[
{
"path": "LICENCE",
"content": " GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free Software Foundation, Inc. \n Everyone is permitted to copy and distribute verbatim copies\n of this license document, but changing it is not allowed.\n\n Preamble\n\n The GNU General Public License is a free, copyleft license for\nsoftware and other kinds of works.\n\n The licenses for most software and other practical works are designed\nto take away your freedom to share and change the works. By contrast,\nthe GNU General Public License is intended to guarantee your freedom to\nshare and change all versions of a program--to make sure it remains free\nsoftware for all its users. We, the Free Software Foundation, use the\nGNU General Public License for most of our software; it applies also to\nany other work released this way by its authors. You can apply it to\nyour programs, too.\n\n When we speak of free software, we are referring to freedom, not\nprice. Our General Public Licenses are designed to make sure that you\nhave the freedom to distribute copies of free software (and charge for\nthem if you wish), that you receive source code or can get it if you\nwant it, that you can change the software or use pieces of it in new\nfree programs, and that you know you can do these things.\n\n To protect your rights, we need to prevent others from denying you\nthese rights or asking you to surrender the rights. Therefore, you have\ncertain responsibilities if you distribute copies of the software, or if\nyou modify it: responsibilities to respect the freedom of others.\n\n For example, if you distribute copies of such a program, whether\ngratis or for a fee, you must pass on to the recipients the same\nfreedoms that you received. You must make sure that they, too, receive\nor can get the source code. And you must show them these terms so they\nknow their rights.\n\n Developers that use the GNU GPL protect your rights with two steps:\n(1) assert copyright on the software, and (2) offer you this License\ngiving you legal permission to copy, distribute and/or modify it.\n\n For the developers' and authors' protection, the GPL clearly explains\nthat there is no warranty for this free software. For both users' and\nauthors' sake, the GPL requires that modified versions be marked as\nchanged, so that their problems will not be attributed erroneously to\nauthors of previous versions.\n\n Some devices are designed to deny users access to install or run\nmodified versions of the software inside them, although the manufacturer\ncan do so. This is fundamentally incompatible with the aim of\nprotecting users' freedom to change the software. The systematic\npattern of such abuse occurs in the area of products for individuals to\nuse, which is precisely where it is most unacceptable. Therefore, we\nhave designed this version of the GPL to prohibit the practice for those\nproducts. If such problems arise substantially in other domains, we\nstand ready to extend this provision to those domains in future versions\nof the GPL, as needed to protect the freedom of users.\n\n Finally, every program is threatened constantly by software patents.\nStates should not allow patents to restrict development and use of\nsoftware on general-purpose computers, but in those that do, we wish to\navoid the special danger that patents applied to a free program could\nmake it effectively proprietary. To prevent this, the GPL assures that\npatents cannot be used to render the program non-free.\n\n The precise terms and conditions for copying, distribution and\nmodification follow.\n\n TERMS AND CONDITIONS\n\n 0. Definitions.\n\n \"This License\" refers to version 3 of the GNU General Public License.\n\n \"Copyright\" also means copyright-like laws that apply to other kinds of\nworks, such as semiconductor masks.\n\n \"The Program\" refers to any copyrightable work licensed under this\nLicense. Each licensee is addressed as \"you\". \"Licensees\" and\n\"recipients\" may be individuals or organizations.\n\n To \"modify\" a work means to copy from or adapt all or part of the work\nin a fashion requiring copyright permission, other than the making of an\nexact copy. The resulting work is called a \"modified version\" of the\nearlier work or a work \"based on\" the earlier work.\n\n A \"covered work\" means either the unmodified Program or a work based\non the Program.\n\n To \"propagate\" a work means to do anything with it that, without\npermission, would make you directly or secondarily liable for\ninfringement under applicable copyright law, except executing it on a\ncomputer or modifying a private copy. Propagation includes copying,\ndistribution (with or without modification), making available to the\npublic, and in some countries other activities as well.