_factor.cpp
│ └── projection_factor.h
├── feature_manager.cpp
├── feature_manager.h
├── feature_tracker/
│ ├── feature_tracker.cpp
│ ├── feature_tracker.h
│ └── tic_toc.h
├── initial/
│ ├── initial_aligment.cpp
│ ├── initial_alignment.h
│ ├── initial_ex_rotation.cpp
│ ├── initial_ex_rotation.h
│ ├── initial_sfm.cpp
│ ├── initial_sfm.h
│ ├── solve_5pts.cpp
│ └── solve_5pts.h
├── loop-closure/
│ ├── DLoopDetector.h
│ ├── TemplatedLoopDetector.h
│ ├── ThirdParty/
│ │ ├── DBoW/
│ │ │ ├── BowVector.cpp
│ │ │ ├── BowVector.h
│ │ │ ├── DBoW2.h
│ │ │ ├── FBrief.cpp
│ │ │ ├── FBrief.h
│ │ │ ├── FClass.h
│ │ │ ├── FeatureVector.cpp
│ │ │ ├── FeatureVector.h
│ │ │ ├── QueryResults.cpp
│ │ │ ├── QueryResults.h
│ │ │ ├── ScoringObject.cpp
│ │ │ ├── ScoringObject.h
│ │ │ ├── TemplatedDatabase.h
│ │ │ └── TemplatedVocabulary.h
│ │ ├── DUtils/
│ │ │ ├── DException.h
│ │ │ ├── DUtils.h
│ │ │ ├── Random.cpp
│ │ │ ├── Random.h
│ │ │ ├── Timestamp.cpp
│ │ │ └── Timestamp.h
│ │ ├── DVision/
│ │ │ ├── BRIEF.cpp
│ │ │ ├── BRIEF.h
│ │ │ └── DVision.h
│ │ ├── VocabularyBinary.cpp
│ │ └── VocabularyBinary.hpp
│ ├── demoDetector.h
│ ├── keyframe.cpp
│ ├── keyframe.h
│ ├── keyframe_database.cpp
│ ├── keyframe_database.h
│ ├── loop_closure.cpp
│ └── loop_closure.h
├── parameters.cpp
├── parameters.h
└── utility/
├── CameraPoseVisualization.cpp
├── CameraPoseVisualization.h
├── tic_toc.h
├── utility.cpp
├── utility.h
├── visualization.cpp
└── visualization.h
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
data.csv
/.git/
camera_model/build/
vins_estimator/build/
================================================
FILE: .kdev4/src.kdev4
================================================
[Buildset]
BuildItems=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x01\x00\x00\x00\x0b\x00\x00\x00\x00\x01\x00\x00\x00\x1e\x00R\x00e\x00m\x00o\x00v\x00e\x00_\x00R\x00O\x00S\x00_\x00V\x00I\x00N\x00S)
[CMake]
Build Directory Count=1
Current Build Directory Index=0
ProjectRootRelative=./
[CMake][CMake Build Directory 0]
Build Directory Path=file:///home/solomon/merge_vins_version/build
Build Type=
CMake Binary=file:///usr/bin/cmake
Environment Profile=
Extra Arguments=
Install Directory=file:///home/solomon/merge_vins_version/install
[Launch]
Launch Configurations=Launch Configuration 0
[Launch][Launch Configuration 0]
Configured Launch Modes=execute
Configured Launchers=nativeAppLauncher
Name=New Application Launcher
Type=Native Application
[Launch][Launch Configuration 0][Data]
Arguments=
Debugger Shell=
Dependencies=@Variant(\x00\x00\x00\t\x00\x00\x00\x00\x00)
Dependency Action=Nothing
Display Demangle Names=true
Display Static Members=false
EnvironmentGroup=default
Executable=file:///home/solomon/workspace/slam/VINS-MONO/catkin_ws/src/CMakeLists.txt
External Terminal=konsole --noclose --workdir %workdir -e %exe
GDB Path=file:///home/solomon/merge_vins_version/devel/lib/vins_estimator/vins_estimator
Project Target=Remove_ROS_VINS,benchmark_publisher,benchmark_publisher
Remote GDB Config Script=
Remote GDB Run Script=
Remote GDB Shell Script=
Start With=ApplicationOutput
Use External Terminal=false
Working Directory=file:///home/solomon/workspace/slam/VINS-MONO/catkin_ws/src
isExecutable=true
[Project]
VersionControlSupport=kdevgit
================================================
FILE: LICENCE
================================================
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into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
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================================================
FILE: README.md
================================================
# This repositories is a version of HKUST-Aerial-Robotics/VINS-Mono without ROS mechanism. The project can be passed on the euroc dataset so far. [EuRoc](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) ASL data format, this version can run both on 32bit OS and 64 bit OS platform.
# thanks to the reference program：
# [HKUST-Aerial-Robotics/VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono)
# What need to be installed
```
1. Ceres Solver
2. Opencv 3.1
3. Eigen 3.2.0
4. boost
5. Pangolin
```
# How to build:
```
1. mkdir VINS_Workspace
2. cd VINS_Workspace
3. git clone git@github.com:heguixiang/Remove_ROS_VINS.git
4. mv Remove_ROS_VINS src
5. ./generate.sh
```
# How to run:
```
1. cd VINS_Workspace
2. mkdir -p data/image/MH_01_easy
3. mkdir -p data/imu/
4. cd VINS_Workspace/data & git clone git@github.com:heguixiang/EuRoc-Timestamps.git
5. download the EuRoc dataset(e.g. Machine Hall 01)
6. cp the MH_01_easy/mav0/cam0/data to data/image/MH_01_easy
7. cp the MH_01_easy/mav0/imu0/data.csv to data/imu/
8. cd VINS_Workspace
9. ./src/vins_estimator/build/vins_estimator ./src/config/euroc/euroc_config.yaml ./data/image/MH_01_easy/data/ ./data/EuRoc-Timestamps/MH01.txt ./data/imu/data.csv
```
================================================
FILE: ar_demo/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(ar_demo)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11 -DEIGEN_DONT_PARALLELIZE")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
image_transport
sensor_msgs
cv_bridge
message_filters
camera_model
)
find_package(OpenCV REQUIRED)
catkin_package(
)
include_directories(
${catkin_INCLUDE_DIRS}
)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3 REQUIRED)
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
add_executable(ar_demo_node src/ar_demo_node.cpp)
target_link_libraries(ar_demo_node
${catkin_LIBRARIES} ${OpenCV_LIBS}
)
================================================
FILE: ar_demo/CMakeLists.txt.back
================================================
cmake_minimum_required(VERSION 2.8.3)
project(ar_demo)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11 -DEIGEN_DONT_PARALLELIZE")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
image_transport
sensor_msgs
cv_bridge
message_filters
camera_model
)
find_package(OpenCV REQUIRED)
catkin_package(
)
include_directories(
${catkin_INCLUDE_DIRS}
)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3 REQUIRED)
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
add_executable(ar_demo_node src/ar_demo_node.cpp)
target_link_libraries(ar_demo_node
${catkin_LIBRARIES} ${OpenCV_LIBS}
)
================================================
FILE: ar_demo/launch/3dm_bag.launch
================================================
<launch>
<include file="$(find vins_estimator)/launch/3dm.launch"/>
<node pkg="ar_demo" type="ar_demo_node" name="ar_demo_node" output="screen">
<remap from="~image_raw" to="/mv_25001498/image_raw"/>
<remap from="~camera_pose" to="/vins_estimator/camera_pose"/>
<remap from="~pointcloud" to="/vins_estimator/point_cloud"/>
<param name="calib_file" type="string" value="$(find feature_tracker)/../config/3dm/3dm_config.yaml"/>
<param name="use_undistored_img" type="bool" value="false"/>
</node>
</launch>
================================================
FILE: ar_demo/launch/ar_A3.launch
================================================
<launch>
<include file="$(find vins_estimator)/launch/A3.launch"/>
<node pkg="ar_demo" type="ar_demo_node" name="ar_demo_node" output="screen">
<remap from="~image_raw" to="/djiros/image"/>
<remap from="~camera_pose" to="/vins_estimator/camera_pose"/>
<remap from="~pointcloud" to="/vins_estimator/point_cloud"/>
<param name="calib_file" type="string" value="$(find feature_tracker)/../config/A3/A3_config.yaml"/>
<param name="use_undistored_img" type="bool" value="false"/>
</node>
</launch>
================================================
FILE: ar_demo/launch/ar_rviz.launch
================================================
<launch>
<node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find ar_demo)/../config/AR_demo.rviz" />
</launch>
================================================
FILE: ar_demo/package.xml
================================================
<?xml version="1.0"?>
<package>
<name>ar_demo</name>
<version>0.0.0</version>
<description>The ar_demo package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="qintonguav@gmail.com">tony-ws</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/AR_demo</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>camera_model</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>camera_model</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
================================================
FILE: ar_demo/package.xml.back
================================================
<?xml version="1.0"?>
<package>
<name>ar_demo</name>
<version>0.0.0</version>
<description>The ar_demo package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="qintonguav@gmail.com">tony-ws</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/AR_demo</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>camera_model</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>camera_model</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
================================================
FILE: ar_demo/src/ar_demo_node.cpp
================================================
#include <ros/ros.h>
#include <std_msgs/ColorRGBA.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/PointCloud.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <cmath>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <eigen3/Eigen/Dense>
#include <eigen3/Eigen/Geometry>
#include <vector>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include "camodocal/camera_models/CameraFactory.h"
#include "camodocal/camera_models/CataCamera.h"
#include "camodocal/camera_models/PinholeCamera.h"
#include <queue>
#include <cmath>
#include <algorithm>
using namespace std;
using namespace Eigen;
using namespace sensor_msgs;
using namespace message_filters;
using namespace camodocal;
int ROW;
int COL;
double FOCAL_LENGTH;
const int axis_num = 0;
const int cube_num = 1;
const double box_length = 0.8;
bool USE_UNDISTORED_IMG;
bool pose_init = false;
int img_cnt = 0;
ros::Publisher object_pub;
image_transport::Publisher pub_ARimage;
Vector3d Axis[6];
Vector3d Cube_center[3];
vector<Vector3d> Cube_corner[3];
vector<Vector3d> output_Axis[6];
vector<Vector3d> output_Cube[3];
vector<double> output_corner_dis[3];
double Cube_center_depth[3];
queue<ImageConstPtr> img_buf;
camodocal::CameraPtr m_camera;
bool look_ground = 0;
std_msgs::ColorRGBA line_color_r;
std_msgs::ColorRGBA line_color_g;
std_msgs::ColorRGBA line_color_b;
void axis_generate(visualization_msgs::Marker &line_list, Vector3d &origin, int id)
{
line_list.id = id;
line_list.header.frame_id = "world";
line_list.header.stamp = ros::Time::now();
line_list.action = visualization_msgs::Marker::ADD;
line_list.type = visualization_msgs::Marker::LINE_LIST;
line_list.scale.x = 0.1;
line_list.color.a = 1.0;
line_list.lifetime = ros::Duration();
line_list.pose.orientation.w = 1.0;
line_list.color.b = 1.0;
geometry_msgs::Point p;
p.x = origin.x();
p.y = origin.y();
p.z = origin.z();
line_list.points.push_back(p);
line_list.colors.push_back(line_color_r);
p.x += 1.0;
line_list.points.push_back(p);
line_list.colors.push_back(line_color_r);
p.x -= 1.0;
line_list.points.push_back(p);
line_list.colors.push_back(line_color_g);
p.y += 1.0;
line_list.points.push_back(p);
line_list.colors.push_back(line_color_g);
p.y -= 1.0;
line_list.points.push_back(p);
line_list.colors.push_back(line_color_b);
p.z += 1.0;
line_list.points.push_back(p);
line_list.colors.push_back(line_color_b);
}
void cube_generate(visualization_msgs::Marker &marker, Vector3d &origin, int id)
{
//uint32_t shape = visualization_msgs::Marker::CUBE;
marker.header.frame_id = "world";
marker.header.stamp = ros::Time::now();
marker.ns = "basic_shapes";
marker.id = 0;
//marker.type = shape;
marker.action = visualization_msgs::Marker::ADD;
marker.type = visualization_msgs::Marker::CUBE_LIST;
/*
marker.pose.position.x = origin.x();
marker.pose.position.y = origin.y();
marker.pose.position.z = origin.z();
marker.pose.orientation.x = 0.0;
marker.pose.orientation.y = 0.0;
marker.pose.orientation.z = 0.0;
marker.pose.orientation.w = 1.0;
*/
marker.scale.x = box_length;
marker.scale.y = box_length;
marker.scale.z = box_length;
marker.color.r = 0.0f;
marker.color.g = 1.0f;
marker.color.b = 0.0f;
marker.color.a = 1.0;
marker.lifetime = ros::Duration();
geometry_msgs::Point p;
p.x = origin.x();
p.y = origin.y();
p.z = origin.z();
marker.points.push_back(p);
marker.colors.push_back(line_color_r);
Cube_corner[id].clear();
Cube_corner[id].push_back(Vector3d(origin.x() - box_length / 2, origin.y() - box_length / 2, origin.z() - box_length / 2));
Cube_corner[id].push_back(Vector3d(origin.x() + box_length / 2, origin.y() - box_length / 2, origin.z() - box_length / 2));
Cube_corner[id].push_back(Vector3d(origin.x() - box_length / 2, origin.y() + box_length / 2, origin.z() - box_length / 2));
Cube_corner[id].push_back(Vector3d(origin.x() + box_length / 2, origin.y() + box_length / 2, origin.z() - box_length / 2));
Cube_corner[id].push_back(Vector3d(origin.x() - box_length / 2, origin.y() - box_length / 2, origin.z() + box_length / 2));
Cube_corner[id].push_back(Vector3d(origin.x() + box_length / 2, origin.y() - box_length / 2, origin.z() + box_length / 2));
Cube_corner[id].push_back(Vector3d(origin.x() - box_length / 2, origin.y() + box_length / 2, origin.z() + box_length / 2));
Cube_corner[id].push_back(Vector3d(origin.x() + box_length / 2, origin.y() + box_length / 2, origin.z() + box_length / 2));
}
void add_object()
{
visualization_msgs::MarkerArray markerArray_msg;
visualization_msgs::Marker line_list;
visualization_msgs::Marker cube_list;
for (int i = 0; i < axis_num; i++)
{
axis_generate(line_list, Axis[i], i);
markerArray_msg.markers.push_back(line_list);
}
for (int i = 0; i <cube_num; i++)
{
cube_generate(cube_list, Cube_center[i], i);
}
//cube_generate(cube_list, Cube_center[2], 2);
markerArray_msg.markers.push_back(cube_list);
object_pub.publish(markerArray_msg);
}
void project_object(Vector3d camera_p, Quaterniond camera_q)
{
for (int i = 0; i < axis_num; i++)
{
output_Axis[i].clear();
Vector3d local_point;
Vector2d local_uv;
local_point = camera_q.inverse() * (Axis[i] - camera_p);
m_camera->spaceToPlane(local_point, local_uv);
if (local_point.z() > 0)
//&& 0 <= local_uv.x() && local_uv.x() <= COL - 1 && 0 <= local_uv.y() && local_uv.y() <= ROW -1)
{
output_Axis[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1));
local_point = camera_q.inverse() * (Axis[i] + Vector3d(1, 0, 0) - camera_p);
m_camera->spaceToPlane(local_point, local_uv);
output_Axis[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1));
local_point = camera_q.inverse() * (Axis[i] + Vector3d(0, 1, 0) - camera_p);
m_camera->spaceToPlane(local_point, local_uv);
output_Axis[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1));
local_point = camera_q.inverse() * (Axis[i] + Vector3d(0, 0, 1) - camera_p);
m_camera->spaceToPlane(local_point, local_uv);
output_Axis[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1));
}
}
for (int i = 0; i < cube_num; i++)
{
output_Cube[i].clear();
output_corner_dis[i].clear();
Vector3d local_point;
Vector2d local_uv;
local_point = camera_q.inverse() * (Cube_center[i] - camera_p);
if (USE_UNDISTORED_IMG)
{
local_uv.x() = local_point(0) / local_point(2) * FOCAL_LENGTH + COL / 2;
local_uv.y() = local_point(1) / local_point(2) * FOCAL_LENGTH + ROW / 2;
}
else
m_camera->spaceToPlane(local_point, local_uv);
if (local_point.z() > box_length / 2)
//&& 0 <= local_uv.x() && local_uv.x() <= COL - 1 && 0 <= local_uv.y() && local_uv.y() <= ROW -1)
{
Cube_center_depth[i] = local_point.z();
for (int j = 0; j < 8; j++)
{
local_point = camera_q.inverse() * (Cube_corner[i][j] - camera_p);
output_corner_dis[i].push_back(local_point.norm());
if (USE_UNDISTORED_IMG)
{
//ROS_INFO("directly project!");
local_uv.x() = local_point(0) / local_point(2) * FOCAL_LENGTH + COL / 2;
local_uv.y() = local_point(1) / local_point(2) * FOCAL_LENGTH + ROW / 2;
}
else
{
//ROS_INFO("camera model project!");
m_camera->spaceToPlane(local_point, local_uv);
local_uv.x() = std::min(std::max(-5000.0, local_uv.x()),5000.0);
local_uv.y() = std::min(std::max(-5000.0, local_uv.y()),5000.0);
}
output_Cube[i].push_back(Vector3d(local_uv.x(), local_uv.y(), 1));
}
}
else
{
Cube_center_depth[i] = -1;
}
}
}
void draw_object(cv::Mat &AR_image)
{
for (int i = 0; i < axis_num; i++)
{
if(output_Axis[i].empty())
continue;
cv::Point2d origin(output_Axis[i][0].x(), output_Axis[i][0].y());
cv::Point2d axis_x(output_Axis[i][1].x(), output_Axis[i][1].y());
cv::Point2d axis_y(output_Axis[i][2].x(), output_Axis[i][2].y());
cv::Point2d axis_z(output_Axis[i][3].x(), output_Axis[i][3].y());
cv::line(AR_image, origin, axis_x, cv::Scalar(0, 0, 255), 2, 8, 0);
cv::line(AR_image, origin, axis_y, cv::Scalar(0, 255, 0), 2, 8, 0);
cv::line(AR_image, origin, axis_z, cv::Scalar(255, 0, 0), 2, 8, 0);
}
//depth sort big---->small
int index[cube_num];
for (int i = 0; i < cube_num; i++)
{
index[i] = i;
//cout << "i " << i << " init depth" << Cube_center_depth[i] << endl;
}
for (int i = 0; i < cube_num; i++)
for (int j = 0; j < cube_num - i - 1; j++)
{
if (Cube_center_depth[j] < Cube_center_depth[j + 1])
{
double tmp = Cube_center_depth[j];
Cube_center_depth[j] = Cube_center_depth[j + 1];
Cube_center_depth[j + 1] = tmp;
int tmp_index = index[j];
index[j] = index[j + 1];
index[j + 1] = tmp_index;
}
}
for (int k = 0; k < cube_num; k++)
{
int i = index[k];
//cout << "draw " << i << "depth " << Cube_center_depth[i] << endl;
if (output_Cube[i].empty())
continue;
//draw color
cv::Point* p = new cv::Point[8];
p[0] = cv::Point(output_Cube[i][0].x(), output_Cube[i][0].y());
p[1] = cv::Point(output_Cube[i][1].x(), output_Cube[i][1].y());
p[2] = cv::Point(output_Cube[i][2].x(), output_Cube[i][2].y());
p[3] = cv::Point(output_Cube[i][3].x(), output_Cube[i][3].y());
p[4] = cv::Point(output_Cube[i][4].x(), output_Cube[i][4].y());
p[5] = cv::Point(output_Cube[i][5].x(), output_Cube[i][5].y());
p[6] = cv::Point(output_Cube[i][6].x(), output_Cube[i][6].y());
p[7] = cv::Point(output_Cube[i][7].x(), output_Cube[i][7].y());
int npts[1] = {4};
float min_depth = 100000;
int min_index = 5;
for(int j= 0; j < (int)output_corner_dis[i].size(); j++)
{
if(output_corner_dis[i][j] < min_depth)
{
min_depth = output_corner_dis[i][j];
min_index = j;
}
}
cv::Point plain[1][4];
const cv::Point* ppt[1] = {plain[0]};
//first draw large depth plane
int point_group[8][12] = {{0,1,5,4, 0,4,6,2, 0,1,3,2},
{0,1,5,4, 1,5,7,3, 0,1,3,2},
{2,3,7,6, 0,4,6,2, 0,1,3,2},
{2,3,7,6, 1,5,7,3, 0,1,3,2},
{0,1,5,4, 0,4,6,2, 4,5,7,6},
{0,1,5,4, 1,5,7,3, 4,5,7,6},
{2,3,7,6, 0,4,6,2, 4,5,7,6},
{2,3,7,6, 1,5,7,3, 4,5,7,6}};
plain[0][0] = p[point_group[min_index][4]];
plain[0][1] = p[point_group[min_index][5]];
plain[0][2] = p[point_group[min_index][6]];
plain[0][3] = p[point_group[min_index][7]];
cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 200, 0));
plain[0][0] = p[point_group[min_index][0]];
plain[0][1] = p[point_group[min_index][1]];
plain[0][2] = p[point_group[min_index][2]];
plain[0][3] = p[point_group[min_index][3]];
cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(200, 0, 0));
if(output_corner_dis[i][point_group[min_index][2]] + output_corner_dis[i][point_group[min_index][3]] >
output_corner_dis[i][point_group[min_index][5]] + output_corner_dis[i][point_group[min_index][6]])
{
plain[0][0] = p[point_group[min_index][4]];
plain[0][1] = p[point_group[min_index][5]];
plain[0][2] = p[point_group[min_index][6]];
plain[0][3] = p[point_group[min_index][7]];
cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 200, 0));
}
plain[0][0] = p[point_group[min_index][8]];
plain[0][1] = p[point_group[min_index][9]];
plain[0][2] = p[point_group[min_index][10]];
plain[0][3] = p[point_group[min_index][11]];
cv::fillPoly(AR_image, ppt, npts, 1, cv::Scalar(0, 0, 200));
delete p;
}
}
void callback(const ImageConstPtr& img_msg, const geometry_msgs::PoseStamped::ConstPtr& pose_msg)
{
//throw the first few unstable pose
if(img_cnt < 20)
{
img_cnt ++;
return;
}
//ROS_INFO("sync callback!");
Vector3d camera_p(pose_msg->pose.position.x,
pose_msg->pose.position.y,
pose_msg->pose.position.z);
Quaterniond camera_q(pose_msg->pose.orientation.w,
pose_msg->pose.orientation.x,
pose_msg->pose.orientation.y,
pose_msg->pose.orientation.z);
//test plane
Vector3d cam_z(0, 0, -1);
Vector3d w_cam_z = camera_q * cam_z;
//cout << "angle " << acos(w_cam_z.dot(Vector3d(0, 0, 1))) * 180.0 / M_PI << endl;
if (acos(w_cam_z.dot(Vector3d(0, 0, 1))) * 180.0 / M_PI < 90)
{
//ROS_WARN(" look down");
look_ground = 1;
}
else
look_ground = 0;
project_object(camera_p, camera_q);
cv_bridge::CvImagePtr bridge_ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::MONO8);
cv::Mat AR_image;
AR_image = bridge_ptr->image.clone();
cv::cvtColor(AR_image, AR_image, cv::COLOR_GRAY2RGB);
draw_object(AR_image);
sensor_msgs::ImagePtr AR_msg = cv_bridge::CvImage(img_msg->header, "bgr8", AR_image).toImageMsg();
pub_ARimage.publish(AR_msg);
}
void point_callback(const sensor_msgs::PointCloudConstPtr &point_msg)
{
if (!look_ground)
return;
int height_range[30];
double height_sum[30];
for (int i = 0; i < 30; i++)
{
height_range[i] = 0;
height_sum[i] = 0;
}
for (unsigned int i = 0; i < point_msg->points.size(); i++)
{
//double x = point_msg->points[i].x;
//double y = point_msg->points[i].y;
double z = point_msg->points[i].z;
int index = (z + 2.0) / 0.1;
if (0 <= index && index < 30)
{
height_range[index]++;
height_sum[index] += z;
}
//cout << "point " << " z " << z << endl;
}
int max_num = 0;
int max_index = -1;
for (int i = 1; i < 29; i++)
{
if (max_num < height_range[i])
{
max_num = height_range[i];
max_index = i;
}
}
if (max_index == -1)
return;
int neigh_num = height_range[max_index - 1] + height_range[max_index] + height_range[max_index + 1];
double neigh_height = (height_sum[max_index - 1] + height_sum[max_index] + height_sum[max_index + 1]) / neigh_num;
//ROS_WARN("detect ground plain, height %f", neigh_height);
if (neigh_num < (int)point_msg->points.size() / 2)
{
//ROS_INFO("points not enough");
return;
}
//update height
for (int i = 0; i < cube_num; i++)
{
Cube_center[i].z() = neigh_height + box_length / 2.0;
}
add_object();
}
void img_callback(const ImageConstPtr& img_msg)
{
if(pose_init)
{
img_buf.push(img_msg);
}
else
return;
}
void pose_callback(const geometry_msgs::PoseStamped::ConstPtr& pose_msg)
{
if(!pose_init)
{
pose_init = true;
return;
}
if (img_buf.empty())
{
//ROS_WARN("image coming late");
return;
}
while (img_buf.front()->header.stamp < pose_msg->header.stamp && !img_buf.empty())
{
img_buf.pop();
}
if (!img_buf.empty())
{
callback(img_buf.front(), pose_msg);
img_buf.pop();
}
//else
// ROS_WARN("image coming late");
}
int main( int argc, char** argv )
{
ros::init(argc, argv, "points_and_lines");
ros::NodeHandle n("~");
object_pub = n.advertise<visualization_msgs::MarkerArray>("AR_object", 10);
n.getParam("use_undistored_img", USE_UNDISTORED_IMG);
ros::Subscriber sub_img;
if (USE_UNDISTORED_IMG)
{
// the same as image crop
ROW = 600;
COL = 480;
FOCAL_LENGTH = 320.0;
sub_img = n.subscribe("image_undistored", 100, img_callback);
}
else
{
ROW = 752;
COL = 480;
FOCAL_LENGTH = 460.0;
sub_img = n.subscribe("image_raw", 100, img_callback);
}
Axis[0] = Vector3d(0, 2, -1.2);
Axis[1]= Vector3d(-10, 5, 0);
Axis[2] = Vector3d(3, 3, 3);
Axis[3] = Vector3d(-2, 2, 0);
Axis[4]= Vector3d(5, 10, -5);
Axis[5] = Vector3d(0, 10, -1);
Cube_center[0] = Vector3d(-2, 0, -1.2 + box_length / 2.0);