\n\n To \"convey\" a work means any kind of propagation that enables other\nparties to make or receive copies. Mere interaction with a user through\na computer network, with no transfer of a copy, is not conveying.\n\n An interactive user interface displays \"Appropriate Legal Notices\"\nto the extent that it includes a convenient and prominently visible\nfeature that (1) displays an appropriate copyright notice, and (2)\ntells the user that there is no warranty for the work (except to the\nextent that warranties are provided), that licensees may convey the\nwork under this License, and how to view a copy of this License. If\nthe interface presents a list of user commands or options, such as a\nmenu, a prominent item in the list meets this criterion.\n\n 1. Source Code.\n\n The \"source code\" for a work means the preferred form of the work\nfor making modifications to it. \"Object code\" means any non-source\nform of a work.\n\n A \"Standard Interface\" means an interface that either is an official\nstandard defined by a recognized standards body, or, in the case of\ninterfaces specified for a particular programming language, one that\nis widely used among developers working in that language.\n\n The \"System Libraries\" of an executable work include anything, other\nthan the work as a whole, that (a) is included in the normal form of\npackaging a Major Component, but which is not part of that Major\nComponent, and (b) serves only to enable use of the work with that\nMajor Component, or to implement a Standard Interface for which an\nimplementation is available to the public in source code form. A\n\"Major Component\", in this context, means a major essential component\n(kernel, window system, and so on) of the specific operating system\n(if any) on which the executable work runs, or a compiler used to\nproduce the work, or an object code interpreter used to run it.\n\n The \"Corresponding Source\" for a work in object code form means all\nthe source code needed to generate, install, and (for an executable\nwork) run the object code and to modify the work, including scripts to\ncontrol those activities. However, it does not include the work's\nSystem Libraries, or general-purpose tools or generally available free\nprograms which are used unmodified in performing those activities but\nwhich are not part of the work. For example, Corresponding Source\nincludes interface definition files associated with source files for\nthe work, and the source code for shared libraries and dynamically\nlinked subprograms that the work is specifically designed to require,\nsuch as by intimate data communication or control flow between those\nsubprograms and other parts of the work.\n\n The Corresponding Source need not include anything that users\ncan regenerate automatically from other parts of the Corresponding\nSource.\n\n The Corresponding Source for a work in source code form is that\nsame work.\n\n 2. Basic Permissions.\n\n All rights granted under this License are granted for the term of\ncopyright on the Program, and are irrevocable provided the stated\nconditions are met. This License explicitly affirms your unlimited\npermission to run the unmodified Program. The output from running a\ncovered work is covered by this License only if the output, given its\ncontent, constitutes a covered work. This License acknowledges your\nrights of fair use or other equivalent, as provided by copyright law.\n\n You may make, run and propagate covered works that you do not\nconvey, without conditions so long as your license otherwise remains\nin force. You may convey covered works to others for the sole purpose\nof having them make modifications exclusively for you, or provide you\nwith facilities for running those works, provided that you comply with\nthe terms of this License in conveying all material for which you do\nnot control copyright. Those thus making or running the covered works\nfor you must do so exclusively on your behalf, under your direction\nand control, on terms that prohibit them from making any copies of\nyour copyrighted material outside their relationship with you.\n\n Conveying under any other circumstances is permitted solely under\nthe conditions stated below. Sublicensing is not allowed; section 10\nmakes it unnecessary.\n\n 3. 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Conveying Verbatim Copies.\n\n You may convey verbatim copies of the Program's source code as you\nreceive it, in any medium, provided that you conspicuously and\nappropriately publish on each copy an appropriate copyright notice;\nkeep intact all notices stating that this License and any\nnon-permissive terms added in accord with section 7 apply to the code;\nkeep intact all notices of the absence of any warranty; and give all\nrecipients a copy of this License along with the Program.\n\n You may charge any price or no price for each copy that you convey,\nand you may offer support or warranty protection for a fee.\n\n 5. Conveying Modified Source Versions.