//Cube_center[0] = Vector3d(0, 3, -1.2 + box_length / 2.0);
Cube_center[1] = Vector3d(4, -2, -1.2 + box_length / 2.0);
Cube_center[2] = Vector3d(0, -2, -1.2 + box_length / 2.0);
ros::Subscriber pose_img = n.subscribe("camera_pose", 100, pose_callback);
ros::Subscriber sub_point = n.subscribe("pointcloud", 2000, point_callback);
image_transport::ImageTransport it(n);
pub_ARimage = it.advertise("AR_image", 1000);
line_color_r.r = 1.0;
line_color_r.a = 1.0;
line_color_g.g = 1.0;
line_color_g.a = 1.0;
line_color_b.b = 1.0;
line_color_b.a = 1.0;
string calib_file;
n.getParam("calib_file", calib_file);
ROS_INFO("reading paramerter of camera %s", calib_file.c_str());
m_camera = CameraFactory::instance()->generateCameraFromYamlFile(calib_file);
ros::Rate r(100);
ros::Duration(1).sleep();
add_object();
add_object();
ros::spin();
}
================================================
FILE: benchmark_publisher/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(benchmark_publisher)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11 -DEIGEN_DONT_PARALLELIZE")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -rdynamic")
find_package(catkin REQUIRED COMPONENTS
roscpp
tf
)
catkin_package()
include_directories(${catkin_INCLUDE_DIRS})
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3 REQUIRED)
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
add_executable(benchmark_publisher
src/benchmark_publisher_node.cpp
)
target_link_libraries(benchmark_publisher ${catkin_LIBRARIES})
================================================
FILE: benchmark_publisher/CMakeLists.txt.back
================================================
cmake_minimum_required(VERSION 2.8.3)
project(benchmark_publisher)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11 -DEIGEN_DONT_PARALLELIZE")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -rdynamic")
find_package(catkin REQUIRED COMPONENTS
roscpp
tf
)
catkin_package()
include_directories(${catkin_INCLUDE_DIRS})
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3 REQUIRED)
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
add_executable(benchmark_publisher
src/benchmark_publisher_node.cpp
)
target_link_libraries(benchmark_publisher ${catkin_LIBRARIES})
================================================
FILE: benchmark_publisher/launch/publish.launch
================================================
<launch>
<!--MH_01_easy MH_02_easy MH_03_medium MH_04_difficult MH_05_difficult V1_01_easy V1_02_medium V1_03_difficult V2_01_easy V2_02_medium V2_03_difficult -->
<arg name="sequence_name" default = "MH_05_difficult" />
<node name="benchmark_publisher" pkg="benchmark_publisher" type="benchmark_publisher" output="screen">
<param name="data_name" type="string" value="$(find benchmark_publisher)/config/$(arg sequence_name)/data.csv" />
<remap from="~estimated_odometry" to="/vins_estimator/odometry" />
</node>
<!--
<node pkg="rosbag" type="play" name="player" output="log"
args="/home/tony-ws/bag/ijrr_euroc_mav_dataset/$(arg sequence_name)/$(arg sequence_name).bag -r 2" />
-->
</launch>
================================================
FILE: benchmark_publisher/package.xml
================================================
<?xml version="1.0"?>
<package>
<name>benchmark_publisher</name>
<version>0.0.0</version>
<description>The benchmark_publisher package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="dvorak@todo.todo">dvorak</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/benchmark_publisher</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<run_depend>roscpp</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
================================================
FILE: benchmark_publisher/package.xml.back
================================================
<?xml version="1.0"?>
<package>
<name>benchmark_publisher</name>
<version>0.0.0</version>
<description>The benchmark_publisher package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="dvorak@todo.todo">dvorak</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/benchmark_publisher</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<run_depend>roscpp</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
================================================
FILE: benchmark_publisher/src/benchmark_publisher_node.cpp
================================================
#include <cstdio>
#include <vector>
#include <ros/ros.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_broadcaster.h>
#include <fstream>
#include <eigen3/Eigen/Dense>
using namespace std;
using namespace Eigen;
const int SKIP = 50;
string benchmark_output_path;
string estimate_output_path;
template <typename T>
T readParam(ros::NodeHandle &n, std::string name)
{
T ans;
if (n.getParam(name, ans))
{
ROS_INFO_STREAM("Loaded " << name << ": " << ans);
}
else
{
ROS_ERROR_STREAM("Failed to load " << name);
n.shutdown();
}
return ans;
}
struct Data
{
Data(FILE *f)
{
fscanf(f, " %lf,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f", &t,
&px, &py, &pz,
&qw, &qx, &qy, &qz,
&vx, &vy, &vz,
&wx, &wy, &wz,
&ax, &ay, &az);
t /= 1e9;
}
double t;
float px, py, pz;
float qw, qx, qy, qz;
float vx, vy, vz;
float wx, wy, wz;
float ax, ay, az;
};
int idx = 1;
vector<Data> benchmark;
ros::Publisher pub_odom;
ros::Publisher pub_path;
nav_msgs::Path path;
int init = 0;
Quaterniond baseRgt;
Vector3d baseTgt;
tf::Transform trans;
void odom_callback(const nav_msgs::OdometryConstPtr &odom_msg)
{
//ROS_INFO("odom callback!");
if (odom_msg->header.stamp.toSec() > benchmark.back().t)
return;
for (; idx < static_cast<int>(benchmark.size()) && benchmark[idx].t <= odom_msg->header.stamp.toSec(); idx++)
;
if (init++ < SKIP)
{
baseRgt = Quaterniond(odom_msg->pose.pose.orientation.w,
odom_msg->pose.pose.orientation.x,
odom_msg->pose.pose.orientation.y,
odom_msg->pose.pose.orientation.z) *
Quaterniond(benchmark[idx - 1].qw,
benchmark[idx - 1].qx,
benchmark[idx - 1].qy,
benchmark[idx - 1].qz).inverse();
baseTgt = Vector3d{odom_msg->pose.pose.position.x,
odom_msg->pose.pose.position.y,
odom_msg->pose.pose.position.z} -
baseRgt * Vector3d{benchmark[idx - 1].px, benchmark[idx - 1].py, benchmark[idx - 1].pz};
return;
}
nav_msgs::Odometry odometry;
odometry.header.stamp = ros::Time(benchmark[idx - 1].t);
odometry.header.frame_id = "world";
odometry.child_frame_id = "world";
Vector3d tmp_T = baseTgt + baseRgt * Vector3d{benchmark[idx - 1].px, benchmark[idx - 1].py, benchmark[idx - 1].pz};
odometry.pose.pose.position.x = tmp_T.x();
odometry.pose.pose.position.y = tmp_T.y();
odometry.pose.pose.position.z = tmp_T.z();
Quaterniond tmp_R = baseRgt * Quaterniond{benchmark[idx - 1].qw,
benchmark[idx - 1].qx,
benchmark[idx - 1].qy,
benchmark[idx - 1].qz};
odometry.pose.pose.orientation.w = tmp_R.w();
odometry.pose.pose.orientation.x = tmp_R.x();
odometry.pose.pose.orientation.y = tmp_R.y();
odometry.pose.pose.orientation.z = tmp_R.z();
Vector3d tmp_V = baseRgt * Vector3d{benchmark[idx - 1].vx,
benchmark[idx - 1].vy,
benchmark[idx - 1].vz};
odometry.twist.twist.linear.x = tmp_V.x();
odometry.twist.twist.linear.y = tmp_V.y();
odometry.twist.twist.linear.z = tmp_V.z();
pub_odom.publish(odometry);
geometry_msgs::PoseStamped pose_stamped;
pose_stamped.header = odometry.header;
pose_stamped.pose = odometry.pose.pose;
path.header = odometry.header;
path.poses.push_back(pose_stamped);
pub_path.publish(path);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "benchmark_publisher");
ros::NodeHandle n("~");
string csv_file = readParam<string>(n, "data_name");
std::cout << "load ground truth " << csv_file << std::endl;
FILE *f = fopen(csv_file.c_str(), "r");
if (f==NULL)
{
ROS_WARN("can't load ground truth; wrong path");
//std::cerr << "can't load ground truth; wrong path " << csv_file << std::endl;
return 0;
}
char tmp[10000];
fgets(tmp, 10000, f);
while (!feof(f))
benchmark.emplace_back(f);
fclose(f);
benchmark.pop_back();
ROS_INFO("Data loaded: %d", (int)benchmark.size());
pub_odom = n.advertise<nav_msgs::Odometry>("odometry", 1000);
pub_path = n.advertise<nav_msgs::Path>("path", 1000);
ros::Subscriber sub_odom = n.subscribe("estimated_odometry", 1000, odom_callback);
ros::Rate r(20);
ros::spin();
}
================================================
FILE: camera_model/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(camera_model)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")
#find_package(catkin REQUIRED COMPONENTS
# roscpp
# std_msgs
# )
find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
include_directories(${Boost_INCLUDE_DIRS})
find_package(OpenCV REQUIRED)
# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3")
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})
#catkin_package(
# INCLUDE_DIRS include
# LIBRARIES camera_model
# CATKIN_DEPENDS roscpp std_msgs
# DEPENDS system_lib
# )
#include_directories(
# ${catkin_INCLUDE_DIRS}
# )
include_directories("include")
# add_executable(Calibration
# src/intrinsic_calib.cc
# src/chessboard/Chessboard.cc
# src/calib/CameraCalibration.cc
# src/camera_models/Camera.cc
# src/camera_models/CameraFactory.cc
# src/camera_models/CostFunctionFactory.cc
# src/camera_models/PinholeCamera.cc
# src/camera_models/CataCamera.cc
# src/camera_models/EquidistantCamera.cc
# src/camera_models/ScaramuzzaCamera.cc
# src/sparse_graph/Transform.cc
# src/gpl/gpl.cc
# src/gpl/EigenQuaternionParameterization.cc)
add_library(camera_model STATIC
src/chessboard/Chessboard.cc
src/calib/CameraCalibration.cc
src/camera_models/Camera.cc
src/camera_models/CameraFactory.cc
src/camera_models/CostFunctionFactory.cc
src/camera_models/PinholeCamera.cc
src/camera_models/CataCamera.cc
src/camera_models/EquidistantCamera.cc
src/camera_models/ScaramuzzaCamera.cc
src/sparse_graph/Transform.cc
src/gpl/gpl.cc
src/gpl/EigenQuaternionParameterization.cc)
# target_link_libraries(Calibration ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
target_link_libraries(camera_model ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
================================================
FILE: camera_model/include/camodocal/calib/CameraCalibration.h
================================================
#ifndef CAMERACALIBRATION_H
#define CAMERACALIBRATION_H
#include <opencv2/core/core.hpp>
#include "camodocal/camera_models/Camera.h"
namespace camodocal
{
class CameraCalibration
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CameraCalibration();
CameraCalibration(Camera::ModelType modelType,
const std::string& cameraName,
const cv::Size& imageSize,
const cv::Size& boardSize,
float squareSize);
void clear(void);
void addChessboardData(const std::vector<cv::Point2f>& corners);
bool calibrate(void);
int sampleCount(void) const;
std::vector<std::vector<cv::Point2f> >& imagePoints(void);
const std::vector<std::vector<cv::Point2f> >& imagePoints(void) const;
std::vector<std::vector<cv::Point3f> >& scenePoints(void);
const std::vector<std::vector<cv::Point3f> >& scenePoints(void) const;
CameraPtr& camera(void);
const CameraConstPtr camera(void) const;
Eigen::Matrix2d& measurementCovariance(void);
const Eigen::Matrix2d& measurementCovariance(void) const;
cv::Mat& cameraPoses(void);
const cv::Mat& cameraPoses(void) const;
void drawResults(std::vector<cv::Mat>& images) const;
void writeParams(const std::string& filename) const;
bool writeChessboardData(const std::string& filename) const;
bool readChessboardData(const std::string& filename);
void setVerbose(bool verbose);
private:
bool calibrateHelper(CameraPtr& camera,
std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs) const;
void optimize(CameraPtr& camera,
std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs) const;
template<typename T>
void readData(std::ifstream& ifs, T& data) const;
template<typename T>
void writeData(std::ofstream& ofs, T data) const;
cv::Size m_boardSize;
float m_squareSize;
CameraPtr m_camera;
cv::Mat m_cameraPoses;
std::vector<std::vector<cv::Point2f> > m_imagePoints;
std::vector<std::vector<cv::Point3f> > m_scenePoints;
Eigen::Matrix2d m_measurementCovariance;
bool m_verbose;
};
}
#endif
================================================
FILE: camera_model/include/camodocal/camera_models/Camera.h
================================================
#ifndef CAMERA_H
#define CAMERA_H
#include <boost/shared_ptr.hpp>
#include <eigen3/Eigen/Dense>
#include <opencv2/core/core.hpp>
#include <vector>
namespace camodocal
{
class Camera
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
enum ModelType
{
KANNALA_BRANDT,
MEI,
PINHOLE,
SCARAMUZZA
};
class Parameters
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Parameters(ModelType modelType);
Parameters(ModelType modelType, const std::string& cameraName,
int w, int h);
ModelType& modelType(void);
std::string& cameraName(void);
int& imageWidth(void);
int& imageHeight(void);
ModelType modelType(void) const;
const std::string& cameraName(void) const;
int imageWidth(void) const;
int imageHeight(void) const;
int nIntrinsics(void) const;
virtual bool readFromYamlFile(const std::string& filename) = 0;
virtual void writeToYamlFile(const std::string& filename) const = 0;
protected:
ModelType m_modelType;
int m_nIntrinsics;
std::string m_cameraName;
int m_imageWidth;
int m_imageHeight;
};
virtual ModelType modelType(void) const = 0;
virtual const std::string& cameraName(void) const = 0;
virtual int imageWidth(void) const = 0;
virtual int imageHeight(void) const = 0;
virtual cv::Mat& mask(void);
virtual const cv::Mat& mask(void) const;
virtual void estimateIntrinsics(const cv::Size& boardSize,
const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints) = 0;
virtual void estimateExtrinsics(const std::vector<cv::Point3f>& objectPoints,
const std::vector<cv::Point2f>& imagePoints,
cv::Mat& rvec, cv::Mat& tvec) const;
// Lift points from the image plane to the sphere
virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const = 0;
//%output P
// Lift points from the image plane to the projective space
virtual void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const = 0;
//%output P
// Projects 3D points to the image plane (Pi function)
virtual void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const = 0;
//%output p
// Projects 3D points to the image plane (Pi function)
// and calculates jacobian
//virtual void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
// Eigen::Matrix<double,2,3>& J) const = 0;
//%output p
//%output J
virtual void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const = 0;
//%output p
//virtual void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const = 0;
virtual cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
float fx = -1.0f, float fy = -1.0f,
cv::Size imageSize = cv::Size(0, 0),
float cx = -1.0f, float cy = -1.0f,
cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const = 0;
virtual int parameterCount(void) const = 0;
virtual void readParameters(const std::vector<double>& parameters) = 0;
virtual void writeParameters(std::vector<double>& parameters) const = 0;
virtual void writeParametersToYamlFile(const std::string& filename) const = 0;
virtual std::string parametersToString(void) const = 0;
/**
* \brief Calculates the reprojection distance between points
*
* \param P1 first 3D point coordinates
* \param P2 second 3D point coordinates
* \return euclidean distance in the plane
*/
double reprojectionDist(const Eigen::Vector3d& P1, const Eigen::Vector3d& P2) const;
double reprojectionError(const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints,
const std::vector<cv::Mat>& rvecs,
const std::vector<cv::Mat>& tvecs,
cv::OutputArray perViewErrors = cv::noArray()) const;
double reprojectionError(const Eigen::Vector3d& P,
const Eigen::Quaterniond& camera_q,
const Eigen::Vector3d& camera_t,
const Eigen::Vector2d& observed_p) const;
void projectPoints(const std::vector<cv::Point3f>& objectPoints,
const cv::Mat& rvec,
const cv::Mat& tvec,
std::vector<cv::Point2f>& imagePoints) const;
protected:
cv::Mat m_mask;
};
typedef boost::shared_ptr<Camera> CameraPtr;
typedef boost::shared_ptr<const Camera> CameraConstPtr;
}
#endif
================================================
FILE: camera_model/include/camodocal/camera_models/CameraFactory.h
================================================
#ifndef CAMERAFACTORY_H
#define CAMERAFACTORY_H
#include <boost/shared_ptr.hpp>
#include <opencv2/core/core.hpp>
#include "camodocal/camera_models/Camera.h"
namespace camodocal
{
class CameraFactory
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CameraFactory();
static boost::shared_ptr<CameraFactory> instance(void);
CameraPtr generateCamera(Camera::ModelType modelType,
const std::string& cameraName,
cv::Size imageSize) const;
CameraPtr generateCameraFromYamlFile(const std::string& filename);
private:
static boost::shared_ptr<CameraFactory> m_instance;
};
}
#endif
================================================
FILE: camera_model/include/camodocal/camera_models/CataCamera.h
================================================
#ifndef CATACAMERA_H
#define CATACAMERA_H
#include <opencv2/core/core.hpp>
#include <string>
#include "ceres/rotation.h"
#include "Camera.h"
namespace camodocal
{
/**
* C. Mei, and P. Rives, Single View Point Omnidirectional Camera Calibration
* from Planar Grids, ICRA 2007
*/
class CataCamera: public Camera
{
public:
class Parameters: public Camera::Parameters
{
public:
Parameters();
Parameters(const std::string& cameraName,
int w, int h,
double xi,
double k1, double k2, double p1, double p2,
double gamma1, double gamma2, double u0, double v0);
double& xi(void);
double& k1(void);
double& k2(void);
double& p1(void);
double& p2(void);
double& gamma1(void);
double& gamma2(void);
double& u0(void);
double& v0(void);
double xi(void) const;
double k1(void) const;
double k2(void) const;
double p1(void) const;
double p2(void) const;
double gamma1(void) const;
double gamma2(void) const;
double u0(void) const;
double v0(void) const;
bool readFromYamlFile(const std::string& filename);
void writeToYamlFile(const std::string& filename) const;
Parameters& operator=(const Parameters& other);
friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
private:
double m_xi;
double m_k1;
double m_k2;
double m_p1;
double m_p2;
double m_gamma1;
double m_gamma2;
double m_u0;
double m_v0;
};
CataCamera();
/**
* \brief Constructor from the projection model parameters
*/
CataCamera(const std::string& cameraName,
int imageWidth, int imageHeight,
double xi, double k1, double k2, double p1, double p2,
double gamma1, double gamma2, double u0, double v0);
/**
* \brief Constructor from the projection model parameters
*/
CataCamera(const Parameters& params);
Camera::ModelType modelType(void) const;
const std::string& cameraName(void) const;
int imageWidth(void) const;
int imageHeight(void) const;
void estimateIntrinsics(const cv::Size& boardSize,
const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints);
// Lift points from the image plane to the sphere
void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
//%output P
// Lift points from the image plane to the projective space
void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
//%output P
// Projects 3D points to the image plane (Pi function)
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;
//%output p
// Projects 3D points to the image plane (Pi function)
// and calculates jacobian
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
Eigen::Matrix<double,2,3>& J) const;
//%output p
//%output J
void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;
//%output p
template <typename T>
static void spaceToPlane(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p);
void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const;
void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u,
Eigen::Matrix2d& J) const;
void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;
cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
float fx = -1.0f, float fy = -1.0f,
cv::Size imageSize = cv::Size(0, 0),
float cx = -1.0f, float cy = -1.0f,
cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;
int parameterCount(void) const;
const Parameters& getParameters(void) const;
void setParameters(const Parameters& parameters);
void readParameters(const std::vector<double>& parameterVec);
void writeParameters(std::vector<double>& parameterVec) const;
void writeParametersToYamlFile(const std::string& filename) const;
std::string parametersToString(void) const;
private:
Parameters mParameters;
double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
bool m_noDistortion;
};
typedef boost::shared_ptr<CataCamera> CataCameraPtr;
typedef boost::shared_ptr<const CataCamera> CataCameraConstPtr;
template <typename T>
void
CataCamera::spaceToPlane(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p)
{
T P_w[3];
P_w[0] = T(P(0));
P_w[1] = T(P(1));
P_w[2] = T(P(2));
// Convert quaternion from Eigen convention (x, y, z, w)
// to Ceres convention (w, x, y, z)
T q_ceres[4] = {q[3], q[0], q[1], q[2]};
T P_c[3];
ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
P_c[0] += t[0];
P_c[1] += t[1];
P_c[2] += t[2];
// project 3D object point to the image plane
T xi = params[0];
T k1 = params[1];
T k2 = params[2];
T p1 = params[3];
T p2 = params[4];
T gamma1 = params[5];
T gamma2 = params[6];
T alpha = T(0); //cameraParams.alpha();
T u0 = params[7];
T v0 = params[8];
// Transform to model plane
T len = sqrt(P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2]);
P_c[0] /= len;
P_c[1] /= len;
P_c[2] /= len;
T u = P_c[0] / (P_c[2] + xi);
T v = P_c[1] / (P_c[2] + xi);
T rho_sqr = u * u + v * v;
T L = T(1.0) + k1 * rho_sqr + k2 * rho_sqr * rho_sqr;
T du = T(2.0) * p1 * u * v + p2 * (rho_sqr + T(2.0) * u * u);
T dv = p1 * (rho_sqr + T(2.0) * v * v) + T(2.0) * p2 * u * v;
u = L * u + du;
v = L * v + dv;
p(0) = gamma1 * (u + alpha * v) + u0;
p(1) = gamma2 * v + v0;
}
}
#endif
================================================
FILE: camera_model/include/camodocal/camera_models/CostFunctionFactory.h
================================================
#ifndef COSTFUNCTIONFACTORY_H
#define COSTFUNCTIONFACTORY_H
#include <boost/shared_ptr.hpp>
#include <opencv2/core/core.hpp>
#include "camodocal/camera_models/Camera.h"
namespace ceres
{
class CostFunction;
}
namespace camodocal
{
enum
{
CAMERA_INTRINSICS = 1 << 0,
CAMERA_POSE = 1 << 1,
POINT_3D = 1 << 2,
ODOMETRY_INTRINSICS = 1 << 3,
ODOMETRY_3D_POSE = 1 << 4,
ODOMETRY_6D_POSE = 1 << 5,
CAMERA_ODOMETRY_TRANSFORM = 1 << 6
};
class CostFunctionFactory
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CostFunctionFactory();
static boost::shared_ptr<CostFunctionFactory> instance(void);
ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
const Eigen::Vector3d& observed_P,
const Eigen::Vector2d& observed_p,
int flags) const;
ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
const Eigen::Vector3d& observed_P,
const Eigen::Vector2d& observed_p,
const Eigen::Matrix2d& sqrtPrecisionMat,
int flags) const;
ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
const Eigen::Vector2d& observed_p,
int flags, bool optimize_cam_odo_z = true) const;
ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
const Eigen::Vector2d& observed_p,
const Eigen::Matrix2d& sqrtPrecisionMat,
int flags, bool optimize_cam_odo_z = true) const;
ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
const Eigen::Vector3d& odo_pos,
const Eigen::Vector3d& odo_att,
const Eigen::Vector2d& observed_p,
int flags, bool optimize_cam_odo_z = true) const;
ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,
const Eigen::Quaterniond& cam_odo_q,
const Eigen::Vector3d& cam_odo_t,
const Eigen::Vector3d& odo_pos,
const Eigen::Vector3d& odo_att,
const Eigen::Vector2d& observed_p,
int flags) const;
ceres::CostFunction* generateCostFunction(const CameraConstPtr& cameraLeft,
const CameraConstPtr& cameraRight,
const Eigen::Vector3d& observed_P,
const Eigen::Vector2d& observed_p_left,
const Eigen::Vector2d& observed_p_right) const;
private:
static boost::shared_ptr<CostFunctionFactory> m_instance;
};
}
#endif
================================================
FILE: camera_model/include/camodocal/camera_models/EquidistantCamera.h
================================================
#ifndef EQUIDISTANTCAMERA_H
#define EQUIDISTANTCAMERA_H
#include <opencv2/core/core.hpp>
#include <string>
#include "ceres/rotation.h"
#include "Camera.h"
namespace camodocal
{
/**
* J. Kannala, and S. Brandt, A Generic Camera Model and Calibration Method
* for Conventional, Wide-Angle, and Fish-Eye Lenses, PAMI 2006
*/
class EquidistantCamera: public Camera
{
public:
class Parameters: public Camera::Parameters
{
public:
Parameters();
Parameters(const std::string& cameraName,
int w, int h,
double k2, double k3, double k4, double k5,
double mu, double mv,
double u0, double v0);
double& k2(void);
double& k3(void);
double& k4(void);
double& k5(void);
double& mu(void);
double& mv(void);
double& u0(void);
double& v0(void);
double k2(void) const;
double k3(void) const;
double k4(void) const;
double k5(void) const;
double mu(void) const;
double mv(void) const;
double u0(void) const;
double v0(void) const;
bool readFromYamlFile(const std::string& filename);
void writeToYamlFile(const std::string& filename) const;
Parameters& operator=(const Parameters& other);
friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
private:
// projection
double m_k2;
double m_k3;
double m_k4;
double m_k5;
double m_mu;
double m_mv;
double m_u0;
double m_v0;
};
EquidistantCamera();
/**
* \brief Constructor from the projection model parameters
*/
EquidistantCamera(const std::string& cameraName,
int imageWidth, int imageHeight,
double k2, double k3, double k4, double k5,
double mu, double mv,
double u0, double v0);
/**
* \brief Constructor from the projection model parameters
*/
EquidistantCamera(const Parameters& params);
Camera::ModelType modelType(void) const;
const std::string& cameraName(void) const;
int imageWidth(void) const;
int imageHeight(void) const;
void estimateIntrinsics(const cv::Size& boardSize,
const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints);
// Lift points from the image plane to the sphere
virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
//%output P
// Lift points from the image plane to the projective space
void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
//%output P
// Projects 3D points to the image plane (Pi function)
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;
//%output p
// Projects 3D points to the image plane (Pi function)
// and calculates jacobian
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
Eigen::Matrix<double,2,3>& J) const;
//%output p
//%output J
void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;
//%output p
template <typename T>
static void spaceToPlane(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p);
void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;
cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
float fx = -1.0f, float fy = -1.0f,
cv::Size imageSize = cv::Size(0, 0),
float cx = -1.0f, float cy = -1.0f,
cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;
int parameterCount(void) const;
const Parameters& getParameters(void) const;
void setParameters(const Parameters& parameters);
void readParameters(const std::vector<double>& parameterVec);
void writeParameters(std::vector<double>& parameterVec) const;
void writeParametersToYamlFile(const std::string& filename) const;
std::string parametersToString(void) const;
private:
template<typename T>
static T r(T k2, T k3, T k4, T k5, T theta);
void fitOddPoly(const std::vector<double>& x, const std::vector<double>& y,
int n, std::vector<double>& coeffs) const;
void backprojectSymmetric(const Eigen::Vector2d& p_u,
double& theta, double& phi) const;
Parameters mParameters;
double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
};
typedef boost::shared_ptr<EquidistantCamera> EquidistantCameraPtr;
typedef boost::shared_ptr<const EquidistantCamera> EquidistantCameraConstPtr;
template<typename T>
T
EquidistantCamera::r(T k2, T k3, T k4, T k5, T theta)
{
// k1 = 1
return theta +
k2 * theta * theta * theta +
k3 * theta * theta * theta * theta * theta +
k4 * theta * theta * theta * theta * theta * theta * theta +
k5 * theta * theta * theta * theta * theta * theta * theta * theta * theta;
}
template <typename T>
void
EquidistantCamera::spaceToPlane(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p)
{
T P_w[3];
P_w[0] = T(P(0));
P_w[1] = T(P(1));
P_w[2] = T(P(2));
// Convert quaternion from Eigen convention (x, y, z, w)
// to Ceres convention (w, x, y, z)
T q_ceres[4] = {q[3], q[0], q[1], q[2]};
T P_c[3];
ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
P_c[0] += t[0];
P_c[1] += t[1];
P_c[2] += t[2];
// project 3D object point to the image plane;
T k2 = params[0];
T k3 = params[1];
T k4 = params[2];
T k5 = params[3];
T mu = params[4];
T mv = params[5];
T u0 = params[6];
T v0 = params[7];
T len = sqrt(P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2]);
T theta = acos(P_c[2] / len);
T phi = atan2(P_c[1], P_c[0]);
Eigen::Matrix<T,2,1> p_u = r(k2, k3, k4, k5, theta) * Eigen::Matrix<T,2,1>(cos(phi), sin(phi));
p(0) = mu * p_u(0) + u0;
p(1) = mv * p_u(1) + v0;
}
}
#endif
================================================
FILE: camera_model/include/camodocal/camera_models/PinholeCamera.h
================================================
#ifndef PINHOLECAMERA_H
#define PINHOLECAMERA_H
#include <opencv2/core/core.hpp>
#include <string>
#include "ceres/rotation.h"
#include "Camera.h"
namespace camodocal
{
class PinholeCamera: public Camera
{
public:
class Parameters: public Camera::Parameters
{
public:
Parameters();
Parameters(const std::string& cameraName,
int w, int h,
double k1, double k2, double p1, double p2,
double fx, double fy, double cx, double cy);
double& k1(void);
double& k2(void);
double& p1(void);
double& p2(void);
double& fx(void);
double& fy(void);
double& cx(void);
double& cy(void);
double xi(void) const;
double k1(void) const;
double k2(void) const;
double p1(void) const;
double p2(void) const;
double fx(void) const;
double fy(void) const;
double cx(void) const;
double cy(void) const;
bool readFromYamlFile(const std::string& filename);
void writeToYamlFile(const std::string& filename) const;
Parameters& operator=(const Parameters& other);
friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
private:
double m_k1;
double m_k2;
double m_p1;
double m_p2;
double m_fx;
double m_fy;
double m_cx;
double m_cy;
};
PinholeCamera();
/**
* \brief Constructor from the projection model parameters
*/
PinholeCamera(const std::string& cameraName,
int imageWidth, int imageHeight,
double k1, double k2, double p1, double p2,
double fx, double fy, double cx, double cy);
/**
* \brief Constructor from the projection model parameters
*/
PinholeCamera(const Parameters& params);
Camera::ModelType modelType(void) const;
const std::string& cameraName(void) const;
int imageWidth(void) const;
int imageHeight(void) const;
void estimateIntrinsics(const cv::Size& boardSize,
const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints);
// Lift points from the image plane to the sphere
virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
//%output P
// Lift points from the image plane to the projective space
void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
//%output P
// Projects 3D points to the image plane (Pi function)
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;
//%output p
// Projects 3D points to the image plane (Pi function)
// and calculates jacobian
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
Eigen::Matrix<double,2,3>& J) const;
//%output p
//%output J
void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;
//%output p
template <typename T>
static void spaceToPlane(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p);
void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const;
void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u,
Eigen::Matrix2d& J) const;
void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;
cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
float fx = -1.0f, float fy = -1.0f,
cv::Size imageSize = cv::Size(0, 0),
float cx = -1.0f, float cy = -1.0f,
cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;
int parameterCount(void) const;
const Parameters& getParameters(void) const;
void setParameters(const Parameters& parameters);
void readParameters(const std::vector<double>& parameterVec);
void writeParameters(std::vector<double>& parameterVec) const;
void writeParametersToYamlFile(const std::string& filename) const;
std::string parametersToString(void) const;
private:
Parameters mParameters;
double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
bool m_noDistortion;
};
typedef boost::shared_ptr<PinholeCamera> PinholeCameraPtr;
typedef boost::shared_ptr<const PinholeCamera> PinholeCameraConstPtr;
template <typename T>
void
PinholeCamera::spaceToPlane(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p)
{
T P_w[3];
P_w[0] = T(P(0));
P_w[1] = T(P(1));
P_w[2] = T(P(2));
// Convert quaternion from Eigen convention (x, y, z, w)
// to Ceres convention (w, x, y, z)
T q_ceres[4] = {q[3], q[0], q[1], q[2]};
T P_c[3];
ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
P_c[0] += t[0];
P_c[1] += t[1];
P_c[2] += t[2];
// project 3D object point to the image plane
T k1 = params[0];
T k2 = params[1];
T p1 = params[2];
T p2 = params[3];
T fx = params[4];
T fy = params[5];
T alpha = T(0); //cameraParams.alpha();
T cx = params[6];
T cy = params[7];
// Transform to model plane
T u = P_c[0] / P_c[2];
T v = P_c[1] / P_c[2];
T rho_sqr = u * u + v * v;
T L = T(1.0) + k1 * rho_sqr + k2 * rho_sqr * rho_sqr;
T du = T(2.0) * p1 * u * v + p2 * (rho_sqr + T(2.0) * u * u);
T dv = p1 * (rho_sqr + T(2.0) * v * v) + T(2.0) * p2 * u * v;
u = L * u + du;
v = L * v + dv;
p(0) = fx * (u + alpha * v) + cx;
p(1) = fy * v + cy;
}
}
#endif
================================================
FILE: camera_model/include/camodocal/camera_models/ScaramuzzaCamera.h
================================================
#ifndef SCARAMUZZACAMERA_H
#define SCARAMUZZACAMERA_H
#include <opencv2/core/core.hpp>
#include <string>
#include "ceres/rotation.h"
#include "Camera.h"
namespace camodocal
{
#define SCARAMUZZA_POLY_SIZE 5
#define SCARAMUZZA_INV_POLY_SIZE 20
#define SCARAMUZZA_CAMERA_NUM_PARAMS (SCARAMUZZA_POLY_SIZE + SCARAMUZZA_INV_POLY_SIZE + 2 /*center*/ + 3 /*affine*/)
/**
* Scaramuzza Camera (Omnidirectional)
* https://sites.google.com/site/scarabotix/ocamcalib-toolbox
*/
class OCAMCamera: public Camera
{
public:
class Parameters: public Camera::Parameters
{
public:
Parameters();
double& C(void) { return m_C; }
double& D(void) { return m_D; }
double& E(void) { return m_E; }
double& center_x(void) { return m_center_x; }
double& center_y(void) { return m_center_y; }
double& poly(int idx) { return m_poly[idx]; }
double& inv_poly(int idx) { return m_inv_poly[idx]; }
double C(void) const { return m_C; }
double D(void) const { return m_D; }
double E(void) const { return m_E; }
double center_x(void) const { return m_center_x; }
double center_y(void) const { return m_center_y; }
double poly(int idx) const { return m_poly[idx]; }
double inv_poly(int idx) const { return m_inv_poly[idx]; }
bool readFromYamlFile(const std::string& filename);
void writeToYamlFile(const std::string& filename) const;
Parameters& operator=(const Parameters& other);
friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
private:
double m_poly[SCARAMUZZA_POLY_SIZE];
double m_inv_poly[SCARAMUZZA_INV_POLY_SIZE];
double m_C;
double m_D;
double m_E;
double m_center_x;
double m_center_y;
};
OCAMCamera();
/**
* \brief Constructor from the projection model parameters
*/
OCAMCamera(const Parameters& params);
Camera::ModelType modelType(void) const;
const std::string& cameraName(void) const;
int imageWidth(void) const;
int imageHeight(void) const;
void estimateIntrinsics(const cv::Size& boardSize,
const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints);
// Lift points from the image plane to the sphere
void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
//%output P
// Lift points from the image plane to the projective space
void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;
//%output P
// Projects 3D points to the image plane (Pi function)
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;
//%output p
// Projects 3D points to the image plane (Pi function)
// and calculates jacobian
//void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
// Eigen::Matrix<double,2,3>& J) const;
//%output p
//%output J
void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;
//%output p
template <typename T>
static void spaceToPlane(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p);
template <typename T>
static void spaceToSphere(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 3, 1>& P_s);
template <typename T>
static void LiftToSphere(const T* const params,
const Eigen::Matrix<T, 2, 1>& p,
Eigen::Matrix<T, 3, 1>& P);
template <typename T>
static void SphereToPlane(const T* const params, const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p);
void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;
cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,
float fx = -1.0f, float fy = -1.0f,
cv::Size imageSize = cv::Size(0, 0),
float cx = -1.0f, float cy = -1.0f,
cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;
int parameterCount(void) const;
const Parameters& getParameters(void) const;
void setParameters(const Parameters& parameters);
void readParameters(const std::vector<double>& parameterVec);
void writeParameters(std::vector<double>& parameterVec) const;
void writeParametersToYamlFile(const std::string& filename) const;
std::string parametersToString(void) const;
private:
Parameters mParameters;
double m_inv_scale;
};
typedef boost::shared_ptr<OCAMCamera> OCAMCameraPtr;
typedef boost::shared_ptr<const OCAMCamera> OCAMCameraConstPtr;
template <typename T>
void
OCAMCamera::spaceToPlane(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p)
{
T P_c[3];
{
T P_w[3];
P_w[0] = T(P(0));
P_w[1] = T(P(1));
P_w[2] = T(P(2));
// Convert quaternion from Eigen convention (x, y, z, w)
// to Ceres convention (w, x, y, z)
T q_ceres[4] = {q[3], q[0], q[1], q[2]};
ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
P_c[0] += t[0];
P_c[1] += t[1];
P_c[2] += t[2];
}
T c = params[0];
T d = params[1];
T e = params[2];
T xc[2] = { params[3], params[4] };
//T poly[SCARAMUZZA_POLY_SIZE];
//for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)
// poly[i] = params[5+i];
T inv_poly[SCARAMUZZA_INV_POLY_SIZE];
for (int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++)
inv_poly[i] = params[5 + SCARAMUZZA_POLY_SIZE + i];
T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1];
T norm = T(0.0);
if (norm_sqr > T(0.0))
norm = sqrt(norm_sqr);
T theta = atan2(-P_c[2], norm);
T rho = T(0.0);
T theta_i = T(1.0);
for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++)
{
rho += theta_i * inv_poly[i];
theta_i *= theta;
}
T invNorm = T(1.0) / norm;
T xn[2] = {
P_c[0] * invNorm * rho,
P_c[1] * invNorm * rho
};
p(0) = xn[0] * c + xn[1] * d + xc[0];
p(1) = xn[0] * e + xn[1] + xc[1];
}
template <typename T>
void
OCAMCamera::spaceToSphere(const T* const params,
const T* const q, const T* const t,
const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 3, 1>& P_s)
{
T P_c[3];
{
T P_w[3];
P_w[0] = T(P(0));
P_w[1] = T(P(1));
P_w[2] = T(P(2));
// Convert quaternion from Eigen convention (x, y, z, w)
// to Ceres convention (w, x, y, z)
T q_ceres[4] = {q[3], q[0], q[1], q[2]};
ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);
P_c[0] += t[0];
P_c[1] += t[1];
P_c[2] += t[2];
}
//T poly[SCARAMUZZA_POLY_SIZE];
//for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)
// poly[i] = params[5+i];
T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2];
T norm = T(0.0);
if (norm_sqr > T(0.0))
norm = sqrt(norm_sqr);
P_s(0) = P_c[0] / norm;
P_s(1) = P_c[1] / norm;
P_s(2) = P_c[2] / norm;
}
template <typename T>
void
OCAMCamera::LiftToSphere(const T* const params,
const Eigen::Matrix<T, 2, 1>& p,
Eigen::Matrix<T, 3, 1>& P)
{
T c = params[0];
T d = params[1];
T e = params[2];
T cc[2] = { params[3], params[4] };
T poly[SCARAMUZZA_POLY_SIZE];
for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)
poly[i] = params[5+i];
// Relative to Center
T p_2d[2];
p_2d[0] = T(p(0));
p_2d[1] = T(p(1));
T xc[2] = { p_2d[0] - cc[0], p_2d[1] - cc[1]};
T inv_scale = T(1.0) / (c - d * e);
// Affine Transformation
T xc_a[2];
xc_a[0] = inv_scale * (xc[0] - d * xc[1]);
xc_a[1] = inv_scale * (-e * xc[0] + c * xc[1]);
T norm_sqr = xc_a[0] * xc_a[0] + xc_a[1] * xc_a[1];
T phi = sqrt(norm_sqr);
T phi_i = T(1.0);
T z = T(0.0);
for (int i = 0; i < SCARAMUZZA_POLY_SIZE; i++)
{
if (i!=1) {
z += phi_i * poly[i];
}
phi_i *= phi;
}
T p_3d[3];
p_3d[0] = xc[0];
p_3d[1] = xc[1];
p_3d[2] = -z;
T p_3d_norm_sqr = p_3d[0] * p_3d[0] + p_3d[1] * p_3d[1] + p_3d[2] * p_3d[2];
T p_3d_norm = sqrt(p_3d_norm_sqr);
P << p_3d[0] / p_3d_norm, p_3d[1] / p_3d_norm, p_3d[2] / p_3d_norm;
}
template <typename T>
void OCAMCamera::SphereToPlane(const T* const params, const Eigen::Matrix<T, 3, 1>& P,
Eigen::Matrix<T, 2, 1>& p) {
T P_c[3];
{
P_c[0] = T(P(0));
P_c[1] = T(P(1));
P_c[2] = T(P(2));
}
T c = params[0];
T d = params[1];
T e = params[2];
T xc[2] = {params[3], params[4]};
T inv_poly[SCARAMUZZA_INV_POLY_SIZE];
for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++)
inv_poly[i] = params[5 + SCARAMUZZA_POLY_SIZE + i];
T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1];
T norm = T(0.0);
if (norm_sqr > T(0.0)) norm = sqrt(norm_sqr);
T theta = atan2(-P_c[2], norm);
T rho = T(0.0);
T theta_i = T(1.0);
for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++) {
rho += theta_i * inv_poly[i];
theta_i *= theta;
}
T invNorm = T(1.0) / norm;
T xn[2] = {P_c[0] * invNorm * rho, P_c[1] * invNorm * rho};
p(0) = xn[0] * c + xn[1] * d + xc[0];
p(1) = xn[0] * e + xn[1] + xc[1];
}
}
#endif
================================================
FILE: camera_model/include/camodocal/chessboard/Chessboard.h
================================================
#ifndef CHESSBOARD_H
#define CHESSBOARD_H
#include <boost/shared_ptr.hpp>
#include <opencv2/core/core.hpp>
namespace camodocal
{
// forward declarations
class ChessboardCorner;
typedef boost::shared_ptr<ChessboardCorner> ChessboardCornerPtr;
class ChessboardQuad;
typedef boost::shared_ptr<ChessboardQuad> ChessboardQuadPtr;
class Chessboard
{
public:
Chessboard(cv::Size boardSize, cv::Mat& image);
void findCorners(bool useOpenCV = false);
const std::vector<cv::Point2f>& getCorners(void) const;
bool cornersFound(void) const;
const cv::Mat& getImage(void) const;
const cv::Mat& getSketch(void) const;
private:
bool findChessboardCorners(const cv::Mat& image,
const cv::Size& patternSize,
std::vector<cv::Point2f>& corners,
int flags, bool useOpenCV);
bool findChessboardCornersImproved(const cv::Mat& image,
const cv::Size& patternSize,
std::vector<cv::Point2f>& corners,
int flags);
void cleanFoundConnectedQuads(std::vector<ChessboardQuadPtr>& quadGroup, cv::Size patternSize);
void findConnectedQuads(std::vector<ChessboardQuadPtr>& quads,
std::vector<ChessboardQuadPtr>& group,
int group_idx, int dilation);
// int checkQuadGroup(std::vector<ChessboardQuadPtr>& quadGroup,
// std::vector<ChessboardCornerPtr>& outCorners,
// cv::Size patternSize);
void labelQuadGroup(std::vector<ChessboardQuadPtr>& quad_group,
cv::Size patternSize, bool firstRun);
void findQuadNeighbors(std::vector<ChessboardQuadPtr>& quads, int dilation);
int augmentBestRun(std::vector<ChessboardQuadPtr>& candidateQuads, int candidateDilation,
std::vector<ChessboardQuadPtr>& existingQuads, int existingDilation);
void generateQuads(std::vector<ChessboardQuadPtr>& quads,
cv::Mat& image, int flags,
int dilation, bool firstRun);
bool checkQuadGroup(std::vector<ChessboardQuadPtr>& quads,
std::vector<ChessboardCornerPtr>& corners,
cv::Size patternSize);
void getQuadrangleHypotheses(const std::vector< std::vector<cv::Point> >& contours,
std::vector< std::pair<float, int> >& quads,
int classId) const;
bool checkChessboard(const cv::Mat& image, cv::Size patternSize) const;
bool checkBoardMonotony(std::vector<ChessboardCornerPtr>& corners,
cv::Size patternSize);
bool matchCorners(ChessboardQuadPtr& quad1, int corner1,
ChessboardQuadPtr& quad2, int corner2) const;
cv::Mat mImage;
cv::Mat mSketch;
std::vector<cv::Point2f> mCorners;
cv::Size mBoardSize;
bool mCornersFound;
};
}
#endif
================================================
FILE: camera_model/include/camodocal/chessboard/ChessboardCorner.h
================================================
#ifndef CHESSBOARDCORNER_H
#define CHESSBOARDCORNER_H
#include <boost/shared_ptr.hpp>
#include <opencv2/core/core.hpp>
namespace camodocal
{
class ChessboardCorner;
typedef boost::shared_ptr<ChessboardCorner> ChessboardCornerPtr;
class ChessboardCorner
{
public:
ChessboardCorner() : row(0), column(0), needsNeighbor(true), count(0) {}
float meanDist(int &n) const
{
float sum = 0;
n = 0;
for (int i = 0; i < 4; ++i)
{
if (neighbors[i].get())
{
float dx = neighbors[i]->pt.x - pt.x;
float dy = neighbors[i]->pt.y - pt.y;
sum += sqrt(dx*dx + dy*dy);
n++;
}
}
return sum / std::max(n, 1);
}
cv::Point2f pt; // X and y coordinates
int row; // Row and column of the corner
int column; // in the found pattern
bool needsNeighbor; // Does the corner require a neighbor?
int count; // number of corner neighbors
ChessboardCornerPtr neighbors[4]; // pointer to all corner neighbors
};
}
#endif
================================================
FILE: camera_model/include/camodocal/chessboard/ChessboardQuad.h
================================================
#ifndef CHESSBOARDQUAD_H
#define CHESSBOARDQUAD_H
#include <boost/shared_ptr.hpp>
#include "camodocal/chessboard/ChessboardCorner.h"
namespace camodocal
{
class ChessboardQuad;
typedef boost::shared_ptr<ChessboardQuad> ChessboardQuadPtr;
class ChessboardQuad
{
public:
ChessboardQuad() : count(0), group_idx(-1), edge_len(FLT_MAX), labeled(false) {}
int count; // Number of quad neighbors
int group_idx; // Quad group ID
float edge_len; // Smallest side length^2
ChessboardCornerPtr corners[4]; // Coordinates of quad corners
ChessboardQuadPtr neighbors[4]; // Pointers of quad neighbors
bool labeled; // Has this corner been labeled?
};
}
#endif
================================================
FILE: camera_model/include/camodocal/chessboard/Spline.h
================================================
/* dynamo:- Event driven molecular dynamics simulator
http://www.marcusbannerman.co.uk/dynamo
Copyright (C) 2011 Marcus N Campbell Bannerman <m.bannerman@gmail.com>
This program is free software: you can redistribute it and/or
modify it under the terms of the GNU General Public License
version 3 as published by the Free Software Foundation.
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 <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <boost/numeric/ublas/vector.hpp>
#include <boost/numeric/ublas/vector_proxy.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/triangular.hpp>
#include <boost/numeric/ublas/lu.hpp>
#include <exception>
namespace ublas = boost::numeric::ublas;
class Spline : private std::vector<std::pair<double, double> >
{
public:
//The boundary conditions available
enum BC_type {
FIXED_1ST_DERIV_BC,
FIXED_2ND_DERIV_BC,
PARABOLIC_RUNOUT_BC
};
enum Spline_type {
LINEAR,
CUBIC
};
//Constructor takes the boundary conditions as arguments, this
//sets the first derivative (gradient) at the lower and upper
//end points
Spline():
_valid(false),
_BCLow(FIXED_2ND_DERIV_BC), _BCHigh(FIXED_2ND_DERIV_BC),
_BCLowVal(0), _BCHighVal(0),
_type(CUBIC)
{}
typedef std::vector<std::pair<double, double> > base;
typedef base::const_iterator const_iterator;
//Standard STL read-only container stuff
const_iterator begin() const { return base::begin(); }
const_iterator end() const { return base::end(); }
void clear() { _valid = false; base::clear(); _data.clear(); }
size_t size() const { return base::size(); }
size_t max_size() const { return base::max_size(); }
size_t capacity() const { return base::capacity(); }
bool empty() const { return base::empty(); }
//Add a point to the spline, and invalidate it so its
//recalculated on the next access
inline void addPoint(double x, double y)
{
_valid = false;
base::push_back(std::pair<double, double>(x,y));
}
//Reset the boundary conditions
inline void setLowBC(BC_type BC, double val = 0)
{ _BCLow = BC; _BCLowVal = val; _valid = false; }
inline void setHighBC(BC_type BC, double val = 0)
{ _BCHigh = BC; _BCHighVal = val; _valid = false; }
void setType(Spline_type type) { _type = type; _valid = false; }
//Check if the spline has been calculated, then generate the
//spline interpolated value
double operator()(double xval)
{
if (!_valid) generate();
//Special cases when we're outside the range of the spline points
if (xval <= x(0)) return lowCalc(xval);
if (xval >= x(size()-1)) return highCalc(xval);
//Check all intervals except the last one
for (std::vector<SplineData>::const_iterator iPtr = _data.begin();
iPtr != _data.end()-1; ++iPtr)
if ((xval >= iPtr->x) && (xval <= (iPtr+1)->x))
return splineCalc(iPtr, xval);
return splineCalc(_data.end() - 1, xval);
}
private:
///////PRIVATE DATA MEMBERS
struct SplineData { double x,a,b,c,d; };
//vector of calculated spline data
std::vector<SplineData> _data;
//Second derivative at each point
ublas::vector<double> _ddy;
//Tracks whether the spline parameters have been calculated for
//the current set of points
bool _valid;
//The boundary conditions
BC_type _BCLow, _BCHigh;
//The values of the boundary conditions
double _BCLowVal, _BCHighVal;
Spline_type _type;
///////PRIVATE FUNCTIONS
//Function to calculate the value of a given spline at a point xval
inline double splineCalc(std::vector<SplineData>::const_iterator i, double xval)
{
const double lx = xval - i->x;
return ((i->a * lx + i->b) * lx + i->c) * lx + i->d;
}
inline double lowCalc(double xval)
{
const double lx = xval - x(0);
if (_type == LINEAR)
return lx * _BCHighVal + y(0);
const double firstDeriv = (y(1) - y(0)) / h(0) - 2 * h(0) * (_data[0].b + 2 * _data[1].b) / 6;
switch(_BCLow)
{
case FIXED_1ST_DERIV_BC:
return lx * _BCLowVal + y(0);
case FIXED_2ND_DERIV_BC:
return lx * lx * _BCLowVal + firstDeriv * lx + y(0);
case PARABOLIC_RUNOUT_BC:
return lx * lx * _ddy[0] + lx * firstDeriv + y(0);
}
throw std::runtime_error("Unknown BC");
}
inline double highCalc(double xval)
{
const double lx = xval - x(size() - 1);
if (_type == LINEAR)
return lx * _BCHighVal + y(size() - 1);
const double firstDeriv = 2 * h(size() - 2) * (_ddy[size() - 2] + 2 * _ddy[size() - 1]) / 6 + (y(size() - 1) - y(size() - 2)) / h(size() - 2);
switch(_BCHigh)
{
case FIXED_1ST_DERIV_BC:
return lx * _BCHighVal + y(size() - 1);
case FIXED_2ND_DERIV_BC:
return lx * lx * _BCHighVal + firstDeriv * lx + y(size() - 1);
case PARABOLIC_RUNOUT_BC:
return lx * lx * _ddy[size()-1] + lx * firstDeriv + y(size() - 1);
}
throw std::runtime_error("Unknown BC");
}
//These just provide access to the point data in a clean way
inline double x(size_t i) const { return operator[](i).first; }
inline double y(size_t i) const { return operator[](i).second; }
inline double h(size_t i) const { return x(i+1) - x(i); }
//Invert a arbitrary matrix using the boost ublas library
template<class T>
bool InvertMatrix(ublas::matrix<T> A,
ublas::matrix<T>& inverse)
{
using namespace ublas;
// create a permutation matrix for the LU-factorization
permutation_matrix<std::size_t> pm(A.size1());
// perform LU-factorization
int res = lu_factorize(A,pm);
if( res != 0 ) return false;
// create identity matrix of "inverse"
inverse.assign(ublas::identity_matrix<T>(A.size1()));
// backsubstitute to get the inverse
lu_substitute(A, pm, inverse);
return true;
}
//This function will recalculate the spline parameters and store
//them in _data, ready for spline interpolation
void generate()
{
if (size() < 2)
throw std::runtime_error("Spline requires at least 2 points");
//If any spline points are at the same x location, we have to
//just slightly seperate them
{
bool testPassed(false);
while (!testPassed)
{
testPassed = true;
std::sort(base::begin(), base::end());
for (base::iterator iPtr = base::begin(); iPtr != base::end() - 1; ++iPtr)
if (iPtr->first == (iPtr+1)->first)
{
if ((iPtr+1)->first != 0)
(iPtr+1)->first += (iPtr+1)->first
* std::numeric_limits<double>::epsilon() * 10;
else
(iPtr+1)->first = std::numeric_limits<double>::epsilon() * 10;
testPassed = false;
break;
}
}
}
const size_t e = size() - 1;
switch (_type)
{
case LINEAR:
{
_data.resize(e);
for (size_t i(0); i < e; ++i)
{
_data[i].x = x(i);
_data[i].a = 0;
_data[i].b = 0;
_data[i].c = (y(i+1) - y(i)) / (x(i+1) - x(i));
_data[i].d = y(i);
}
break;
}
case CUBIC:
{
ublas::matrix<double> A(size(), size());
for (size_t yv(0); yv <= e; ++yv)
for (size_t xv(0); xv <= e; ++xv)
A(xv,yv) = 0;
for (size_t i(1); i < e; ++i)
{
A(i-1,i) = h(i-1);
A(i,i) = 2 * (h(i-1) + h(i));
A(i+1,i) = h(i);
}
ublas::vector<double> C(size());
for (size_t xv(0); xv <= e; ++xv)
C(xv) = 0;
for (size_t i(1); i < e; ++i)
C(i) = 6 *
((y(i+1) - y(i)) / h(i)
- (y(i) - y(i-1)) / h(i-1));
//Boundary conditions
switch(_BCLow)
{
case FIXED_1ST_DERIV_BC:
C(0) = 6 * ((y(1) - y(0)) / h(0) - _BCLowVal);
A(0,0) = 2 * h(0);
A(1,0) = h(0);
break;
case FIXED_2ND_DERIV_BC:
C(0) = _BCLowVal;
A(0,0) = 1;
break;
case PARABOLIC_RUNOUT_BC:
C(0) = 0; A(0,0) = 1; A(1,0) = -1;
break;
}
switch(_BCHigh)
{
case FIXED_1ST_DERIV_BC:
C(e) = 6 * (_BCHighVal - (y(e) - y(e-1)) / h(e-1));
A(e,e) = 2 * h(e - 1);
A(e-1,e) = h(e - 1);
break;
case FIXED_2ND_DERIV_BC:
C(e) = _BCHighVal;
A(e,e) = 1;
break;
case PARABOLIC_RUNOUT_BC:
C(e) = 0; A(e,e) = 1; A(e-1,e) = -1;
break;
}
ublas::matrix<double> AInv(size(), size());
InvertMatrix(A,AInv);
_ddy = ublas::prod(C, AInv);
_data.resize(size()-1);
for (size_t i(0); i < e; ++i)
{
_data[i].x = x(i);
_data[i].a = (_ddy(i+1) - _ddy(i)) / (6 * h(i));
_data[i].b = _ddy(i) / 2;
_data[i].c = (y(i+1) - y(i)) / h(i) - _ddy(i+1) * h(i) / 6 - _ddy(i) * h(i) / 3;
_data[i].d = y(i);
}
}
}
_valid = true;
}
};
================================================
FILE: camera_model/include/camodocal/gpl/EigenQuaternionParameterization.h
================================================
#ifndef EIGENQUATERNIONPARAMETERIZATION_H
#define EIGENQUATERNIONPARAMETERIZATION_H
#include "ceres/local_parameterization.h"
namespace camodocal
{
class EigenQuaternionParameterization : public ceres::LocalParameterization
{
public:
virtual ~EigenQuaternionParameterization() {}
virtual bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const;
virtual bool ComputeJacobian(const double* x,
double* jacobian) const;
virtual int GlobalSize() const { return 4; }
virtual int LocalSize() const { return 3; }
private:
template<typename T>
void EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) const;
};
template<typename T>
void
EigenQuaternionParameterization::EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) const
{
zw[0] = z[3] * w[0] + z[0] * w[3] + z[1] * w[2] - z[2] * w[1];
zw[1] = z[3] * w[1] - z[0] * w[2] + z[1] * w[3] + z[2] * w[0];
zw[2] = z[3] * w[2] + z[0] * w[1] - z[1] * w[0] + z[2] * w[3];
zw[3] = z[3] * w[3] - z[0] * w[0] - z[1] * w[1] - z[2] * w[2];
}
}
#endif
================================================
FILE: camera_model/include/camodocal/gpl/EigenUtils.h
================================================
#ifndef EIGENUTILS_H
#define EIGENUTILS_H
#include <eigen3/Eigen/Dense>
#include "ceres/rotation.h"
#include "camodocal/gpl/gpl.h"
namespace camodocal
{
// Returns the 3D cross product skew symmetric matrix of a given 3D vector
template<typename T>
Eigen::Matrix<T, 3, 3> skew(const Eigen::Matrix<T, 3, 1>& vec)
{
return (Eigen::Matrix<T, 3, 3>() << T(0), -vec(2), vec(1),
vec(2), T(0), -vec(0),
-vec(1), vec(0), T(0)).finished();
}
template<typename Derived>
typename Eigen::MatrixBase<Derived>::PlainObject sqrtm(const Eigen::MatrixBase<Derived>& A)
{
Eigen::SelfAdjointEigenSolver<typename Derived::PlainObject> es(A);
return es.operatorSqrt();
}
template<typename T>
Eigen::Matrix<T, 3, 3> AngleAxisToRotationMatrix(const Eigen::Matrix<T, 3, 1>& rvec)
{
T angle = rvec.norm();
if (angle == T(0))
{
return Eigen::Matrix<T, 3, 3>::Identity();
}
Eigen::Matrix<T, 3, 1> axis;
axis = rvec.normalized();
Eigen::Matrix<T, 3, 3> rmat;
rmat = Eigen::AngleAxis<T>(angle, axis);
return rmat;
}
template<typename T>
Eigen::Quaternion<T> AngleAxisToQuaternion(const Eigen::Matrix<T, 3, 1>& rvec)
{
Eigen::Matrix<T, 3, 3> rmat = AngleAxisToRotationMatrix<T>(rvec);
return Eigen::Quaternion<T>(rmat);
}
template<typename T>
void AngleAxisToQuaternion(const Eigen::Matrix<T, 3, 1>& rvec, T* q)
{
Eigen::Quaternion<T> quat = AngleAxisToQuaternion<T>(rvec);
q[0] = quat.x();
q[1] = quat.y();
q[2] = quat.z();
q[3] = quat.w();
}
template<typename T>
Eigen::Matrix<T, 3, 1> RotationToAngleAxis(const Eigen::Matrix<T, 3, 3> & rmat)
{
Eigen::AngleAxis<T> angleaxis;
angleaxis.fromRotationMatrix(rmat);
return angleaxis.angle() * angleaxis.axis();
}
template<typename T>
void QuaternionToAngleAxis(const T* const q, Eigen::Matrix<T, 3, 1>& rvec)
{
Eigen::Quaternion<T> quat(q[3], q[0], q[1], q[2]);
Eigen::Matrix<T, 3, 3> rmat = quat.toRotationMatrix();
Eigen::AngleAxis<T> angleaxis;
angleaxis.fromRotationMatrix(rmat);
rvec = angleaxis.angle() * angleaxis.axis();
}
template<typename T>
Eigen::Matrix<T, 3, 3> QuaternionToRotation(const T* const q)
{
T R[9];
ceres::QuaternionToRotation(q, R);
Eigen::Matrix<T, 3, 3> rmat;
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
rmat(i,j) = R[i * 3 + j];
}
}
return rmat;
}
template<typename T>
void QuaternionToRotation(const T* const q, T* rot)
{
ceres::QuaternionToRotation(q, rot);
}
template<typename T>
Eigen::Matrix<T,4,4> QuaternionMultMatLeft(const Eigen::Quaternion<T>& q)
{
return (Eigen::Matrix<T,4,4>() << q.w(), -q.z(), q.y(), q.x(),
q.z(), q.w(), -q.x(), q.y(),
-q.y(), q.x(), q.w(), q.z(),
-q.x(), -q.y(), -q.z(), q.w()).finished();
}
template<typename T>
Eigen::Matrix<T,4,4> QuaternionMultMatRight(const Eigen::Quaternion<T>& q)
{
return (Eigen::Matrix<T,4,4>() << q.w(), q.z(), -q.y(), q.x(),
-q.z(), q.w(), q.x(), q.y(),
q.y(), -q.x(), q.w(), q.z(),
-q.x(), -q.y(), -q.z(), q.w()).finished();
}
/// @param theta - rotation about screw axis
/// @param d - projection of tvec on the rotation axis
/// @param l - screw axis direction
/// @param m - screw axis moment
template<typename T>
void AngleAxisAndTranslationToScrew(const Eigen::Matrix<T, 3, 1>& rvec,
const Eigen::Matrix<T, 3, 1>& tvec,
T& theta, T& d,
Eigen::Matrix<T, 3, 1>& l,
Eigen::Matrix<T, 3, 1>& m)
{
theta = rvec.norm();
if (theta == 0)
{
l.setZero();
m.setZero();
std::cout << "Warning: Undefined screw! Returned 0. " << std::endl;
}
l = rvec.normalized();
Eigen::Matrix<T, 3, 1> t = tvec;
d = t.transpose() * l;
// point on screw axis - projection of origin on screw axis
Eigen::Matrix<T, 3, 1> c;
c = 0.5 * (t - d * l + (1.0 / tan(theta / 2.0) * l).cross(t));
// c and hence the screw axis is not defined if theta is either 0 or M_PI
m = c.cross(l);
}
template<typename T>
Eigen::Matrix<T, 3, 3> RPY2mat(T roll, T pitch, T yaw)
{
Eigen::Matrix<T, 3, 3> m;
T cr = cos(roll);
T sr = sin(roll);
T cp = cos(pitch);
T sp = sin(pitch);
T cy = cos(yaw);
T sy = sin(yaw);
m(0,0) = cy * cp;
m(0,1) = cy * sp * sr - sy * cr;
m(0,2) = cy * sp * cr + sy * sr;
m(1,0) = sy * cp;
m(1,1) = sy * sp * sr + cy * cr;
m(1,2) = sy * sp * cr - cy * sr;
m(2,0) = - sp;
m(2,1) = cp * sr;
m(2,2) = cp * cr;
return m;
}
template<typename T>
void mat2RPY(const Eigen::Matrix<T, 3, 3>& m, T& roll, T& pitch, T& yaw)
{
roll = atan2(m(2,1), m(2,2));
pitch = atan2(-m(2,0), sqrt(m(2,1) * m(2,1) + m(2,2) * m(2,2)));
yaw = atan2(m(1,0), m(0,0));
}
template<typename T>
Eigen::Matrix<T, 4, 4> homogeneousTransform(const Eigen::Matrix<T, 3, 3>& R, const Eigen::Matrix<T, 3, 1>& t)
{
Eigen::Matrix<T, 4, 4> H;
H.setIdentity();
H.block(0,0,3,3) = R;
H.block(0,3,3,1) = t;
return H;
}
template<typename T>
Eigen::Matrix<T, 4, 4> poseWithCartesianTranslation(const T* const q, const T* const p)
{
Eigen::Matrix<T, 4, 4> pose = Eigen::Matrix<T, 4, 4>::Identity();
T rotation[9];
ceres::QuaternionToRotation(q, rotation);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
pose(i,j) = rotation[i * 3 + j];
}
}
pose(0,3) = p[0];
pose(1,3) = p[1];
pose(2,3) = p[2];
return pose;
}
template<typename T>
Eigen::Matrix<T, 4, 4> poseWithSphericalTranslation(const T* const q, const T* const p, const T scale = T(1.0))
{
Eigen::Matrix<T, 4, 4> pose = Eigen::Matrix<T, 4, 4>::Identity();
T rotation[9];
ceres::QuaternionToRotation(q, rotation);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
pose(i,j) = rotation[i * 3 + j];
}
}
T theta = p[0];
T phi = p[1];
pose(0,3) = sin(theta) * cos(phi) * scale;
pose(1,3) = sin(theta) * sin(phi) * scale;
pose(2,3) = cos(theta) * scale;
return pose;
}
// Returns the Sampson error of a given essential matrix and 2 image points
template<typename T>
T sampsonError(const Eigen::Matrix<T, 3, 3>& E,
const Eigen::Matrix<T, 3, 1>& p1,
const Eigen::Matrix<T, 3, 1>& p2)
{
Eigen::Matrix<T, 3, 1> Ex1 = E * p1;
Eigen::Matrix<T, 3, 1> Etx2 = E.transpose() * p2;
T x2tEx1 = p2.dot(Ex1);
// compute Sampson error
T err = square(x2tEx1) / (square(Ex1(0,0)) + square(Ex1(1,0)) + square(Etx2(0,0)) + square(Etx2(1,0)));
return err;
}
// Returns the Sampson error of a given rotation/translation and 2 image points
template<typename T>
T sampsonError(const Eigen::Matrix<T, 3, 3>& R,
const Eigen::Matrix<T, 3, 1>& t,
const Eigen::Matrix<T, 3, 1>& p1,
const Eigen::Matrix<T, 3, 1>& p2)
{
// construct essential matrix
Eigen::Matrix<T, 3, 3> E = skew(t) * R;
Eigen::Matrix<T, 3, 1> Ex1 = E * p1;
Eigen::Matrix<T, 3, 1> Etx2 = E.transpose() * p2;
T x2tEx1 = p2.dot(Ex1);
// compute Sampson error
T err = square(x2tEx1) / (square(Ex1(0,0)) + square(Ex1(1,0)) + square(Etx2(0,0)) + square(Etx2(1,0)));
return err;
}
// Returns the Sampson error of a given rotation/translation and 2 image points
template<typename T>
T sampsonError(const Eigen::Matrix<T, 4, 4>& H,
const Eigen::Matrix<T, 3, 1>& p1,
const Eigen::Matrix<T, 3, 1>& p2)
{
Eigen::Matrix<T, 3, 3> R = H.block(0, 0, 3, 3);
Eigen::Matrix<T, 3, 1> t = H.block(0, 3, 3, 1);
return sampsonError(R, t, p1, p2);
}
template<typename T>
Eigen::Matrix<T, 3, 1>
transformPoint(const Eigen::Matrix<T, 4, 4>& H, const Eigen::Matrix<T, 3, 1>& P)
{
Eigen::Matrix<T, 3, 1> P_trans = H.block(0, 0, 3, 3) * P + H.block(0, 3, 3, 1);
return P_trans;
}
template<typename T>
Eigen::Matrix<T, 4, 4>
estimate3DRigidTransform(const std::vector<Eigen::Matrix<T, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<T, 3, 1> > >& points1,
const std::vector<Eigen::Matrix<T, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<T, 3, 1> > >& points2)
{
// compute centroids
Eigen::Matrix<T, 3, 1> c1, c2;
c1.setZero(); c2.setZero();
for (size_t i = 0; i < points1.size(); ++i)
{
c1 += points1.at(i);
c2 += points2.at(i);
}
c1 /= points1.size();
c2 /= points1.size();
Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> X(3, points1.size());
Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Y(3, points1.size());
for (size_t i = 0; i < points1.size(); ++i)
{
X.col(i) = points1.at(i) - c1;
Y.col(i) = points2.at(i) - c2;
}
Eigen::Matrix<T, 3, 3> H = X * Y.transpose();
Eigen::JacobiSVD< Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> > svd(H, Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::Matrix<T, 3, 3> U = svd.matrixU();
Eigen::Matrix<T, 3, 3> V = svd.matrixV();
if (U.determinant() * V.determinant() < 0.0)
{
V.col(2) *= -1.0;
}
Eigen::Matrix<T, 3, 3> R = V * U.transpose();
Eigen::Matrix<T, 3, 1> t = c2 - R * c1;
return homogeneousTransform(R, t);
}
template<typename T>
Eigen::Matrix<T, 4, 4>
estimate3DRigidSimilarityTransform(const std::vector<Eigen::Matrix<T, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<T, 3, 1> > >& points1,
const std::vector<Eigen::Matrix<T, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<T, 3, 1> > >& points2)
{
// compute centroids
Eigen::Matrix<T, 3, 1> c1, c2;
c1.setZero(); c2.setZero();
for (size_t i = 0; i < points1.size(); ++i)
{
c1 += points1.at(i);
c2 += points2.at(i);
}
c1 /= points1.size();
c2 /= points1.size();
Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> X(3, points1.size());
Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Y(3, points1.size());
for (size_t i = 0; i < points1.size(); ++i)
{
X.col(i) = points1.at(i) - c1;
Y.col(i) = points2.at(i) - c2;
}
Eigen::Matrix<T, 3, 3> H = X * Y.transpose();
Eigen::JacobiSVD< Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> > svd(H, Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::Matrix<T, 3, 3> U = svd.matrixU();
Eigen::Matrix<T, 3, 3> V = svd.matrixV();
if (U.determinant() * V.determinant() < 0.0)
{
V.col(2) *= -1.0;
}
Eigen::Matrix<T, 3, 3> R = V * U.transpose();
std::vector<Eigen::Matrix<T, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<T, 3, 1> > > rotatedPoints1(points1.size());
for (size_t i = 0; i < points1.size(); ++i)
{
rotatedPoints1.at(i) = R * (points1.at(i) - c1);
}
double sum_ss = 0.0, sum_tt = 0.0;
for (size_t i = 0; i < points1.size(); ++i)
{
sum_ss += (points1.at(i) - c1).squaredNorm();
sum_tt += (points2.at(i) - c2).dot(rotatedPoints1.at(i));
}
double scale = sum_tt / sum_ss;
Eigen::Matrix<T, 3, 3> sR = scale * R;
Eigen::Matrix<T, 3, 1> t = c2 - sR * c1;
return homogeneousTransform(sR, t);
}
}
#endif
================================================
FILE: camera_model/include/camodocal/gpl/gpl.h
================================================
#ifndef GPL_H
#define GPL_H
#include <algorithm>
#include <cmath>
#include <opencv2/core/core.hpp>
namespace camodocal
{
template<class T>
const T clamp(const T& v, const T& a, const T& b)
{
return std::min(b, std::max(a, v));
}
double hypot3(double x, double y, double z);
float hypot3f(float x, float y, float z);
template<class T>
const T normalizeTheta(const T& theta)
{
T normTheta = theta;
while (normTheta < - M_PI)
{
normTheta += 2.0 * M_PI;
}
while (normTheta > M_PI)
{
normTheta -= 2.0 * M_PI;
}
return normTheta;
}
double d2r(double deg);
float d2r(float deg);
double r2d(double rad);
float r2d(float rad);
double sinc(double theta);
template<class T>
const T square(const T& x)
{
return x * x;
}
template<class T>
const T cube(const T& x)
{
return x * x * x;
}
template<class T>
const T random(const T& a, const T& b)
{
return static_cast<double>(rand()) / RAND_MAX * (b - a) + a;
}
template<class T>
const T randomNormal(const T& sigma)
{
T x1, x2, w;
do
{
x1 = 2.0 * random(0.0, 1.0) - 1.0;
x2 = 2.0 * random(0.0, 1.0) - 1.0;
w = x1 * x1 + x2 * x2;
}
while (w >= 1.0 || w == 0.0);
w = sqrt((-2.0 * log(w)) / w);
return x1 * w * sigma;
}
unsigned long long timeInMicroseconds(void);
double timeInSeconds(void);
void colorDepthImage(cv::Mat& imgDepth,
cv::Mat& imgColoredDepth,
float minRange, float maxRange);
bool colormap(const std::string& name, unsigned char idx,
float& r, float& g, float& b);
std::vector<cv::Point2i> bresLine(int x0, int y0, int x1, int y1);
std::vector<cv::Point2i> bresCircle(int x0, int y0, int r);
void fitCircle(const std::vector<cv::Point2d>& points,
double& centerX, double& centerY, double& radius);
std::vector<cv::Point2d> intersectCircles(double x1, double y1, double r1,
double x2, double y2, double r2);
void LLtoUTM(double latitude, double longitude,
double& utmNorthing, double& utmEasting,
std::string& utmZone);
void UTMtoLL(double utmNorthing, double utmEasting,
const std::string& utmZone,
double& latitude, double& longitude);
long int timestampDiff(uint64_t t1, uint64_t t2);
}
#endif
================================================
FILE: camera_model/include/camodocal/sparse_graph/Transform.h
================================================
#ifndef TRANSFORM_H
#define TRANSFORM_H
#include <boost/shared_ptr.hpp>
#include <eigen3/Eigen/Dense>
#include <stdint.h>
namespace camodocal
{
class Transform
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Transform();
Transform(const Eigen::Matrix4d& H);
Eigen::Quaterniond& rotation(void);
const Eigen::Quaterniond& rotation(void) const;
double* rotationData(void);
const double* const rotationData(void) const;
Eigen::Vector3d& translation(void);
const Eigen::Vector3d& translation(void) const;
double* translationData(void);
const double* const translationData(void) const;
Eigen::Matrix4d toMatrix(void) const;
private:
Eigen::Quaterniond m_q;
Eigen::Vector3d m_t;
};
}
#endif
================================================
FILE: camera_model/instruction
================================================
rosrun camera_model Calibration -w 8 -h 11 -s 70 -i ~/bag/PX/calib/
================================================
FILE: camera_model/package.xml
================================================
<?xml version="1.0"?>
<package>
<name>camera_model</name>
<version>0.0.0</version>
<description>The camera_model package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="dvorak@todo.todo">dvorak</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/camera_model</url> -->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<!--build_depend>roscpp</build_depend-->
<!--build_depend>std_msgs</build_depend-->
<!--run_depend>roscpp</run_depend-->
<!--run_depend>std_msgs</run_depend-->
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
================================================
FILE: camera_model/readme.md
================================================
part of [camodocal](https://github.com/hengli/camodocal)
[Google Ceres](http://ceres-solver.org) is needed.
# Calibration:
Use [intrinsic_calib.cc](https://github.com/dvorak0/camera_model/blob/master/src/intrinsic_calib.cc) to calibrate your camera.
# Undistortion:
See [Camera.h](https://github.com/dvorak0/camera_model/blob/master/include/camodocal/camera_models/Camera.h) for general interface:
- liftProjective: Lift points from the image plane to the projective space.
- spaceToPlane: Projects 3D points to the image plane (Pi function)
================================================
FILE: camera_model/src/calib/CameraCalibration.cc
================================================
#include "camodocal/calib/CameraCalibration.h"
#include <cstdio>
#include <eigen3/Eigen/Dense>
#include <iomanip>
#include <iostream>
#include <algorithm>
#include <fstream>
#include <opencv2/core/core.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include "camodocal/camera_models/CameraFactory.h"
#include "camodocal/sparse_graph/Transform.h"
#include "camodocal/gpl/EigenQuaternionParameterization.h"
#include "camodocal/gpl/EigenUtils.h"
#include "camodocal/camera_models/CostFunctionFactory.h"
#include "ceres/ceres.h"
namespace camodocal
{
CameraCalibration::CameraCalibration()
: m_boardSize(cv::Size(0,0))
, m_squareSize(0.0f)
, m_verbose(false)
{
}
CameraCalibration::CameraCalibration(const Camera::ModelType modelType,
const std::string& cameraName,
const cv::Size& imageSize,
const cv::Size& boardSize,
float squareSize)
: m_boardSize(boardSize)
, m_squareSize(squareSize)
, m_verbose(false)
{
m_camera = CameraFactory::instance()->generateCamera(modelType, cameraName, imageSize);
}
void
CameraCalibration::clear(void)
{
m_imagePoints.clear();
m_scenePoints.clear();
}
void
CameraCalibration::addChessboardData(const std::vector<cv::Point2f>& corners)
{
m_imagePoints.push_back(corners);
std::vector<cv::Point3f> scenePointsInView;
for (int i = 0; i < m_boardSize.height; ++i)
{
for (int j = 0; j < m_boardSize.width; ++j)
{
scenePointsInView.push_back(cv::Point3f(i * m_squareSize, j * m_squareSize, 0.0));
}
}
m_scenePoints.push_back(scenePointsInView);
}
bool
CameraCalibration::calibrate(void)
{
int imageCount = m_imagePoints.size();
// compute intrinsic camera parameters and extrinsic parameters for each of the views
std::vector<cv::Mat> rvecs;
std::vector<cv::Mat> tvecs;
bool ret = calibrateHelper(m_camera, rvecs, tvecs);
m_cameraPoses = cv::Mat(imageCount, 6, CV_64F);
for (int i = 0; i < imageCount; ++i)
{
m_cameraPoses.at<double>(i,0) = rvecs.at(i).at<double>(0);
m_cameraPoses.at<double>(i,1) = rvecs.at(i).at<double>(1);
m_cameraPoses.at<double>(i,2) = rvecs.at(i).at<double>(2);
m_cameraPoses.at<double>(i,3) = tvecs.at(i).at<double>(0);
m_cameraPoses.at<double>(i,4) = tvecs.at(i).at<double>(1);
m_cameraPoses.at<double>(i,5) = tvecs.at(i).at<double>(2);
}
// Compute measurement covariance.
std::vector<std::vector<cv::Point2f> > errVec(m_imagePoints.size());
Eigen::Vector2d errSum = Eigen::Vector2d::Zero();
size_t errCount = 0;
for (size_t i = 0; i < m_imagePoints.size(); ++i)
{
std::vector<cv::Point2f> estImagePoints;
m_camera->projectPoints(m_scenePoints.at(i), rvecs.at(i), tvecs.at(i),
estImagePoints);
for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j)
{
cv::Point2f pObs = m_imagePoints.at(i).at(j);
cv::Point2f pEst = estImagePoints.at(j);
cv::Point2f err = pObs - pEst;
errVec.at(i).push_back(err);
errSum += Eigen::Vector2d(err.x, err.y);
}
errCount += m_imagePoints.at(i).size();
}
Eigen::Vector2d errMean = errSum / static_cast<double>(errCount);
Eigen::Matrix2d measurementCovariance = Eigen::Matrix2d::Zero();
for (size_t i = 0; i < errVec.size(); ++i)
{
for (size_t j = 0; j < errVec.at(i).size(); ++j)
{
cv::Point2f err = errVec.at(i).at(j);
double d0 = err.x - errMean(0);
double d1 = err.y - errMean(1);
measurementCovariance(0,0) += d0 * d0;
measurementCovariance(0,1) += d0 * d1;
measurementCovariance(1,1) += d1 * d1;
}
}
measurementCovariance /= static_cast<double>(errCount);
measurementCovariance(1,0) = measurementCovariance(0,1);
m_measurementCovariance = measurementCovariance;
return ret;
}
int
CameraCalibration::sampleCount(void) const
{
return m_imagePoints.size();
}
std::vector<std::vector<cv::Point2f> >&
CameraCalibration::imagePoints(void)
{
return m_imagePoints;
}
const std::vector<std::vector<cv::Point2f> >&
CameraCalibration::imagePoints(void) const
{
return m_imagePoints;
}
std::vector<std::vector<cv::Point3f> >&
CameraCalibration::scenePoints(void)
{
return m_scenePoints;
}
const std::vector<std::vector<cv::Point3f> >&
CameraCalibration::scenePoints(void) const
{
return m_scenePoints;
}
CameraPtr&
CameraCalibration::camera(void)
{
return m_camera;
}
const CameraConstPtr
CameraCalibration::camera(void) const
{
return m_camera;
}
Eigen::Matrix2d&
CameraCalibration::measurementCovariance(void)
{
return m_measurementCovariance;
}
const Eigen::Matrix2d&
CameraCalibration::measurementCovariance(void) const
{
return m_measurementCovariance;
}
cv::Mat&
CameraCalibration::cameraPoses(void)
{
return m_cameraPoses;
}
const cv::Mat&
CameraCalibration::cameraPoses(void) const
{
return m_cameraPoses;
}
void
CameraCalibration::drawResults(std::vector<cv::Mat>& images) const
{
std::vector<cv::Mat> rvecs, tvecs;
for (size_t i = 0; i < images.size(); ++i)
{
cv::Mat rvec(3, 1, CV_64F);
rvec.at<double>(0) = m_cameraPoses.at<double>(i,0);
rvec.at<double>(1) = m_cameraPoses.at<double>(i,1);
rvec.at<double>(2) = m_cameraPoses.at<double>(i,2);
cv::Mat tvec(3, 1, CV_64F);
tvec.at<double>(0) = m_cameraPoses.at<double>(i,3);
tvec.at<double>(1) = m_cameraPoses.at<double>(i,4);
tvec.at<double>(2) = m_cameraPoses.at<double>(i,5);
rvecs.push_back(rvec);
tvecs.push_back(tvec);
}
int drawShiftBits = 4;
int drawMultiplier = 1 << drawShiftBits;
cv::Scalar green(0, 255, 0);
cv::Scalar red(0, 0, 255);
for (size_t i = 0; i < images.size(); ++i)
{
cv::Mat& image = images.at(i);
if (image.channels() == 1)
{
cv::cvtColor(image, image, CV_GRAY2RGB);
}
std::vector<cv::Point2f> estImagePoints;
m_camera->projectPoints(m_scenePoints.at(i), rvecs.at(i), tvecs.at(i),
estImagePoints);
float errorSum = 0.0f;
float errorMax = std::numeric_limits<float>::min();
for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j)
{
cv::Point2f pObs = m_imagePoints.at(i).at(j);
cv::Point2f pEst = estImagePoints.at(j);
cv::circle(image,
cv::Point(cvRound(pObs.x * drawMultiplier),
cvRound(pObs.y * drawMultiplier)),
5, green, 2, CV_AA, drawShiftBits);
cv::circle(image,
cv::Point(cvRound(pEst.x * drawMultiplier),
cvRound(pEst.y * drawMultiplier)),
5, red, 2, CV_AA, drawShiftBits);
float error = cv::norm(pObs - pEst);
errorSum += error;
if (error > errorMax)
{
errorMax = error;
}
}
std::ostringstream oss;
oss << "Reprojection error: avg = " << errorSum / m_imagePoints.at(i).size()
<< " max = " << errorMax;
cv::putText(image, oss.str(), cv::Point(10, image.rows - 10),
cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255, 255, 255),
1, CV_AA);
}
}
void
CameraCalibration::writeParams(const std::string& filename) const
{
m_camera->writeParametersToYamlFile(filename);
}
bool
CameraCalibration::writeChessboardData(const std::string& filename) const
{
std::ofstream ofs(filename.c_str(), std::ios::out | std::ios::binary);
if (!ofs.is_open())
{
return false;
}
writeData(ofs, m_boardSize.width);
writeData(ofs, m_boardSize.height);
writeData(ofs, m_squareSize);
writeData(ofs, m_measurementCovariance(0,0));
writeData(ofs, m_measurementCovariance(0,1));
writeData(ofs, m_measurementCovariance(1,0));
writeData(ofs, m_measurementCovariance(1,1));
writeData(ofs, m_cameraPoses.rows);
writeData(ofs, m_cameraPoses.cols);
writeData(ofs, m_cameraPoses.type());
for (int i = 0; i < m_cameraPoses.rows; ++i)
{
for (int j = 0; j < m_cameraPoses.cols; ++j)
{
writeData(ofs, m_cameraPoses.at<double>(i,j));
}
}
writeData(ofs, m_imagePoints.size());
for (size_t i = 0; i < m_imagePoints.size(); ++i)
{
writeData(ofs, m_imagePoints.at(i).size());
for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j)
{
const cv::Point2f& ipt = m_imagePoints.at(i).at(j);
writeData(ofs, ipt.x);
writeData(ofs, ipt.y);
}
}
writeData(ofs, m_scenePoints.size());
for (size_t i = 0; i < m_scenePoints.size(); ++i)
{
writeData(ofs, m_scenePoints.at(i).size());
for (size_t j = 0; j < m_scenePoints.at(i).size(); ++j)
{
const cv::Point3f& spt = m_scenePoints.at(i).at(j);
writeData(ofs, spt.x);
writeData(ofs, spt.y);
writeData(ofs, spt.z);
}
}
return true;
}
bool
CameraCalibration::readChessboardData(const std::string& filename)
{
std::ifstream ifs(filename.c_str(), std::ios::in | std::ios::binary);
if (!ifs.is_open())
{
return false;
}
readData(ifs, m_boardSize.width);
readData(ifs, m_boardSize.height);
readData(ifs, m_squareSize);
readData(ifs, m_measurementCovariance(0,0));
readData(ifs, m_measurementCovariance(0,1));
readData(ifs, m_measurementCovariance(1,0));
readData(ifs, m_measurementCovariance(1,1));
int rows, cols, type;
readData(ifs, rows);
readData(ifs, cols);
readData(ifs, type);
m_cameraPoses = cv::Mat(rows, cols, type);
for (int i = 0; i < m_cameraPoses.rows; ++i)
{
for (int j = 0; j < m_cameraPoses.cols; ++j)
{
readData(ifs, m_cameraPoses.at<double>(i,j));
}
}
size_t nImagePointSets;
readData(ifs, nImagePointSets);
m_imagePoints.clear();
m_imagePoints.resize(nImagePointSets);
for (size_t i = 0; i < m_imagePoints.size(); ++i)
{
size_t nImagePoints;
readData(ifs, nImagePoints);
m_imagePoints.at(i).resize(nImagePoints);
for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j)
{
cv::Point2f& ipt = m_imagePoints.at(i).at(j);
readData(ifs, ipt.x);
readData(ifs, ipt.y);
}
}
size_t nScenePointSets;
readData(ifs, nScenePointSets);
m_scenePoints.clear();
m_scenePoints.resize(nScenePointSets);
for (size_t i = 0; i < m_scenePoints.size(); ++i)
{
size_t nScenePoints;
readData(ifs, nScenePoints);
m_scenePoints.at(i).resize(nScenePoints);
for (size_t j = 0; j < m_scenePoints.at(i).size(); ++j)
{
cv::Point3f& spt = m_scenePoints.at(i).at(j);
readData(ifs, spt.x);
readData(ifs, spt.y);
readData(ifs, spt.z);
}
}
return true;
}
void
CameraCalibration::setVerbose(bool verbose)
{
m_verbose = verbose;
}
bool
CameraCalibration::calibrateHelper(CameraPtr& camera,
std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs) const
{
rvecs.assign(m_scenePoints.size(), cv::Mat());
tvecs.assign(m_scenePoints.size(), cv::Mat());
// STEP 1: Estimate intrinsics
camera->estimateIntrinsics(m_boardSize, m_scenePoints, m_imagePoints);
// STEP 2: Estimate extrinsics
for (size_t i = 0; i < m_scenePoints.size(); ++i)
{
camera->estimateExtrinsics(m_scenePoints.at(i), m_imagePoints.at(i), rvecs.at(i), tvecs.at(i));
}
if (m_verbose)
{
std::cout << "[" << camera->cameraName() << "] "
<< "# INFO: " << "Initial reprojection error: "
<< std::fixed << std::setprecision(3)
<< camera->reprojectionError(m_scenePoints, m_imagePoints, rvecs, tvecs)
<< " pixels" << std::endl;
}
// STEP 3: optimization using ceres
optimize(camera, rvecs, tvecs);
if (m_verbose)
{
double err = camera->reprojectionError(m_scenePoints, m_imagePoints, rvecs, tvecs);
std::cout << "[" << camera->cameraName() << "] " << "# INFO: Final reprojection error: "
<< err << " pixels" << std::endl;
std::cout << "[" << camera->cameraName() << "] " << "# INFO: "
<< camera->parametersToString() << std::endl;
}
return true;
}
void
CameraCalibration::optimize(CameraPtr& camera,
std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs) const
{
// Use ceres to do optimization
ceres::Problem problem;
std::vector<Transform, Eigen::aligned_allocator<Transform> > transformVec(rvecs.size());
for (size_t i = 0; i < rvecs.size(); ++i)
{
Eigen::Vector3d rvec;
cv::cv2eigen(rvecs.at(i), rvec);
transformVec.at(i).rotation() = Eigen::AngleAxisd(rvec.norm(), rvec.normalized());
transformVec.at(i).translation() << tvecs[i].at<double>(0),
tvecs[i].at<double>(1),
tvecs[i].at<double>(2);
}
std::vector<double> intrinsicCameraParams;
m_camera->writeParameters(intrinsicCameraParams);
// create residuals for each observation
for (size_t i = 0; i < m_imagePoints.size(); ++i)
{
for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j)
{
const cv::Point3f& spt = m_scenePoints.at(i).at(j);
const cv::Point2f& ipt = m_imagePoints.at(i).at(j);
ceres::CostFunction* costFunction =
CostFunctionFactory::instance()->generateCostFunction(camera,
Eigen::Vector3d(spt.x, spt.y, spt.z),
Eigen::Vector2d(ipt.x, ipt.y),
CAMERA_INTRINSICS | CAMERA_POSE);
ceres::LossFunction* lossFunction = new ceres::CauchyLoss(1.0);
problem.AddResidualBlock(costFunction, lossFunction,
intrinsicCameraParams.data(),
transformVec.at(i).rotationData(),
transformVec.at(i).translationData());
}
ceres::LocalParameterization* quaternionParameterization =
new EigenQuaternionParameterization;
problem.SetParameterization(transformVec.at(i).rotationData(),
quaternionParameterization);
}
std::cout << "begin ceres" << std::endl;
ceres::Solver::Options options;
options.max_num_iterations = 1000;
options.num_threads = 1;
if (m_verbose)
{
options.minimizer_progress_to_stdout = true;
}
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);
std::cout << "end ceres" << std::endl;
if (m_verbose)
{
std::cout << summary.FullReport() << std::endl;
}
camera->readParameters(intrinsicCameraParams);
for (size_t i = 0; i < rvecs.size(); ++i)
{
Eigen::AngleAxisd aa(transformVec.at(i).rotation());
Eigen::Vector3d rvec = aa.angle() * aa.axis();
cv::eigen2cv(rvec, rvecs.at(i));
cv::Mat& tvec = tvecs.at(i);
tvec.at<double>(0) = transformVec.at(i).translation()(0);
tvec.at<double>(1) = transformVec.at(i).translation()(1);
tvec.at<double>(2) = transformVec.at(i).translation()(2);
}
}
template<typename T>
void
CameraCalibration::readData(std::ifstream& ifs, T& data) const
{
char* buffer = new char[sizeof(T)];
ifs.read(buffer, sizeof(T));
data = *(reinterpret_cast<T*>(buffer));
delete[] buffer;
}
template<typename T>
void
CameraCalibration::writeData(std::ofstream& ofs, T data) const
{
char* pData = reinterpret_cast<char*>(&data);
ofs.write(pData, sizeof(T));
}
}
================================================
FILE: camera_model/src/camera_models/Camera.cc
================================================
#include "camodocal/camera_models/Camera.h"
#include "camodocal/camera_models/ScaramuzzaCamera.h"
#include <opencv2/calib3d/calib3d.hpp>
namespace camodocal
{
Camera::Parameters::Parameters(ModelType modelType)
: m_modelType(modelType)
, m_imageWidth(0)
, m_imageHeight(0)
{
switch (modelType)
{
case KANNALA_BRANDT:
m_nIntrinsics = 8;
break;
case PINHOLE:
m_nIntrinsics = 8;
break;
case SCARAMUZZA:
m_nIntrinsics = SCARAMUZZA_CAMERA_NUM_PARAMS;
break;
case MEI:
default:
m_nIntrinsics = 9;
}
}
Camera::Parameters::Parameters(ModelType modelType,
const std::string& cameraName,
int w, int h)
: m_modelType(modelType)
, m_cameraName(cameraName)
, m_imageWidth(w)
, m_imageHeight(h)
{
switch (modelType)
{
case KANNALA_BRANDT:
m_nIntrinsics = 8;
break;
case PINHOLE:
m_nIntrinsics = 8;
break;
case SCARAMUZZA:
m_nIntrinsics = SCARAMUZZA_CAMERA_NUM_PARAMS;
break;
case MEI:
default:
m_nIntrinsics = 9;
}
}
Camera::ModelType&
Camera::Parameters::modelType(void)
{
return m_modelType;
}
std::string&
Camera::Parameters::cameraName(void)
{
return m_cameraName;
}
int&
Camera::Parameters::imageWidth(void)
{
return m_imageWidth;
}
int&
Camera::Parameters::imageHeight(void)
{
return m_imageHeight;
}
Camera::ModelType
Camera::Parameters::modelType(void) const
{
return m_modelType;
}
const std::string&
Camera::Parameters::cameraName(void) const
{
return m_cameraName;
}
int
Camera::Parameters::imageWidth(void) const
{
return m_imageWidth;
}
int
Camera::Parameters::imageHeight(void) const
{
return m_imageHeight;
}
int
Camera::Parameters::nIntrinsics(void) const
{
return m_nIntrinsics;
}
cv::Mat&
Camera::mask(void)
{
return m_mask;
}
const cv::Mat&
Camera::mask(void) const
{
return m_mask;
}
void
Camera::estimateExtrinsics(const std::vector<cv::Point3f>& objectPoints,
const std::vector<cv::Point2f>& imagePoints,
cv::Mat& rvec, cv::Mat& tvec) const
{
std::vector<cv::Point2f> Ms(imagePoints.size());
for (size_t i = 0; i < Ms.size(); ++i)
{
Eigen::Vector3d P;
liftProjective(Eigen::Vector2d(imagePoints.at(i).x, imagePoints.at(i).y), P);
P /= P(2);
Ms.at(i).x = P(0);
Ms.at(i).y = P(1);
}
// assume unit focal length, zero principal point, and zero distortion
cv::solvePnP(objectPoints, Ms, cv::Mat::eye(3, 3, CV_64F), cv::noArray(), rvec, tvec);
}
double
Camera::reprojectionDist(const Eigen::Vector3d& P1, const Eigen::Vector3d& P2) const
{
Eigen::Vector2d p1, p2;
spaceToPlane(P1, p1);
spaceToPlane(P2, p2);
return (p1 - p2).norm();
}
double
Camera::reprojectionError(const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints,
const std::vector<cv::Mat>& rvecs,
const std::vector<cv::Mat>& tvecs,
cv::OutputArray _perViewErrors) const
{
int imageCount = objectPoints.size();
size_t pointsSoFar = 0;
double totalErr = 0.0;
bool computePerViewErrors = _perViewErrors.needed();
cv::Mat perViewErrors;
if (computePerViewErrors)
{
_perViewErrors.create(imageCount, 1, CV_64F);
perViewErrors = _perViewErrors.getMat();
}
for (int i = 0; i < imageCount; ++i)
{
size_t pointCount = imagePoints.at(i).size();
pointsSoFar += pointCount;
std::vector<cv::Point2f> estImagePoints;
projectPoints(objectPoints.at(i), rvecs.at(i), tvecs.at(i),
estImagePoints);
double err = 0.0;
for (size_t j = 0; j < imagePoints.at(i).size(); ++j)
{
err += cv::norm(imagePoints.at(i).at(j) - estImagePoints.at(j));
}
if (computePerViewErrors)
{
perViewErrors.at<double>(i) = err / pointCount;
}
totalErr += err;
}
return totalErr / pointsSoFar;
}
double
Camera::reprojectionError(const Eigen::Vector3d& P,
const Eigen::Quaterniond& camera_q,
const Eigen::Vector3d& camera_t,
const Eigen::Vector2d& observed_p) const
{
Eigen::Vector3d P_cam = camera_q.toRotationMatrix() * P + camera_t;
Eigen::Vector2d p;
spaceToPlane(P_cam, p);
return (p - observed_p).norm();
}
void
Camera::projectPoints(const std::vector<cv::Point3f>& objectPoints,
const cv::Mat& rvec,
const cv::Mat& tvec,
std::vector<cv::Point2f>& imagePoints) const
{
// project 3D object points to the image plane
imagePoints.reserve(objectPoints.size());
//double
cv::Mat R0;
cv::Rodrigues(rvec, R0);
Eigen::MatrixXd R(3,3);
R << R0.at<double>(0,0), R0.at<double>(0,1), R0.at<double>(0,2),
R0.at<double>(1,0), R0.at<double>(1,1), R0.at<double>(1,2),
R0.at<double>(2,0), R0.at<double>(2,1), R0.at<double>(2,2);
Eigen::Vector3d t;
t << tvec.at<double>(0), tvec.at<double>(1), tvec.at<double>(2);
for (size_t i = 0; i < objectPoints.size(); ++i)
{
const cv::Point3f& objectPoint = objectPoints.at(i);
// Rotate and translate
Eigen::Vector3d P;
P << objectPoint.x, objectPoint.y, objectPoint.z;
P = R * P + t;
Eigen::Vector2d p;
spaceToPlane(P, p);
imagePoints.push_back(cv::Point2f(p(0), p(1)));
}
}
}
================================================
FILE: camera_model/src/camera_models/CameraFactory.cc
================================================
#include "camodocal/camera_models/CameraFactory.h"
#include <boost/algorithm/string.hpp>
#include "camodocal/camera_models/CataCamera.h"
#include "camodocal/camera_models/EquidistantCamera.h"
#include "camodocal/camera_models/PinholeCamera.h"
#include "camodocal/camera_models/ScaramuzzaCamera.h"
#include "ceres/ceres.h"
namespace camodocal
{
boost::shared_ptr<CameraFactory> CameraFactory::m_instance;
CameraFactory::CameraFactory()
{
}
boost::shared_ptr<CameraFactory>
CameraFactory::instance(void)
{
if (m_instance.get() == 0)
{
m_instance.reset(new CameraFactory);
}
return m_instance;
}
CameraPtr
CameraFactory::generateCamera(Camera::ModelType modelType,
const std::string& cameraName,
cv::Size imageSize) const
{
switch (modelType)
{
case Camera::KANNALA_BRANDT:
{
EquidistantCameraPtr camera(new EquidistantCamera);
EquidistantCamera::Parameters params = camera->getParameters();
params.cameraName() = cameraName;
params.imageWidth() = imageSize.width;
params.imageHeight() = imageSize.height;
camera->setParameters(params);
return camera;
}
case Camera::PINHOLE:
{
PinholeCameraPtr camera(new PinholeCamera);
PinholeCamera::Parameters params = camera->getParameters();
params.cameraName() = cameraName;
params.imageWidth() = imageSize.width;
params.imageHeight() = imageSize.height;
camera->setParameters(params);
return camera;
}
case Camera::SCARAMUZZA:
{
OCAMCameraPtr camera(new OCAMCamera);
OCAMCamera::Parameters params = camera->getParameters();
params.cameraName() = cameraName;
params.imageWidth() = imageSize.width;
params.imageHeight() = imageSize.height;
camera->setParameters(params);
return camera;
}
case Camera::MEI:
default:
{
CataCameraPtr camera(new CataCamera);
CataCamera::Parameters params = camera->getParameters();
params.cameraName() = cameraName;
params.imageWidth() = imageSize.width;
params.imageHeight() = imageSize.height;
camera->setParameters(params);
return camera;
}
}
}
CameraPtr
CameraFactory::generateCameraFromYamlFile(const std::string& filename)
{
cv::FileStorage fs(filename, cv::FileStorage::READ);
if (!fs.isOpened())
{
return CameraPtr();
}
Camera::ModelType modelType = Camera::MEI;
if (!fs["model_type"].isNone())
{
std::string sModelType;
fs["model_type"] >> sModelType;
if (boost::iequals(sModelType, "kannala_brandt"))
{
modelType = Camera::KANNALA_BRANDT;
}
else if (boost::iequals(sModelType, "mei"))
{
modelType = Camera::MEI;
}
else if (boost::iequals(sModelType, "scaramuzza"))
{
modelType = Camera::SCARAMUZZA;
}
else if (boost::iequals(sModelType, "pinhole"))
{
modelType = Camera::PINHOLE;
}
else
{
std::cerr << "# ERROR: Unknown camera model: " << sModelType << std::endl;
return CameraPtr();
}
}
switch (modelType)
{
case Camera::KANNALA_BRANDT:
{
EquidistantCameraPtr camera(new EquidistantCamera);
EquidistantCamera::Parameters params = camera->getParameters();
params.readFromYamlFile(filename);
camera->setParameters(params);
return camera;
}
case Camera::PINHOLE:
{
PinholeCameraPtr camera(new PinholeCamera);
PinholeCamera::Parameters params = camera->getParameters();
params.readFromYamlFile(filename);
camera->setParameters(params);
return camera;
}
case Camera::SCARAMUZZA:
{
OCAMCameraPtr camera(new OCAMCamera);
OCAMCamera::Parameters params = camera->getParameters();
params.readFromYamlFile(filename);
camera->setParameters(params);
return camera;
}
case Camera::MEI:
default:
{
CataCameraPtr camera(new CataCamera);
CataCamera::Parameters params = camera->getParameters();
params.readFromYamlFile(filename);
camera->setParameters(params);
return camera;
}
}
return CameraPtr();
}
}
================================================
FILE: camera_model/src/camera_models/CataCamera.cc
================================================
#include "camodocal/camera_models/CataCamera.h"
#include <cmath>
#include <cstdio>
#include <eigen3/Eigen/Dense>
#include <iomanip>
#include <iostream>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "camodocal/gpl/gpl.h"
namespace camodocal
{
CataCamera::Parameters::Parameters()
: Camera::Parameters(MEI)
, m_xi(0.0)
, m_k1(0.0)
, m_k2(0.0)
, m_p1(0.0)
, m_p2(0.0)
, m_gamma1(0.0)
, m_gamma2(0.0)
, m_u0(0.0)
, m_v0(0.0)
{
}
CataCamera::Parameters::Parameters(const std::string& cameraName,
int w, int h,
double xi,
double k1, double k2,
double p1, double p2,
double gamma1, double gamma2,
double u0, double v0)
: Camera::Parameters(MEI, cameraName, w, h)
, m_xi(xi)
, m_k1(k1)
, m_k2(k2)
, m_p1(p1)
, m_p2(p2)
, m_gamma1(gamma1)
, m_gamma2(gamma2)
, m_u0(u0)
, m_v0(v0)
{
}
double&
CataCamera::Parameters::xi(void)
{
return m_xi;
}
double&
CataCamera::Parameters::k1(void)
{
return m_k1;
}
double&
CataCamera::Parameters::k2(void)
{
return m_k2;
}
double&
CataCamera::Parameters::p1(void)
{
return m_p1;
}
double&
CataCamera::Parameters::p2(void)
{
return m_p2;
}
double&
CataCamera::Parameters::gamma1(void)
{
return m_gamma1;
}
double&
CataCamera::Parameters::gamma2(void)
{
return m_gamma2;
}
double&
CataCamera::Parameters::u0(void)
{
return m_u0;
}
double&
CataCamera::Parameters::v0(void)
{
return m_v0;
}
double
CataCamera::Parameters::xi(void) const
{
return m_xi;
}
double
CataCamera::Parameters::k1(void) const
{
return m_k1;
}
double
CataCamera::Parameters::k2(void) const
{
return m_k2;
}
double
CataCamera::Parameters::p1(void) const
{
return m_p1;
}
double
CataCamera::Parameters::p2(void) const
{
return m_p2;
}
double
CataCamera::Parameters::gamma1(void) const
{
return m_gamma1;
}
double
CataCamera::Parameters::gamma2(void) const
{
return m_gamma2;
}
double
CataCamera::Parameters::u0(void) const
{
return m_u0;
}
double
CataCamera::Parameters::v0(void) const
{
return m_v0;
}
bool
CataCamera::Parameters::readFromYamlFile(const std::string& filename)
{
cv::FileStorage fs(filename, cv::FileStorage::READ);
if (!fs.isOpened())
{
return false;
}
if (!fs["model_type"].isNone())
{
std::string sModelType;
fs["model_type"] >> sModelType;
if (sModelType.compare("MEI") != 0)
{
return false;
}
}
m_modelType = MEI;
fs["camera_name"] >> m_cameraName;
m_imageWidth = static_cast<int>(fs["image_width"]);
m_imageHeight = static_cast<int>(fs["image_height"]);
cv::FileNode n = fs["mirror_parameters"];
m_xi = static_cast<double>(n["xi"]);
n = fs["distortion_parameters"];
m_k1 = static_cast<double>(n["k1"]);
m_k2 = static_cast<double>(n["k2"]);
m_p1 = static_cast<double>(n["p1"]);
m_p2 = static_cast<double>(n["p2"]);
n = fs["projection_parameters"];
m_gamma1 = static_cast<double>(n["gamma1"]);
m_gamma2 = static_cast<double>(n["gamma2"]);
m_u0 = static_cast<double>(n["u0"]);
m_v0 = static_cast<double>(n["v0"]);
return true;
}
void
CataCamera::Parameters::writeToYamlFile(const std::string& filename) const
{
cv::FileStorage fs(filename, cv::FileStorage::WRITE);
fs << "model_type" << "MEI";
fs << "camera_name" << m_cameraName;
fs << "image_width" << m_imageWidth;
fs << "image_height" << m_imageHeight;
// mirror: xi
fs << "mirror_parameters";
fs << "{" << "xi" << m_xi << "}";
// radial distortion: k1, k2
// tangential distortion: p1, p2
fs << "distortion_parameters";
fs << "{" << "k1" << m_k1
<< "k2" << m_k2
<< "p1" << m_p1
<< "p2" << m_p2 << "}";
// projection: gamma1, gamma2, u0, v0
fs << "projection_parameters";
fs << "{" << "gamma1" << m_gamma1
<< "gamma2" << m_gamma2
<< "u0" << m_u0
<< "v0" << m_v0 << "}";
fs.release();
}
CataCamera::Parameters&
CataCamera::Parameters::operator=(const CataCamera::Parameters& other)
{
if (this != &other)
{
m_modelType = other.m_modelType;
m_cameraName = other.m_cameraName;
m_imageWidth = other.m_imageWidth;
m_imageHeight = other.m_imageHeight;
m_xi = other.m_xi;
m_k1 = other.m_k1;
m_k2 = other.m_k2;
m_p1 = other.m_p1;
m_p2 = other.m_p2;
m_gamma1 = other.m_gamma1;
m_gamma2 = other.m_gamma2;
m_u0 = other.m_u0;
m_v0 = other.m_v0;
}
return *this;
}
std::ostream&
operator<< (std::ostream& out, const CataCamera::Parameters& params)
{
out << "Camera Parameters:" << std::endl;
out << " model_type " << "MEI" << std::endl;
out << " camera_name " << params.m_cameraName << std::endl;
out << " image_width " << params.m_imageWidth << std::endl;
out << " image_height " << params.m_imageHeight << std::endl;
out << "Mirror Parameters" << std::endl;
out << std::fixed << std::setprecision(10);
out << " xi " << params.m_xi << std::endl;
// radial distortion: k1, k2
// tangential distortion: p1, p2
out << "Distortion Parameters" << std::endl;
out << " k1 " << params.m_k1 << std::endl
<< " k2 " << params.m_k2 << std::endl
<< " p1 " << params.m_p1 << std::endl
<< " p2 " << params.m_p2 << std::endl;
// projection: gamma1, gamma2, u0, v0
out << "Projection Parameters" << std::endl;
out << " gamma1 " << params.m_gamma1 << std::endl
<< " gamma2 " << params.m_gamma2 << std::endl
<< " u0 " << params.m_u0 << std::endl
<< " v0 " << params.m_v0 << std::endl;
return out;
}
CataCamera::CataCamera()
: m_inv_K11(1.0)
, m_inv_K13(0.0)
, m_inv_K22(1.0)
, m_inv_K23(0.0)
, m_noDistortion(true)
{
}
CataCamera::CataCamera(const std::string& cameraName,
int imageWidth, int imageHeight,
double xi, double k1, double k2, double p1, double p2,
double gamma1, double gamma2, double u0, double v0)
: mParameters(cameraName, imageWidth, imageHeight,
xi, k1, k2, p1, p2, gamma1, gamma2, u0, v0)
{
if ((mParameters.k1() == 0.0) &&
(mParameters.k2() == 0.0) &&
(mParameters.p1() == 0.0) &&
(mParameters.p2() == 0.0))
{
m_noDistortion = true;
}
else
{
m_noDistortion = false;
}
// Inverse camera projection matrix parameters
m_inv_K11 = 1.0 / mParameters.gamma1();
m_inv_K13 = -mParameters.u0() / mParameters.gamma1();
m_inv_K22 = 1.0 / mParameters.gamma2();
m_inv_K23 = -mParameters.v0() / mParameters.gamma2();
}
CataCamera::CataCamera(const CataCamera::Parameters& params)
: mParameters(params)
{
if ((mParameters.k1() == 0.0) &&
(mParameters.k2() == 0.0) &&
(mParameters.p1() == 0.0) &&
(mParameters.p2() == 0.0))
{
m_noDistortion = true;
}
else
{
m_noDistortion = false;
}
// Inverse camera projection matrix parameters
m_inv_K11 = 1.0 / mParameters.gamma1();
m_inv_K13 = -mParameters.u0() / mParameters.gamma1();
m_inv_K22 = 1.0 / mParameters.gamma2();
m_inv_K23 = -mParameters.v0() / mParameters.gamma2();
}
Camera::ModelType
CataCamera::modelType(void) const
{
return mParameters.modelType();
}
const std::string&
CataCamera::cameraName(void) const
{
return mParameters.cameraName();
}
int
CataCamera::imageWidth(void) const
{
return mParameters.imageWidth();
}
int
CataCamera::imageHeight(void) const
{
return mParameters.imageHeight();
}
void
CataCamera::estimateIntrinsics(const cv::Size& boardSize,
const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints)
{
Parameters params = getParameters();
double u0 = params.imageWidth() / 2.0;
double v0 = params.imageHeight() / 2.0;
double gamma0 = 0.0;
double minReprojErr = std::numeric_limits<double>::max();
std::vector<cv::Mat> rvecs, tvecs;
rvecs.assign(objectPoints.size(), cv::Mat());
tvecs.assign(objectPoints.size(), cv::Mat());
params.xi() = 1.0;
params.k1() = 0.0;
params.k2() = 0.0;
params.p1() = 0.0;
params.p2() = 0.0;
params.u0() = u0;
params.v0() = v0;
// Initialize gamma (focal length)
// Use non-radial line image and xi = 1
for (size_t i = 0; i < imagePoints.size(); ++i)
{
for (int r = 0; r < boardSize.height; ++r)
{
cv::Mat P(boardSize.width, 4, CV_64F);
for (int c = 0; c < boardSize.width; ++c)
{
const cv::Point2f& imagePoint = imagePoints.at(i).at(r * boardSize.width + c);
double u = imagePoint.x - u0;
double v = imagePoint.y - v0;
P.at<double>(c, 0) = u;
P.at<double>(c, 1) = v;
P.at<double>(c, 2) = 0.5;
P.at<double>(c, 3) = -0.5 * (square(u) + square(v));
}
cv::Mat C;
cv::SVD::solveZ(P, C);
double t = square(C.at<double>(0)) + square(C.at<double>(1)) + C.at<double>(2) * C.at<double>(3);
if (t < 0.0)
{
continue;
}
// check that line image is not radial
double d = sqrt(1.0 / t);
double nx = C.at<double>(0) * d;
double ny = C.at<double>(1) * d;
if (hypot(nx, ny) > 0.95)
{
continue;
}
double gamma = sqrt(C.at<double>(2) / C.at<double>(3));
params.gamma1() = gamma;
params.gamma2() = gamma;
setParameters(params);
for (size_t j = 0; j < objectPoints.size(); ++j)
{
estimateExtrinsics(objectPoints.at(j), imagePoints.at(j), rvecs.at(j), tvecs.at(j));
}
double reprojErr = reprojectionError(objectPoints, imagePoints, rvecs, tvecs, cv::noArray());
if (reprojErr < minReprojErr)
{
minReprojErr = reprojErr;
gamma0 = gamma;
}
}
}
if (gamma0 <= 0.0 && minReprojErr >= std::numeric_limits<double>::max())
{
std::cout << "[" << params.cameraName() << "] "
<< "# INFO: CataCamera model fails with given data. " << std::endl;
return;
}
params.gamma1() = gamma0;
params.gamma2() = gamma0;
setParameters(params);
}
/**
* \brief Lifts a point from the image plane to the unit sphere
*
* \param p image coordinates
* \param P coordinates of the point on the sphere
*/
void
CataCamera::liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const
{
double mx_d, my_d,mx2_d, mxy_d, my2_d, mx_u, my_u;
double rho2_d, rho4_d, radDist_d, Dx_d, Dy_d, inv_denom_d;
double lambda;
// Lift points to normalised plane
mx_d = m_inv_K11 * p(0) + m_inv_K13;
my_d = m_inv_K22 * p(1) + m_inv_K23;
if (m_noDistortion)
{
mx_u = mx_d;
my_u = my_d;
}
else
{
// Apply inverse distortion model
if (0)
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
// Inverse distortion model
// proposed by Heikkila
mx2_d = mx_d*mx_d;
my2_d = my_d*my_d;
mxy_d = mx_d*my_d;
rho2_d = mx2_d+my2_d;
rho4_d = rho2_d*rho2_d;
radDist_d = k1*rho2_d+k2*rho4_d;
Dx_d = mx_d*radDist_d + p2*(rho2_d+2*mx2_d) + 2*p1*mxy_d;
Dy_d = my_d*radDist_d + p1*(rho2_d+2*my2_d) + 2*p2*mxy_d;
inv_denom_d = 1/(1+4*k1*rho2_d+6*k2*rho4_d+8*p1*my_d+8*p2*mx_d);
mx_u = mx_d - inv_denom_d*Dx_d;
my_u = my_d - inv_denom_d*Dy_d;
}
else
{
// Recursive distortion model
int n = 6;
Eigen::Vector2d d_u;
distortion(Eigen::Vector2d(mx_d, my_d), d_u);
// Approximate value
mx_u = mx_d - d_u(0);
my_u = my_d - d_u(1);
for (int i = 1; i < n; ++i)
{
distortion(Eigen::Vector2d(mx_u, my_u), d_u);
mx_u = mx_d - d_u(0);
my_u = my_d - d_u(1);
}
}
}
// Lift normalised points to the sphere (inv_hslash)
double xi = mParameters.xi();
if (xi == 1.0)
{
lambda = 2.0 / (mx_u * mx_u + my_u * my_u + 1.0);
P << lambda * mx_u, lambda * my_u, lambda - 1.0;
}
else
{
lambda = (xi + sqrt(1.0 + (1.0 - xi * xi) * (mx_u * mx_u + my_u * my_u))) / (1.0 + mx_u * mx_u + my_u * my_u);
P << lambda * mx_u, lambda * my_u, lambda - xi;
}
}
/**
* \brief Lifts a point from the image plane to its projective ray
*
* \param p image coordinates
* \param P coordinates of the projective ray
*/
void
CataCamera::liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const
{
double mx_d, my_d,mx2_d, mxy_d, my2_d, mx_u, my_u;
double rho2_d, rho4_d, radDist_d, Dx_d, Dy_d, inv_denom_d;
//double lambda;
// Lift points to normalised plane
mx_d = m_inv_K11 * p(0) + m_inv_K13;
my_d = m_inv_K22 * p(1) + m_inv_K23;
if (m_noDistortion)
{
mx_u = mx_d;
my_u = my_d;
}
else
{
if (0)
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
// Apply inverse distortion model
// proposed by Heikkila
mx2_d = mx_d*mx_d;
my2_d = my_d*my_d;
mxy_d = mx_d*my_d;
rho2_d = mx2_d+my2_d;
rho4_d = rho2_d*rho2_d;
radDist_d = k1*rho2_d+k2*rho4_d;
Dx_d = mx_d*radDist_d + p2*(rho2_d+2*mx2_d) + 2*p1*mxy_d;
Dy_d = my_d*radDist_d + p1*(rho2_d+2*my2_d) + 2*p2*mxy_d;
inv_denom_d = 1/(1+4*k1*rho2_d+6*k2*rho4_d+8*p1*my_d+8*p2*mx_d);
mx_u = mx_d - inv_denom_d*Dx_d;
my_u = my_d - inv_denom_d*Dy_d;
}
else
{
// Recursive distortion model
int n = 8;
Eigen::Vector2d d_u;
distortion(Eigen::Vector2d(mx_d, my_d), d_u);
// Approximate value
mx_u = mx_d - d_u(0);
my_u = my_d - d_u(1);
for (int i = 1; i < n; ++i)
{
distortion(Eigen::Vector2d(mx_u, my_u), d_u);
mx_u = mx_d - d_u(0);
my_u = my_d - d_u(1);
}
}
}
// Obtain a projective ray
double xi = mParameters.xi();
if (xi == 1.0)
{
P << mx_u, my_u, (1.0 - mx_u * mx_u - my_u * my_u) / 2.0;
}
else
{
// Reuse variable
rho2_d = mx_u * mx_u + my_u * my_u;
P << mx_u, my_u, 1.0 - xi * (rho2_d + 1.0) / (xi + sqrt(1.0 + (1.0 - xi * xi) * rho2_d));
}
}
/**
* \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v)
*
* \param P 3D point coordinates
* \param p return value, contains the image point coordinates
*/
void
CataCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const
{
Eigen::Vector2d p_u, p_d;
// Project points to the normalised plane
double z = P(2) + mParameters.xi() * P.norm();
p_u << P(0) / z, P(1) / z;
if (m_noDistortion)
{
p_d = p_u;
}
else
{
// Apply distortion
Eigen::Vector2d d_u;
distortion(p_u, d_u);
p_d = p_u + d_u;
}
// Apply generalised projection matrix
p << mParameters.gamma1() * p_d(0) + mParameters.u0(),
mParameters.gamma2() * p_d(1) + mParameters.v0();
}
#if 0
/**
* \brief Project a 3D point to the image plane and calculate Jacobian
*
* \param P 3D point coordinates
* \param p return value, contains the image point coordinates
*/
void
CataCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
Eigen::Matrix<double,2,3>& J) const
{
double xi = mParameters.xi();
Eigen::Vector2d p_u, p_d;
double norm, inv_denom;
double dxdmx, dydmx, dxdmy, dydmy;
norm = P.norm();
// Project points to the normalised plane
inv_denom = 1.0 / (P(2) + xi * norm);
p_u << inv_denom * P(0), inv_denom * P(1);
// Calculate jacobian
inv_denom = inv_denom * inv_denom / norm;
double dudx = inv_denom * (norm * P(2) + xi * (P(1) * P(1) + P(2) * P(2)));
double dvdx = -inv_denom * xi * P(0) * P(1);
double dudy = dvdx;
gitextract__17qxa0t/
├── .gitignore
├── .kdev4/
│ └── src.kdev4
├── LICENCE
├── README.md
├── ar_demo/
│ ├── CMakeLists.txt
│ ├── CMakeLists.txt.back
│ ├── launch/
│ │ ├── 3dm_bag.launch
│ │ ├── ar_A3.launch
│ │ └── ar_rviz.launch
│ ├── package.xml
│ ├── package.xml.back
│ └── src/
│ └── ar_demo_node.cpp
├── benchmark_publisher/
│ ├── CMakeLists.txt
│ ├── CMakeLists.txt.back
│ ├── launch/
│ │ └── publish.launch
│ ├── package.xml
│ ├── package.xml.back
│ └── src/
│ └── benchmark_publisher_node.cpp
├── camera_model/
│ ├── CMakeLists.txt
│ ├── include/
│ │ └── camodocal/
│ │ ├── calib/
│ │ │ └── CameraCalibration.h
│ │ ├── camera_models/
│ │ │ ├── Camera.h
│ │ │ ├── CameraFactory.h
│ │ │ ├── CataCamera.h
│ │ │ ├── CostFunctionFactory.h
│ │ │ ├── EquidistantCamera.h
│ │ │ ├── PinholeCamera.h
│ │ │ └── ScaramuzzaCamera.h
│ │ ├── chessboard/
│ │ │ ├── Chessboard.h
│ │ │ ├── ChessboardCorner.h
│ │ │ ├── ChessboardQuad.h
│ │ │ └── Spline.h
│ │ ├── gpl/
│ │ │ ├── EigenQuaternionParameterization.h
│ │ │ ├── EigenUtils.h
│ │ │ └── gpl.h
│ │ └── sparse_graph/
│ │ └── Transform.h
│ ├── instruction
│ ├── package.xml
│ ├── readme.md
│ └── src/
│ ├── calib/
│ │ └── CameraCalibration.cc
│ ├── camera_models/
│ │ ├── Camera.cc
│ │ ├── CameraFactory.cc
│ │ ├── CataCamera.cc
│ │ ├── CostFunctionFactory.cc
│ │ ├── EquidistantCamera.cc
│ │ ├── PinholeCamera.cc
│ │ └── ScaramuzzaCamera.cc
│ ├── chessboard/
│ │ └── Chessboard.cc
│ ├── gpl/
│ │ ├── EigenQuaternionParameterization.cc
│ │ └── gpl.cc
│ ├── intrinsic_calib.cc
│ └── sparse_graph/
│ └── Transform.cc
├── config/
│ ├── 3dm/
│ │ └── 3dm_config.yaml
│ ├── A3/
│ │ └── A3_config.yaml
│ ├── AR_demo.rviz
│ ├── euroc/
│ │ ├── euroc_config.yaml
│ │ ├── euroc_config_no_extrinsic.yaml
│ │ ├── ex_calib_result.yaml
│ │ └── vins_result.csv
│ └── vins_rviz_config.rviz
├── generate.sh
├── include/
│ ├── ChannelFloat32.h
│ ├── Float32.h
│ ├── Header.h
│ ├── Imu.h
│ ├── Odometry.h
│ ├── Path.h
│ ├── Point.h
│ ├── Point32.h
│ ├── PointCloud.h
│ ├── PointStamped
│ ├── Pose.h
│ ├── PoseStamped.h
│ ├── PoseWithCovariance.h
│ ├── Quaternion.h
│ ├── Time.h
│ ├── Twist.h
│ ├── TwistWithCovariance.h
│ └── Vector3.h
├── src.kdev4
├── support_files/
│ ├── brief_pattern.yml
│ └── cmake/
│ └── FindEigen.cmake
└── vins_estimator/
├── .kdev4/
│ └── vins_estimator.kdev4
├── CMakeLists.txt
├── launch/
│ ├── 3dm.launch
│ ├── A3.launch
│ ├── euroc.launch
│ ├── euroc_no_extrinsic_param.launch
│ └── vins_rviz.launch
├── package.xml
└── src/
├── estimator.cpp
├── estimator.h
├── estimator_node.cpp
├── factor/
│ ├── imu_factor.h
│ ├── integration_base.h
│ ├── marginalization_factor.cpp
│ ├── marginalization_factor.h
│ ├── pose_local_parameterization.cpp
│ ├── pose_local_parameterization.h
│ ├── projection_factor.cpp
│ └── projection_factor.h
├── feature_manager.cpp
├── feature_manager.h
├── feature_tracker/
│ ├── feature_tracker.cpp
│ ├── feature_tracker.h
│ └── tic_toc.h
├── initial/
│ ├── initial_aligment.cpp
│ ├── initial_alignment.h
│ ├── initial_ex_rotation.cpp
│ ├── initial_ex_rotation.h
│ ├── initial_sfm.cpp
│ ├── initial_sfm.h
│ ├── solve_5pts.cpp
│ └── solve_5pts.h
├── loop-closure/
│ ├── DLoopDetector.h
│ ├── TemplatedLoopDetector.h
│ ├── ThirdParty/
│ │ ├── DBoW/
│ │ │ ├── BowVector.cpp
│ │ │ ├── BowVector.h
│ │ │ ├── DBoW2.h
│ │ │ ├── FBrief.cpp
│ │ │ ├── FBrief.h
│ │ │ ├── FClass.h
│ │ │ ├── FeatureVector.cpp
│ │ │ ├── FeatureVector.h
│ │ │ ├── QueryResults.cpp
│ │ │ ├── QueryResults.h
│ │ │ ├── ScoringObject.cpp
│ │ │ ├── ScoringObject.h
│ │ │ ├── TemplatedDatabase.h
│ │ │ └── TemplatedVocabulary.h
│ │ ├── DUtils/
│ │ │ ├── DException.h
│ │ │ ├── DUtils.h
│ │ │ ├── Random.cpp
│ │ │ ├── Random.h
│ │ │ ├── Timestamp.cpp
│ │ │ └── Timestamp.h
│ │ ├── DVision/
│ │ │ ├── BRIEF.cpp
│ │ │ ├── BRIEF.h
│ │ │ └── DVision.h
│ │ ├── VocabularyBinary.cpp
│ │ └── VocabularyBinary.hpp
│ ├── demoDetector.h
│ ├── keyframe.cpp
│ ├── keyframe.h
│ ├── keyframe_database.cpp
│ ├── keyframe_database.h
│ ├── loop_closure.cpp
│ └── loop_closure.h
├── parameters.cpp
├── parameters.h
└── utility/
├── CameraPoseVisualization.cpp
├── CameraPoseVisualization.h
├── tic_toc.h
├── utility.cpp
├── utility.h
├── visualization.cpp
└── visualization.h
SYMBOL INDEX (313 symbols across 100 files)
FILE: ar_demo/src/ar_demo_node.cpp
function axis_generate (line 61) | void axis_generate(visualization_msgs::Marker &line_list, Vector3d &orig...
function cube_generate (line 98) | void cube_generate(visualization_msgs::Marker &marker, Vector3d &origin,...
function add_object (line 145) | void add_object()
function project_object (line 168) | void project_object(Vector3d camera_p, Quaterniond camera_q)
function draw_object (line 244) | void draw_object(cv::Mat &AR_image)
function callback (line 352) | void callback(const ImageConstPtr& img_msg, const geometry_msgs::PoseSta...
function point_callback (line 393) | void point_callback(const sensor_msgs::PointCloudConstPtr &point_msg)
function img_callback (line 445) | void img_callback(const ImageConstPtr& img_msg)
function pose_callback (line 454) | void pose_callback(const geometry_msgs::PoseStamped::ConstPtr& pose_msg)
function main (line 481) | int main( int argc, char** argv )
FILE: benchmark_publisher/src/benchmark_publisher_node.cpp
function T (line 18) | T readParam(ros::NodeHandle &n, std::string name)
type Data (line 33) | struct Data
method Data (line 35) | Data(FILE *f)
function odom_callback (line 64) | void odom_callback(const nav_msgs::OdometryConstPtr &odom_msg)
function main (line 126) | int main(int argc, char **argv)
FILE: camera_model/include/camodocal/calib/CameraCalibration.h
function namespace (line 8) | namespace camodocal
FILE: camera_model/include/camodocal/camera_models/Camera.h
function namespace (line 9) | namespace camodocal
FILE: camera_model/include/camodocal/camera_models/CameraFactory.h
function namespace (line 9) | namespace camodocal
FILE: camera_model/include/camodocal/camera_models/CataCamera.h
function namespace (line 10) | namespace camodocal
FILE: camera_model/include/camodocal/camera_models/CostFunctionFactory.h
function namespace (line 9) | namespace ceres
function namespace (line 14) | namespace camodocal
FILE: camera_model/include/camodocal/camera_models/EquidistantCamera.h
function namespace (line 10) | namespace camodocal
FILE: camera_model/include/camodocal/camera_models/PinholeCamera.h
function namespace (line 10) | namespace camodocal
FILE: camera_model/include/camodocal/camera_models/ScaramuzzaCamera.h
function namespace (line 10) | namespace camodocal
FILE: camera_model/include/camodocal/chessboard/Chessboard.h
function namespace (line 7) | namespace camodocal
FILE: camera_model/include/camodocal/chessboard/ChessboardCorner.h
function namespace (line 7) | namespace camodocal
FILE: camera_model/include/camodocal/chessboard/ChessboardQuad.h
function namespace (line 8) | namespace camodocal
FILE: camera_model/include/camodocal/chessboard/Spline.h
type BC_type (line 33) | enum BC_type {
type Spline_type (line 39) | enum Spline_type {
type std (line 54) | typedef std::vector<std::pair<double, double> > base;
type base (line 55) | typedef base::const_iterator const_iterator;
function const_iterator (line 58) | const_iterator begin() const { return base::begin(); }
function clear (line 60) | void clear() { _valid = false; base::clear(); _data.clear(); }
function size (line 61) | size_t size() const { return base::size(); }
function capacity (line 63) | size_t capacity() const { return base::capacity(); }
function addPoint (line 68) | inline void addPoint(double x, double y)
function setType (line 81) | void setType(Spline_type type) { _type = type; _valid = false; }
type SplineData (line 105) | struct SplineData { double x,a,b,c,d; }
function splineCalc (line 122) | inline double splineCalc(std::vector<SplineData>::const_iterator i, doub...
function lowCalc (line 128) | inline double lowCalc(double xval)
function highCalc (line 149) | inline double highCalc(double xval)
function x (line 171) | inline double x(size_t i) const { return operator[](i).first; }
function y (line 172) | inline double y(size_t i) const { return operator[](i).second; }
function h (line 173) | inline double h(size_t i) const { return x(i+1) - x(i); }
function generate (line 200) | void generate()
FILE: camera_model/include/camodocal/gpl/EigenQuaternionParameterization.h
function namespace (line 6) | namespace camodocal
FILE: camera_model/include/camodocal/gpl/EigenUtils.h
function namespace (line 9) | namespace camodocal
FILE: camera_model/include/camodocal/gpl/gpl.h
function namespace (line 8) | namespace camodocal
FILE: camera_model/include/camodocal/sparse_graph/Transform.h
function namespace (line 8) | namespace camodocal
FILE: camera_model/src/calib/CameraCalibration.cc
type camodocal (line 21) | namespace camodocal
function CameraPtr (line 167) | CameraPtr&
function CameraConstPtr (line 173) | const CameraConstPtr
FILE: camera_model/src/camera_models/Camera.cc
type camodocal (line 6) | namespace camodocal
FILE: camera_model/src/camera_models/CameraFactory.cc
type camodocal (line 13) | namespace camodocal
function CameraPtr (line 34) | CameraPtr
function CameraPtr (line 89) | CameraPtr
FILE: camera_model/src/camera_models/CataCamera.cc
type camodocal (line 14) | namespace camodocal
FILE: camera_model/src/camera_models/CostFunctionFactory.cc
type camodocal (line 9) | namespace camodocal
function worldToCameraTransform (line 13) | void
class ReprojectionError1 (line 58) | class ReprojectionError1
method ReprojectionError1 (line 68) | ReprojectionError1(const Eigen::Vector3d& observed_P,
method ReprojectionError1 (line 74) | ReprojectionError1(const std::vector<double>& intrinsic_params,
class ReprojectionError2 (line 141) | class ReprojectionError2
class ReprojectionError3 (line 180) | class ReprojectionError3
method ReprojectionError3 (line 190) | ReprojectionError3(const Eigen::Vector2d& observed_p,
method ReprojectionError3 (line 196) | ReprojectionError3(const std::vector<double>& intrinsic_params,
method ReprojectionError3 (line 203) | ReprojectionError3(const std::vector<double>& intrinsic_params,
method ReprojectionError3 (line 212) | ReprojectionError3(const std::vector<double>& intrinsic_params,
method ReprojectionError3 (line 222) | ReprojectionError3(const std::vector<double>& intrinsic_params,
class StereoReprojectionError (line 356) | class StereoReprojectionError
class ComprehensionError (line 421) | class ComprehensionError {
FILE: camera_model/src/camera_models/EquidistantCamera.cc
type camodocal (line 14) | namespace camodocal
FILE: camera_model/src/camera_models/PinholeCamera.cc
type camodocal (line 15) | namespace camodocal
FILE: camera_model/src/camera_models/ScaramuzzaCamera.cc
function polyfit (line 18) | Eigen::VectorXd polyfit(Eigen::VectorXd& xVec, Eigen::VectorXd& yVec, in...
type camodocal (line 46) | namespace camodocal
FILE: camera_model/src/chessboard/Chessboard.cc
type camodocal (line 11) | namespace camodocal
function less_pred (line 1552) | bool less_pred(const std::pair<float, int>& p1, const std::pair<float,...
function countClasses (line 1557) | void countClasses(const std::vector<std::pair<float, int> >& pairs, si...
FILE: camera_model/src/gpl/EigenQuaternionParameterization.cc
type camodocal (line 5) | namespace camodocal
FILE: camera_model/src/gpl/gpl.cc
function orwl_gettime (line 20) | struct timespec orwl_gettime(void) {
type camodocal (line 46) | namespace camodocal
function hypot3 (line 49) | double hypot3(double x, double y, double z)
function hypot3f (line 54) | float hypot3f(float x, float y, float z)
function d2r (line 59) | double d2r(double deg)
function d2r (line 64) | float d2r(float deg)
function r2d (line 69) | double r2d(double rad)
function r2d (line 74) | float r2d(float rad)
function sinc (line 79) | double sinc(double theta)
function LARGE_INTEGER (line 88) | LARGE_INTEGER
function clock_gettime (line 109) | int
function timeInMicroseconds (line 149) | unsigned long long timeInMicroseconds(void)
function timeInSeconds (line 161) | double timeInSeconds(void)
function colorDepthImage (line 439) | void colorDepthImage(cv::Mat& imgDepth, cv::Mat& imgColoredDepth,
function colormap (line 465) | bool colormap(const std::string& name, unsigned char idx,
function bresLine (line 492) | std::vector<cv::Point2i> bresLine(int x0, int y0, int x1, int y1)
function bresCircle (line 532) | std::vector<cv::Point2i> bresCircle(int x0, int y0, int r)
function fitCircle (line 621) | void
function intersectCircles (line 676) | std::vector<cv::Point2d>
function UTMLetterDesignator (line 714) | char
function LLtoUTM (line 747) | void
function UTMtoLL (line 827) | void
function timestampDiff (line 897) | long int
FILE: camera_model/src/intrinsic_calib.cc
function main (line 15) | int main(int argc, char** argv)
FILE: camera_model/src/sparse_graph/Transform.cc
type camodocal (line 3) | namespace camodocal
FILE: include/ChannelFloat32.h
function namespace (line 11) | namespace sensor_msgs
type sensor_msgs (line 44) | typedef sensor_msgs::ChannelFloat32_<std::allocator<void> > ChannelFloat32;
type boost (line 46) | typedef boost::shared_ptr< sensor_msgs::ChannelFloat32 > ChannelFloat32Ptr;
type boost (line 47) | typedef boost::shared_ptr< sensor_msgs::ChannelFloat32 const> ChannelFlo...
FILE: include/Float32.h
function namespace (line 13) | namespace std_msgs
FILE: include/Header.h
function namespace (line 12) | namespace std_msgs
type std_msgs (line 50) | typedef std_msgs::Header_<std::allocator<void> > Header;
type boost (line 52) | typedef boost::shared_ptr< std_msgs::Header > HeaderPtr;
type boost (line 53) | typedef boost::shared_ptr< std_msgs::Header const> HeaderConstPtr;
FILE: include/Imu.h
function namespace (line 16) | namespace sensor_msgs
type std_msgs (line 55) | typedef std_msgs::Header_<ContainerAllocator> _header_type;
type geometry_msgs (line 58) | typedef geometry_msgs::Quaternion_<ContainerAllocator> _orientation_type;
type boost (line 61) | typedef boost::array<double, 9> _orientation_covariance_type;
type geometry_msgs (line 64) | typedef geometry_msgs::Vector3_<ContainerAllocator> _angular_velocity_...
type boost (line 67) | typedef boost::array<double, 9> _angular_velocity_covariance_type;
type geometry_msgs (line 70) | typedef geometry_msgs::Vector3_<ContainerAllocator> _linear_accelerati...
type boost (line 73) | typedef boost::array<double, 9> _linear_acceleration_covariance_type;
type boost (line 79) | typedef boost::shared_ptr< sensor_msgs::Imu_<ContainerAllocator> > Ptr;
type boost (line 80) | typedef boost::shared_ptr< sensor_msgs::Imu_<ContainerAllocator> const> ...
type sensor_msgs (line 84) | typedef sensor_msgs::Imu_<std::allocator<void> > Imu;
type boost (line 86) | typedef boost::shared_ptr< sensor_msgs::Imu > ImuPtr;
type boost (line 87) | typedef boost::shared_ptr< sensor_msgs::Imu const> ImuConstPtr;
FILE: include/Odometry.h
function namespace (line 13) | namespace nav_msgs
type nav_msgs (line 56) | typedef ::nav_msgs::Odometry_<std::allocator<void> > Odometry;
type boost (line 58) | typedef boost::shared_ptr< ::nav_msgs::Odometry > OdometryPtr;
type boost (line 59) | typedef boost::shared_ptr< ::nav_msgs::Odometry const> OdometryConstPtr;
FILE: include/Path.h
function namespace (line 13) | namespace nav_msgs
type nav_msgs (line 46) | typedef ::nav_msgs::Path_<std::allocator<void> > Path;
type boost (line 48) | typedef boost::shared_ptr< ::nav_msgs::Path > PathPtr;
type boost (line 49) | typedef boost::shared_ptr< ::nav_msgs::Path const> PathConstPtr;
FILE: include/Point.h
function namespace (line 9) | namespace geometry_msgs
type geometry_msgs (line 47) | typedef ::geometry_msgs::Point_<std::allocator<void> > Point;
type boost (line 49) | typedef boost::shared_ptr< ::geometry_msgs::Point > PointPtr;
type boost (line 50) | typedef boost::shared_ptr< ::geometry_msgs::Point const> PointConstPtr;
FILE: include/Point32.h
function namespace (line 12) | namespace geometry_msgs
type geometry_msgs (line 50) | typedef ::geometry_msgs::Point32_<std::allocator<void> > Point32;
type boost (line 52) | typedef boost::shared_ptr< ::geometry_msgs::Point32 > Point32Ptr;
type boost (line 53) | typedef boost::shared_ptr< ::geometry_msgs::Point32 const> Point32ConstPtr;
FILE: include/PointCloud.h
function namespace (line 15) | namespace sensor_msgs
type sensor_msgs (line 53) | typedef sensor_msgs::PointCloud_<std::allocator<void> > PointCloud;
type boost (line 55) | typedef boost::shared_ptr< sensor_msgs::PointCloud > PointCloudPtr;
type boost (line 56) | typedef boost::shared_ptr< sensor_msgs::PointCloud const> PointCloudCons...
FILE: include/Pose.h
function namespace (line 12) | namespace geometry_msgs
type geometry_msgs (line 45) | typedef ::geometry_msgs::Pose_<std::allocator<void> > Pose;
type boost (line 47) | typedef boost::shared_ptr< ::geometry_msgs::Pose > PosePtr;
type boost (line 48) | typedef boost::shared_ptr< ::geometry_msgs::Pose const> PoseConstPtr;
FILE: include/PoseStamped.h
function namespace (line 13) | namespace geometry_msgs
type geometry_msgs (line 46) | typedef ::geometry_msgs::PoseStamped_<std::allocator<void> > PoseStamped;
type boost (line 48) | typedef boost::shared_ptr< ::geometry_msgs::PoseStamped > PoseStampedPtr;
type boost (line 49) | typedef boost::shared_ptr< ::geometry_msgs::PoseStamped const> PoseStamp...
FILE: include/PoseWithCovariance.h
function namespace (line 14) | namespace geometry_msgs
type geometry_msgs (line 49) | typedef ::geometry_msgs::PoseWithCovariance_<std::allocator<void> > Pose...
type boost (line 51) | typedef boost::shared_ptr< ::geometry_msgs::PoseWithCovariance > PoseWit...
type boost (line 52) | typedef boost::shared_ptr< ::geometry_msgs::PoseWithCovariance const> Po...
FILE: include/Quaternion.h
function namespace (line 9) | namespace geometry_msgs
type geometry_msgs (line 52) | typedef ::geometry_msgs::Quaternion_<std::allocator<void> > Quaternion;
type boost (line 54) | typedef boost::shared_ptr< ::geometry_msgs::Quaternion > QuaternionPtr;
type boost (line 55) | typedef boost::shared_ptr< ::geometry_msgs::Quaternion const> Quaternion...
FILE: include/Time.h
function namespace (line 28) | namespace ros //DataStucture
FILE: include/Twist.h
function namespace (line 15) | namespace geometry_msgs
type geometry_msgs (line 48) | typedef ::geometry_msgs::Twist_<std::allocator<void> > Twist;
type boost (line 50) | typedef boost::shared_ptr< ::geometry_msgs::Twist > TwistPtr;
type boost (line 51) | typedef boost::shared_ptr< ::geometry_msgs::Twist const> TwistConstPtr;
FILE: include/TwistWithCovariance.h
function namespace (line 13) | namespace geometry_msgs
type geometry_msgs (line 48) | typedef ::geometry_msgs::TwistWithCovariance_<std::allocator<void> > Twi...
type boost (line 50) | typedef boost::shared_ptr< ::geometry_msgs::TwistWithCovariance > TwistW...
type boost (line 51) | typedef boost::shared_ptr< ::geometry_msgs::TwistWithCovariance const> T...
FILE: include/Vector3.h
function namespace (line 10) | namespace geometry_msgs
type geometry_msgs (line 48) | typedef geometry_msgs::Vector3_<std::allocator<void> > Vector3;
type boost (line 50) | typedef boost::shared_ptr< geometry_msgs::Vector3 > Vector3Ptr;
type boost (line 51) | typedef boost::shared_ptr< geometry_msgs::Vector3 const> Vector3ConstPtr;
FILE: vins_estimator/src/estimator.h
type RetriveData (line 26) | struct RetriveData
function class (line 45) | class Estimator
FILE: vins_estimator/src/estimator_node.cpp
function updateLoopPath (line 98) | void updateLoopPath(nav_msgs::Path _loop_path)
function ViewCameraPose (line 102) | void ViewCameraPose(Eigen::Vector3d loop_correct_t, Eigen::Matrix3d loop...
function DrawCurrentCamera (line 141) | void DrawCurrentCamera(pangolin::OpenGlMatrix &Twc)
function visualization (line 178) | void visualization()
function predict (line 228) | void predict(const sensor_msgs::ImuConstPtr &imu_msg)
function update (line 260) | void update()
function getMeasurements (line 278) | std::vector<std::pair<std::vector<sensor_msgs::ImuConstPtr>, sensor_msgs...
function imu_callback (line 318) | void imu_callback(const sensor_msgs::ImuConstPtr &imu_msg)
function feature_callback (line 337) | void feature_callback(const sensor_msgs::PointCloudConstPtr &feature_msg)
function send_imu (line 347) | void send_imu(const sensor_msgs::ImuConstPtr &imu_msg)
function process_loop_detection (line 371) | void process_loop_detection()
function process_pose_graph (line 562) | void process_pose_graph()
function process (line 603) | void process()
function img_callback (line 745) | void img_callback(const cv::Mat &show_img, const ros::Time ×tamp)
function LoadImages (line 937) | void LoadImages(const string &strImagePath, const string &strTimesStamps...
function LoadImus (line 963) | void LoadImus(ifstream & fImus, const ros::Time &imageTimestamp)
function main (line 1009) | int main(int argc, char **argv)
FILE: vins_estimator/src/factor/imu_factor.h
function pre_integration (line 17) | pre_integration(_pre_integration)
function virtual (line 20) | virtual bool Evaluate(double const *const *parameters, double *residuals...
FILE: vins_estimator/src/factor/integration_base.h
function class (line 9) | class IntegrationBase
function push_back (line 31) | void push_back(double dt, const Eigen::Vector3d &acc, const Eigen::Vecto...
function repropagate (line 39) | void repropagate(const Eigen::Vector3d &_linearized_ba, const Eigen::Vec...
function midPointIntegration (line 55) | void midPointIntegration(double _dt,
function propagate (line 131) | void propagate(double _dt, const Eigen::Vector3d &_acc_1, const Eigen::V...
FILE: vins_estimator/src/factor/marginalization_factor.h
type ResidualBlockInfo (line 15) | struct ResidualBlockInfo
type ThreadsStruct (line 38) | struct ThreadsStruct
function class (line 48) | class MarginalizationInfo
function class (line 77) | class MarginalizationFactor : public ceres::CostFunction
FILE: vins_estimator/src/factor/pose_local_parameterization.h
function class (line 7) | class PoseLocalParameterization : public ceres::LocalParameterization
FILE: vins_estimator/src/feature_manager.cpp
function VectorXd (line 188) | VectorXd FeatureManager::getDepthVector()
FILE: vins_estimator/src/feature_manager.h
function class (line 18) | class FeaturePerFrame
function class (line 36) | class FeaturePerId
function class (line 61) | class FeatureManager
FILE: vins_estimator/src/feature_tracker/feature_tracker.cpp
function inBorder (line 5) | bool inBorder(const cv::Point2f &pt)
function reduceVector (line 13) | void reduceVector(vector<cv::Point2f> &v, vector<uchar> status)
function reduceVector (line 22) | void reduceVector(vector<int> &v, vector<uchar> status)
FILE: vins_estimator/src/feature_tracker/feature_tracker.h
function class (line 28) | class FeatureTracker
FILE: vins_estimator/src/feature_tracker/tic_toc.h
function class (line 7) | class TicToc
FILE: vins_estimator/src/initial/initial_aligment.cpp
function solveGyroscopeBias (line 3) | void solveGyroscopeBias(map<double, ImageFrame> &all_image_frame, Vector...
function MatrixXd (line 41) | MatrixXd TangentBasis(Vector3d &g0)
function RefineGravity (line 56) | void RefineGravity(map<double, ImageFrame> &all_image_frame, Vector3d &g...
function LinearAlignment (line 126) | bool LinearAlignment(map<double, ImageFrame> &all_image_frame, Vector3d ...
function VisualIMUAlignment (line 202) | bool VisualIMUAlignment(map<double, ImageFrame> &all_image_frame, Vector...
FILE: vins_estimator/src/initial/initial_ex_rotation.cpp
function Matrix3d (line 68) | Matrix3d InitialEXRotation::solveRelativeR(const vector<pair<Vector3d, V...
FILE: vins_estimator/src/initial/initial_ex_rotation.h
function class (line 14) | class InitialEXRotation
FILE: vins_estimator/src/initial/initial_sfm.h
type SFMFeature (line 16) | struct SFMFeature
type ReprojectionError3D (line 26) | struct ReprojectionError3D
function class (line 58) | class GlobalSFM
FILE: vins_estimator/src/initial/solve_5pts.cpp
type cv (line 4) | namespace cv {
function decomposeEssentialMat (line 5) | void decomposeEssentialMat( InputArray _E, OutputArray _R1, OutputArra...
function recoverPose (line 30) | int recoverPose( InputArray E, InputArray _points1, InputArray _points...
function recoverPose (line 184) | int recoverPose( InputArray E, InputArray _points1, InputArray _points...
FILE: vins_estimator/src/initial/solve_5pts.h
function class (line 13) | class MotionEstimator
FILE: vins_estimator/src/loop-closure/DLoopDetector.h
function namespace (line 60) | namespace DLoopDetector
type DLoopDetector (line 69) | typedef DLoopDetector::TemplatedLoopDetector
FILE: vins_estimator/src/loop-closure/TemplatedLoopDetector.h
function namespace (line 35) | namespace DLoopDetector {
type tTemporalWindow (line 389) | struct tTemporalWindow
function m_params (line 573) | m_params(params)
function m_params (line 599) | m_params(params)
function m_params (line 611) | m_params(params)
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/BowVector.cpp
type DBoW2 (line 18) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/BowVector.h
function namespace (line 17) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/DBoW2.h
function namespace (line 59) | namespace DBoW2
type DBoW2 (line 71) | typedef DBoW2::TemplatedVocabulary<DBoW2::FBrief::TDescriptor, DBoW2::FB...
type DBoW2 (line 75) | typedef DBoW2::TemplatedDatabase<DBoW2::FBrief::TDescriptor, DBoW2::FBrief>
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/FBrief.cpp
type DBoW2 (line 18) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/FBrief.h
function namespace (line 20) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/FClass.h
function namespace (line 17) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/FeatureVector.cpp
type DBoW2 (line 15) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/FeatureVector.h
function namespace (line 18) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/QueryResults.cpp
type DBoW2 (line 16) | namespace DBoW2
function ostream (line 21) | ostream & operator<<(ostream& os, const Result& ret )
function ostream (line 29) | ostream & operator<<(ostream& os, const QueryResults& ret )
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/QueryResults.h
function namespace (line 15) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/ScoringObject.h
function namespace (line 15) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/TemplatedDatabase.h
function namespace (line 28) | namespace DBoW2 {
FILE: vins_estimator/src/loop-closure/ThirdParty/DBoW/TemplatedVocabulary.h
function namespace (line 33) | namespace DBoW2 {
function m_scoring_object (line 515) | m_scoring_object(NULL)
FILE: vins_estimator/src/loop-closure/ThirdParty/DUtils/DException.h
function namespace (line 20) | namespace DUtils {
FILE: vins_estimator/src/loop-closure/ThirdParty/DUtils/DUtils.h
function namespace (line 36) | namespace DUtils
FILE: vins_estimator/src/loop-closure/ThirdParty/DUtils/Random.h
function namespace (line 18) | namespace DUtils {
FILE: vins_estimator/src/loop-closure/ThirdParty/DUtils/Timestamp.cpp
type __timeb32 (line 59) | struct __timeb32
type timeval (line 65) | struct timeval
function string (line 97) | string Timestamp::getStringTime() const {
function Timestamp (line 107) | Timestamp& Timestamp::operator+= (double s)
function Timestamp (line 113) | Timestamp& Timestamp::operator-= (double s)
function Timestamp (line 119) | Timestamp Timestamp::operator+ (double s) const
function Timestamp (line 127) | Timestamp Timestamp::plus(unsigned long secs, unsigned long usecs) const
function Timestamp (line 141) | Timestamp Timestamp::operator- (double s) const
function Timestamp (line 149) | Timestamp Timestamp::minus(unsigned long secs, unsigned long usecs) const
function string (line 197) | string Timestamp::Format(bool machine_friendly) const
function string (line 223) | string Timestamp::Format(double s) {
FILE: vins_estimator/src/loop-closure/ThirdParty/DUtils/Timestamp.h
function namespace (line 16) | namespace DUtils {
FILE: vins_estimator/src/loop-closure/ThirdParty/DVision/BRIEF.h
function namespace (line 36) | namespace DVision {
FILE: vins_estimator/src/loop-closure/ThirdParty/DVision/DVision.h
function namespace (line 37) | namespace DVision
FILE: vins_estimator/src/loop-closure/ThirdParty/VocabularyBinary.hpp
type VINSLoop (line 16) | namespace VINSLoop {
type Node (line 18) | struct Node {
type Word (line 30) | struct Word {
type Vocabulary (line 35) | struct Vocabulary {
method staticDataSize (line 53) | inline static size_t staticDataSize() {
FILE: vins_estimator/src/loop-closure/keyframe.cpp
function inBorder (line 23) | bool inBorder(const cv::Point2f &pt, int COL, int ROW)
function reduceVector (line 32) | static void reduceVector(vector<Derived> &v, vector<uchar> status)
FILE: vins_estimator/src/loop-closure/keyframe.h
function class (line 22) | class BriefExtractor: public FeatureExtractor<FBrief::TDescriptor>
function class (line 34) | class KeyFrame
FILE: vins_estimator/src/loop-closure/keyframe_database.cpp
function KeyFrame (line 183) | KeyFrame* KeyFrameDatabase::getKeyframe(int index)
function KeyFrame (line 198) | KeyFrame* KeyFrameDatabase::getLastKeyframe()
function KeyFrame (line 206) | KeyFrame* KeyFrameDatabase::getLastKeyframe(int last_index)
FILE: vins_estimator/src/loop-closure/keyframe_database.h
function class (line 18) | class KeyFrameDatabase
function class (line 66) | class AngleLocalParameterization {
function ceres (line 79) | static ceres::LocalParameterization* Create() {
type RelativeTError (line 94) | struct RelativeTError
type TError (line 133) | struct TError
function const (line 160) | struct RelativeRTError
function ceres (line 212) | static ceres::CostFunction* Create(const double t_x, const double t_y, c...
type FourDOFError (line 267) | struct FourDOFError
function const (line 312) | struct FourDOFWeightError
function ceres (line 346) | static ceres::CostFunction* Create(const double t_x, const double t_y, c...
FILE: vins_estimator/src/loop-closure/loop_closure.h
function class (line 26) | class LoopClosure
FILE: vins_estimator/src/parameters.cpp
function readParameters (line 57) | void readParameters(const string & config_file)
FILE: vins_estimator/src/parameters.h
type SIZE_PARAMETERIZATION (line 79) | enum SIZE_PARAMETERIZATION
type StateOrder (line 86) | enum StateOrder
type NoiseOrder (line 95) | enum NoiseOrder
FILE: vins_estimator/src/utility/CameraPoseVisualization.cpp
function Eigen2Point (line 12) | void Eigen2Point(const Eigen::Vector3d& v, geometry_msgs::Point& p) {
FILE: vins_estimator/src/utility/CameraPoseVisualization.h
function class (line 10) | class CameraPoseVisualization {
FILE: vins_estimator/src/utility/tic_toc.h
function class (line 7) | class TicToc
FILE: vins_estimator/src/utility/utility.h
function class (line 8) | class Utility
FILE: vins_estimator/src/utility/visualization.cpp
function registerPub (line 19) | void registerPub(ros::NodeHandle &n)
function pubLatestOdometry (line 38) | void pubLatestOdometry(const Eigen::Vector3d &P, const Eigen::Quaternion...
function printStatistics (line 58) | void printStatistics(const Estimator &estimator, double t)
function pubKeyPoses (line 96) | void pubKeyPoses(const Estimator &estimator, const std_msgs::Header &hea...
function pubCameraPose (line 131) | void pubCameraPose(const Estimator &estimator, const std_msgs::Header &h...
function pubPointCloud (line 163) | void pubPointCloud(const Estimator &estimator, const std_msgs::Header &h...
function pubPoseGraph (line 224) | void pubPoseGraph(CameraPoseVisualization* posegraph, const std_msgs::He...
function updateLoopPath (line 230) | void updateLoopPath(nav_msgs::Path _loop_path)
function pubTF (line 235) | void pubTF(const Estimator &estimator, const std_msgs::Header &header, E...
function pubOdometry (line 271) | void pubOdometry(const Estimator &estimator, const std_msgs::Header &hea...
Condensed preview — 156 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (1,234K chars).
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"path": "LICENCE",
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"preview": " GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free "
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"path": "camera_model/include/camodocal/camera_models/EquidistantCamera.h",
"chars": 6787,
"preview": "#ifndef EQUIDISTANTCAMERA_H\r\n#define EQUIDISTANTCAMERA_H\r\n\r\n#include <opencv2/core/core.hpp>\r\n#include <string>\r\n\r\n#incl"
},
{
"path": "camera_model/include/camodocal/camera_models/PinholeCamera.h",
"chars": 5982,
"preview": "#ifndef PINHOLECAMERA_H\n#define PINHOLECAMERA_H\n\n#include <opencv2/core/core.hpp>\n#include <string>\n\n#include \"ceres/rot"
},
{
"path": "camera_model/include/camodocal/camera_models/ScaramuzzaCamera.h",
"chars": 10407,
"preview": "#ifndef SCARAMUZZACAMERA_H\r\n#define SCARAMUZZACAMERA_H\r\n\r\n#include <opencv2/core/core.hpp>\r\n#include <string>\r\n\r\n#includ"
},
{
"path": "camera_model/include/camodocal/chessboard/Chessboard.h",
"chars": 3058,
"preview": "#ifndef CHESSBOARD_H\n#define CHESSBOARD_H\n\n#include <boost/shared_ptr.hpp>\n#include <opencv2/core/core.hpp>\n\nnamespace c"
},
{
"path": "camera_model/include/camodocal/chessboard/ChessboardCorner.h",
"chars": 1196,
"preview": "#ifndef CHESSBOARDCORNER_H\n#define CHESSBOARDCORNER_H\n\n#include <boost/shared_ptr.hpp>\n#include <opencv2/core/core.hpp>\n"
},
{
"path": "camera_model/include/camodocal/chessboard/ChessboardQuad.h",
"chars": 773,
"preview": "#ifndef CHESSBOARDQUAD_H\n#define CHESSBOARDQUAD_H\n\n#include <boost/shared_ptr.hpp>\n\n#include \"camodocal/chessboard/Chess"
},
{
"path": "camera_model/include/camodocal/chessboard/Spline.h",
"chars": 8626,
"preview": "/* dynamo:- Event driven molecular dynamics simulator\n http://www.marcusbannerman.co.uk/dynamo\n Copyright (C) 201"
},
{
"path": "camera_model/include/camodocal/gpl/EigenQuaternionParameterization.h",
"chars": 1150,
"preview": "#ifndef EIGENQUATERNIONPARAMETERIZATION_H\n#define EIGENQUATERNIONPARAMETERIZATION_H\n\n#include \"ceres/local_parameterizat"
},
{
"path": "camera_model/include/camodocal/gpl/EigenUtils.h",
"chars": 11621,
"preview": "#ifndef EIGENUTILS_H\n#define EIGENUTILS_H\n\n#include <eigen3/Eigen/Dense>\n\n#include \"ceres/rotation.h\"\n#include \"camodoca"
},
{
"path": "camera_model/include/camodocal/gpl/gpl.h",
"chars": 2414,
"preview": "#ifndef GPL_H\r\n#define GPL_H\r\n\r\n#include <algorithm>\r\n#include <cmath>\r\n#include <opencv2/core/core.hpp>\r\n\r\nnamespace ca"
},
{
"path": "camera_model/include/camodocal/sparse_graph/Transform.h",
"chars": 744,
"preview": "#ifndef TRANSFORM_H\n#define TRANSFORM_H\n\n#include <boost/shared_ptr.hpp>\n#include <eigen3/Eigen/Dense>\n#include <stdint."
},
{
"path": "camera_model/instruction",
"chars": 68,
"preview": "rosrun camera_model Calibration -w 8 -h 11 -s 70 -i ~/bag/PX/calib/\n"
},
{
"path": "camera_model/package.xml",
"chars": 2068,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>camera_model</name>\n <version>0.0.0</version>\n <description>The camera_model p"
},
{
"path": "camera_model/readme.md",
"chars": 552,
"preview": "part of [camodocal](https://github.com/hengli/camodocal)\n\n[Google Ceres](http://ceres-solver.org) is needed.\n\n# Calibrat"
},
{
"path": "camera_model/src/calib/CameraCalibration.cc",
"chars": 16543,
"preview": "#include \"camodocal/calib/CameraCalibration.h\"\n\n#include <cstdio>\n#include <eigen3/Eigen/Dense>\n#include <iomanip>\n#incl"
},
{
"path": "camera_model/src/camera_models/Camera.cc",
"chars": 5759,
"preview": "#include \"camodocal/camera_models/Camera.h\"\n#include \"camodocal/camera_models/ScaramuzzaCamera.h\"\n\n#include <opencv2/cal"
},
{
"path": "camera_model/src/camera_models/CameraFactory.cc",
"chars": 4440,
"preview": "#include \"camodocal/camera_models/CameraFactory.h\"\n\n#include <boost/algorithm/string.hpp>\n\n\n#include \"camodocal/camera_m"
},
{
"path": "camera_model/src/camera_models/CataCamera.cc",
"chars": 26012,
"preview": "#include \"camodocal/camera_models/CataCamera.h\"\n\n#include <cmath>\n#include <cstdio>\n#include <eigen3/Eigen/Dense>\n#inclu"
},
{
"path": "camera_model/src/camera_models/CostFunctionFactory.cc",
"chars": 45514,
"preview": "#include \"camodocal/camera_models/CostFunctionFactory.h\"\n\n#include \"ceres/ceres.h\"\n#include \"camodocal/camera_models/Cat"
},
{
"path": "camera_model/src/camera_models/EquidistantCamera.cc",
"chars": 20449,
"preview": "#include \"camodocal/camera_models/EquidistantCamera.h\"\n\n#include <cmath>\n#include <cstdio>\n#include <eigen3/Eigen/Dense>"
},
{
"path": "camera_model/src/camera_models/PinholeCamera.cc",
"chars": 22393,
"preview": "#include \"camodocal/camera_models/PinholeCamera.h\"\n\n#include <cmath>\n#include <cstdio>\n#include <eigen3/Eigen/Dense>\n#in"
},
{
"path": "camera_model/src/camera_models/ScaramuzzaCamera.cc",
"chars": 25873,
"preview": "#include \"camodocal/camera_models/ScaramuzzaCamera.h\"\n\n#include <cmath>\n#include <cstdio>\n#include <eigen3/Eigen/Dense>\n"
},
{
"path": "camera_model/src/chessboard/Chessboard.cc",
"chars": 70141,
"preview": "#include \"camodocal/chessboard/Chessboard.h\"\n\n#include <opencv2/calib3d/calib3d.hpp>\n#include <opencv2/imgproc/imgproc.h"
},
{
"path": "camera_model/src/gpl/EigenQuaternionParameterization.cc",
"chars": 1409,
"preview": "#include \"camodocal/gpl/EigenQuaternionParameterization.h\"\n\n#include <cmath>\n\nnamespace camodocal\n{\n\nbool\nEigenQuaternio"
},
{
"path": "camera_model/src/gpl/gpl.cc",
"chars": 25657,
"preview": "#include \"camodocal/gpl/gpl.h\"\r\n\r\n#include <set>\r\n#ifdef _WIN32\r\n#include <winsock.h>\r\n#else\r\n#include <time.h>\r\n#endif\r"
},
{
"path": "camera_model/src/intrinsic_calib.cc",
"chars": 8444,
"preview": "#include <boost/algorithm/string.hpp>\n#include <boost/filesystem.hpp>\n#include <boost/program_options.hpp>\n#include <iom"
},
{
"path": "camera_model/src/sparse_graph/Transform.cc",
"chars": 1075,
"preview": "#include <camodocal/sparse_graph/Transform.h>\n\nnamespace camodocal\n{\n\nTransform::Transform()\n{\n m_q.setIdentity();\n "
},
{
"path": "config/3dm/3dm_config.yaml",
"chars": 3313,
"preview": "%YAML:1.0\n\n#common parameters\nimu_topic: \"/imu_3dm_gx4/imu\"\nimage_topic: \"/mv_25001498/image_raw\"\noutput_path: \"/config/"
},
{
"path": "config/A3/A3_config.yaml",
"chars": 3385,
"preview": "%YAML:1.0\n\n#common parameters\nimu_topic: \"/djiros/imu\"\nimage_topic: \"/djiros/image\"\noutput_path: \"/config/A3/vins_result"
},
{
"path": "config/AR_demo.rviz",
"chars": 7355,
"preview": "Panels:\n - Class: rviz/Displays\n Help Height: 0\n Name: Displays\n Property Tree Widget:\n Expanded:\n "
},
{
"path": "config/euroc/euroc_config.yaml",
"chars": 3351,
"preview": "%YAML:1.0\n\n#common parameters\nimu_topic: \"/imu0\"\nimage_topic: \"/cam0/image_raw\"\noutput_path: \"/src/config/euroc/vins_res"
},
{
"path": "config/euroc/euroc_config_no_extrinsic.yaml",
"chars": 2953,
"preview": "%YAML:1.0\n\n#common parameters\nimu_topic: \"/imu0\"\nimage_topic: \"/cam0/image_raw\"\noutput_path: \"/config/euroc/vins_result."
},
{
"path": "config/euroc/ex_calib_result.yaml",
"chars": 497,
"preview": "%YAML:1.0\nextrinsicRotation: !!opencv-matrix\n rows: 3\n cols: 3\n dt: d\n data: [ 1.5942328773486114e-02, -9.998708"
},
{
"path": "config/euroc/vins_result.csv",
"chars": 194782,
"preview": "1403636580863555328,-0.00682,0.01361,-0.10559,-0.03014,0.83605,0.03655,0.54660,0.08347,-0.00007,0.78361,\n140363658096355"
},
{
"path": "config/vins_rviz_config.rviz",
"chars": 8579,
"preview": "Panels:\n - Class: rviz/Displays\n Help Height: 0\n Name: Displays\n Property Tree Widget:\n Expanded:\n "
},
{
"path": "generate.sh",
"chars": 131,
"preview": "#/bin/bash\ncd camera_model\nmkdir -p build\ncd build\ncmake ..\nmake \n\ncd ../../vins_estimator\nmkdir -p build\ncd build \ncmak"
},
{
"path": "include/ChannelFloat32.h",
"chars": 1238,
"preview": "#ifndef SENSOR_MSGS_MESSAGE_CHANNELFLOAT32_H\n#define SENSOR_MSGS_MESSAGE_CHANNELFLOAT32_H\n\n\n#include <string>\n#include <"
},
{
"path": "include/Float32.h",
"chars": 625,
"preview": "\n#ifndef STD_MSGS_MESSAGE_FLOAT32_H\n#define STD_MSGS_MESSAGE_FLOAT32_H\n\n\n#include <string>\n#include <vector>\n#include <m"
},
{
"path": "include/Header.h",
"chars": 1143,
"preview": "#ifndef STD_MSGS_MESSAGE_HEADER_H\n#define STD_MSGS_MESSAGE_HEADER_H\n\n\n#include <string>\n#include <vector>\n#include <map>"
},
{
"path": "include/Imu.h",
"chars": 2357,
"preview": "#ifndef SENSOR_MSGS_MESSAGE_IMU_H\n#define SENSOR_MSGS_MESSAGE_IMU_H\n\n\n#include <string>\n#include <vector>\n#include <map>"
},
{
"path": "include/Odometry.h",
"chars": 1470,
"preview": "#ifndef NAV_MSGS_MESSAGE_ODOMETRY_H\n#define NAV_MSGS_MESSAGE_ODOMETRY_H\n\n\n#include <string>\n#include <vector>\n#include <"
},
{
"path": "include/Path.h",
"chars": 1116,
"preview": "#ifndef NAV_MSGS_MESSAGE_PATH_H\n#define NAV_MSGS_MESSAGE_PATH_H\n\n\n#include <string>\n#include <vector>\n#include <map>\n\n\n#"
},
{
"path": "include/Point.h",
"chars": 945,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_POINT_H\n#define GEOMETRY_MSGS_MESSAGE_POINT_H\n\n\n#include <string>\n#include <vector>\n#inclu"
},
{
"path": "include/Point32.h",
"chars": 1008,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_POINT32_H\n#define GEOMETRY_MSGS_MESSAGE_POINT32_H\n\n\n#include <string>\n#include <vector>\n#i"
},
{
"path": "include/PointCloud.h",
"chars": 1534,
"preview": "#ifndef SENSOR_MSGS_MESSAGE_POINTCLOUD_H\n#define SENSOR_MSGS_MESSAGE_POINTCLOUD_H\n\n\n#include <string>\n#include <vector>\n"
},
{
"path": "include/PointStamped",
"chars": 1143,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_POINTSTAMPED_H\n#define GEOMETRY_MSGS_MESSAGE_POINTSTAMPED_H\n\n\n#include <string>\n#include <"
},
{
"path": "include/Pose.h",
"chars": 1075,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_POSE_H\n#define GEOMETRY_MSGS_MESSAGE_POSE_H\n\n\n#include <string>\n#include <vector>\n#include"
},
{
"path": "include/PoseStamped.h",
"chars": 1121,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_POSESTAMPED_H\n#define GEOMETRY_MSGS_MESSAGE_POSESTAMPED_H\n\n\n#include <string>\n#include <ve"
},
{
"path": "include/PoseWithCovariance.h",
"chars": 1288,
"preview": "\n#ifndef GEOMETRY_MSGS_MESSAGE_POSEWITHCOVARIANCE_H\n#define GEOMETRY_MSGS_MESSAGE_POSEWITHCOVARIANCE_H\n\n\n#include <strin"
},
{
"path": "include/Quaternion.h",
"chars": 1087,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_QUATERNION_H\n#define GEOMETRY_MSGS_MESSAGE_QUATERNION_H\n\n\n#include <string>\n#include <vect"
},
{
"path": "include/Time.h",
"chars": 4657,
"preview": "/*********************************************************************\n *all edit by solomon\n *solomon.he@zhaoxin.com\n *"
},
{
"path": "include/Twist.h",
"chars": 1121,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_TWIST_H\n#define GEOMETRY_MSGS_MESSAGE_TWIST_H\n\n\n#include <string>\n#include <vector>\n#inclu"
},
{
"path": "include/TwistWithCovariance.h",
"chars": 1309,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_TWISTWITHCOVARIANCE_H\n#define GEOMETRY_MSGS_MESSAGE_TWISTWITHCOVARIANCE_H\n\n\n#include <stri"
},
{
"path": "include/Vector3.h",
"chars": 967,
"preview": "#ifndef GEOMETRY_MSGS_MESSAGE_VECTOR3_H\n#define GEOMETRY_MSGS_MESSAGE_VECTOR3_H\n\n\n#include <string>\n#include <vector>\n#i"
},
{
"path": "src.kdev4",
"chars": 56,
"preview": "[Project]\nManager=KDevCMakeManager\nName=Remove_ROS_VINS\n"
},
{
"path": "support_files/brief_pattern.yml",
"chars": 6977,
"preview": "%YAML:1.0\nx1:\n - 0\n - 4\n - 11\n - -4\n - 24\n - -3\n - -4\n - -7\n - -5\n - -2\n - 8\n - 1\n - -2\n - -5\n - -5\n - -"
},
{
"path": "support_files/cmake/FindEigen.cmake",
"chars": 7887,
"preview": "# Ceres Solver - A fast non-linear least squares minimizer\n# Copyright 2015 Google Inc. All rights reserved.\n# http://ce"
},
{
"path": "vins_estimator/.kdev4/vins_estimator.kdev4",
"chars": 221,
"preview": "[Buildset]\nBuildItems=@Variant(\\x00\\x00\\x00\\t\\x00\\x00\\x00\\x00\\x01\\x00\\x00\\x00\\x0b\\x00\\x00\\x00\\x00\\x01\\x00\\x00\\x00\\x1c\\x0"
},
{
"path": "vins_estimator/CMakeLists.txt",
"chars": 7191,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(vins_estimator)\n\nset(CMAKE_BUILD_TYPE \"Release\")\nset(CMAKE_CXX_FLAGS \"-std"
},
{
"path": "vins_estimator/launch/3dm.launch",
"chars": 716,
"preview": "<launch>\n\n <arg name=\"config_path\" default = \"$(find feature_tracker)/../config/3dm/3dm_config.yaml\" />\n\t<arg name=\"v"
},
{
"path": "vins_estimator/launch/A3.launch",
"chars": 713,
"preview": "<launch>\n\n <arg name=\"config_path\" default = \"$(find feature_tracker)/../config/A3/A3_config.yaml\" />\n <arg name=\""
},
{
"path": "vins_estimator/launch/euroc.launch",
"chars": 460,
"preview": "<launch>\n <arg name=\"config_path\" default = \"$(find vins_estimator)/../config/euroc/euroc_config.yaml\" />\n\t <arg nam"
},
{
"path": "vins_estimator/launch/euroc_no_extrinsic_param.launch",
"chars": 732,
"preview": "<launch>\n <arg name=\"config_path\" default = \"$(find feature_tracker)/../config/euroc/euroc_config_no_extrinsic.yaml\" "
},
{
"path": "vins_estimator/launch/vins_rviz.launch",
"chars": 158,
"preview": "<launch>\n <node name=\"rvizvisualisation\" pkg=\"rviz\" type=\"rviz\" output=\"log\" args=\"-d $(find vins_estimator)/../confi"
},
{
"path": "vins_estimator/package.xml",
"chars": 2097,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>vins_estimator</name>\n <version>0.0.0</version>\n <description>The vins_estimat"
},
{
"path": "vins_estimator/src/estimator.cpp",
"chars": 40914,
"preview": "#include \"estimator.h\"\n\nEstimator::Estimator(): f_manager{Rs}\n{\n //ROS_INFO(\"init begins\");\n clearState();\n fai"
},
{
"path": "vins_estimator/src/estimator.h",
"chars": 3791,
"preview": "#pragma once\n\n#include \"parameters.h\"\n#include \"feature_manager.h\"\n#include \"utility/utility.h\"\n#include \"utility/tic_to"
},
{
"path": "vins_estimator/src/estimator_node.cpp",
"chars": 40786,
"preview": "#include <stdio.h>\n#include <queue>\n#include <map>\n#include <thread>\n#include <mutex>\n#include <condition_variable>\n//#i"
},
{
"path": "vins_estimator/src/factor/imu_factor.h",
"chars": 8760,
"preview": "#pragma once\n//#include <ros/assert.h>\n#include <iostream>\n#include <eigen3/Eigen/Dense>\n\n#include \"../utility/utility.h"
},
{
"path": "vins_estimator/src/factor/integration_base.h",
"chars": 26227,
"preview": "#pragma once\n\n#include \"../utility/utility.h\"\n#include \"../parameters.h\"\n\n#include <ceres/ceres.h>\nusing namespace Eigen"
},
{
"path": "vins_estimator/src/factor/marginalization_factor.cpp",
"chars": 15072,
"preview": "#include \"marginalization_factor.h\"\nusing namespace std;\nvoid ResidualBlockInfo::Evaluate()\n{\n residuals.resize(cost_"
},
{
"path": "vins_estimator/src/factor/marginalization_factor.h",
"chars": 2602,
"preview": "#pragma once\n\n//#include <ros/ros.h>\n//#include <ros/console.h>\n#include <cstdlib>\n#include <pthread.h>\n#include <ceres/"
},
{
"path": "vins_estimator/src/factor/pose_local_parameterization.cpp",
"chars": 814,
"preview": "#include \"pose_local_parameterization.h\"\n\nbool PoseLocalParameterization::Plus(const double *x, const double *delta, dou"
},
{
"path": "vins_estimator/src/factor/pose_local_parameterization.h",
"chars": 490,
"preview": "#pragma once\n\n#include <eigen3/Eigen/Dense>\n#include <ceres/ceres.h>\n#include \"../utility/utility.h\"\n\nclass PoseLocalPar"
},
{
"path": "vins_estimator/src/factor/projection_factor.cpp",
"chars": 9037,
"preview": "#include \"projection_factor.h\"\n\nEigen::Matrix2d ProjectionFactor::sqrt_info;\ndouble ProjectionFactor::sum_t;\n\nProjection"
},
{
"path": "vins_estimator/src/factor/projection_factor.h",
"chars": 670,
"preview": "#pragma once\n\n//#include <ros/assert.h>\n#include <ceres/ceres.h>\n#include <Eigen/Dense>\n#include \"../utility/utility.h\"\n"
},
{
"path": "vins_estimator/src/feature_manager.cpp",
"chars": 11610,
"preview": "#include \"feature_manager.h\"\n\nint FeaturePerId::endFrame()\n{\n return start_frame + feature_per_frame.size() - 1;\n}\n\nF"
},
{
"path": "vins_estimator/src/feature_manager.h",
"chars": 2243,
"preview": "#ifndef FEATURE_MANAGER_H\n#define FEATURE_MANAGER_H\n\n#include <list>\n#include <algorithm>\n#include <vector>\n#include <nu"
},
{
"path": "vins_estimator/src/feature_tracker/feature_tracker.cpp",
"chars": 8175,
"preview": "#include \"feature_tracker.h\"\n\nint FeatureTracker::n_id = 0;\n\nbool inBorder(const cv::Point2f &pt)\n{\n const int BORDER"
},
{
"path": "vins_estimator/src/feature_tracker/feature_tracker.h",
"chars": 1275,
"preview": "#pragma once\n\n#include <cstdio>\n#include <iostream>\n#include <queue>\n//#include <execinfo.h>\n#include <csignal>\n\n#includ"
},
{
"path": "vins_estimator/src/feature_tracker/tic_toc.h",
"chars": 488,
"preview": "#pragma once\n\n#include <ctime>\n#include <cstdlib>\n#include <chrono>\n\nclass TicToc\n{\n public:\n TicToc()\n {\n "
},
{
"path": "vins_estimator/src/initial/initial_aligment.cpp",
"chars": 7894,
"preview": "#include \"initial_alignment.h\"\n\nvoid solveGyroscopeBias(map<double, ImageFrame> &all_image_frame, Vector3d* Bgs)\n{\n M"
},
{
"path": "vins_estimator/src/initial/initial_alignment.h",
"chars": 795,
"preview": "#pragma once\n#include <eigen3/Eigen/Dense>\n#include <iostream>\n#include \"../factor/imu_factor.h\"\n#include \"../utility/ut"
},
{
"path": "vins_estimator/src/initial/initial_ex_rotation.cpp",
"chars": 4945,
"preview": "#include \"initial_ex_rotation.h\"\n\nInitialEXRotation::InitialEXRotation(){\n frame_count = 0;\n Rc.push_back(Matrix3d"
},
{
"path": "vins_estimator/src/initial/initial_ex_rotation.h",
"chars": 1105,
"preview": "#pragma once \n\n#include <vector>\n#include \"../parameters.h\"\nusing namespace std;\n\n#include <opencv2/opencv.hpp>\n\n#includ"
},
{
"path": "vins_estimator/src/initial/initial_sfm.cpp",
"chars": 9967,
"preview": "#include \"initial_sfm.h\"\n\nGlobalSFM::GlobalSFM(){}\n\nvoid GlobalSFM::triangulatePoint(Eigen::Matrix<double, 3, 4> &Pose0,"
},
{
"path": "vins_estimator/src/initial/initial_sfm.h",
"chars": 2090,
"preview": "#pragma once \n#include <ceres/ceres.h>\n#include <ceres/rotation.h>\n#include <eigen3/Eigen/Dense>\n#include <iostream>\n#in"
},
{
"path": "vins_estimator/src/initial/solve_5pts.cpp",
"chars": 7615,
"preview": "#include \"solve_5pts.h\"\n\n\nnamespace cv {\n void decomposeEssentialMat( InputArray _E, OutputArray _R1, OutputArray _R2"
},
{
"path": "vins_estimator/src/initial/solve_5pts.h",
"chars": 735,
"preview": "#pragma once\n\n#include <vector>\nusing namespace std;\n\n#include <opencv2/opencv.hpp>\n//#include <opencv2/core/eigen.hpp>\n"
},
{
"path": "vins_estimator/src/loop-closure/DLoopDetector.h",
"chars": 2101,
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]
About this extraction
This page contains the full source code of the heguixiang/Remove_ROS_VINS GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 156 files (1.1 MB), approximately 389.6k tokens, and a symbol index with 313 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.