\n\n You may convey a work based on the Program, or the modifications to\nproduce it from the Program, in the form of source code under the\nterms of section 4, provided that you also meet all of these conditions:\n\n a) The work must carry prominent notices stating that you modified\n it, and giving a relevant date.\n\n b) The work must carry prominent notices stating that it is\n released under this License and any conditions added under section\n 7. This requirement modifies the requirement in section 4 to\n \"keep intact all notices\".\n\n c) You must license the entire work, as a whole, under this\n License to anyone who comes into possession of a copy. This\n License will therefore apply, along with any applicable section 7\n additional terms, to the whole of the work, and all its parts,\n regardless of how they are packaged. This License gives no\n permission to license the work in any other way, but it does not\n invalidate such permission if you have separately received it.\n\n d) If the work has interactive user interfaces, each must display\n Appropriate Legal Notices; however, if the Program has interactive\n interfaces that do not display Appropriate Legal Notices, your\n work need not make them do so.\n\n A compilation of a covered work with other separate and independent\nworks, which are not by their nature extensions of the covered work,\nand which are not combined with it such as to form a larger program,\nin or on a volume of a storage or distribution medium, is called an\n\"aggregate\" if the compilation and its resulting copyright are not\nused to limit the access or legal rights of the compilation's users\nbeyond what the individual works permit. Inclusion of a covered work\nin an aggregate does not cause this License to apply to the other\nparts of the aggregate.\n\n 6. Conveying Non-Source Forms.\n\n You may convey a covered work in object code form under the terms\nof sections 4 and 5, provided that you also convey the\nmachine-readable Corresponding Source under the terms of this License,\nin one of these ways:\n\n a) Convey the object code in, or embodied in, a physical product\n (including a physical distribution medium), accompanied by the\n Corresponding Source fixed on a durable physical medium\n customarily used for software interchange.\n\n b) Convey the object code in, or embodied in, a physical product\n (including a physical distribution medium), accompanied by a\n written offer, valid for at least three years and valid for as\n long as you offer spare parts or customer support for that product\n model, to give anyone who possesses the object code either (1) a\n copy of the Corresponding Source for all the software in the\n product that is covered by this License, on a durable physical\n medium customarily used for software interchange, for a price no\n more than your reasonable cost of physically performing this\n conveying of source, or (2) access to copy the\n Corresponding Source from a network server at no charge.\n\n c) Convey individual copies of the object code with a copy of the\n written offer to provide the Corresponding Source. This\n alternative is allowed only occasionally and noncommercially, and\n only if you received the object code with such an offer, in accord\n with subsection 6b.\n\n d) Convey the object code by offering access from a designated\n place (gratis or for a charge), and offer equivalent access to the\n Corresponding Source in the same way through the same place at no\n further charge. You need not require recipients to copy the\n Corresponding Source along with the object code. If the place to\n copy the object code is a network server, the Corresponding Source\n may be on a different server (operated by you or a third party)\n that supports equivalent copying facilities, provided you maintain\n clear directions next to the object code saying where to find the\n Corresponding Source. Regardless of what server hosts the\n Corresponding Source, you remain obligated to ensure that it is\n available for as long as needed to satisfy these requirements.\n\n e) Convey the object code using peer-to-peer transmission, provided\n you inform other peers where the object code and Corresponding\n Source of the work are being offered to the general public at no\n charge under subsection 6d.\n\n A separable portion of the object code, whose source code is excluded\nfrom the Corresponding Source as a System Library, need not be\nincluded in conveying the object code work.\n\n A \"User Product\" is either (1) a \"consumer product\", which means any\ntangible personal property which is normally used for personal, family,\nor household purposes, or (2) anything designed or sold for incorporation\ninto a dwelling. In determining whether a product is a consumer product,\ndoubtful cases shall be resolved in favor of coverage. For a particular\nproduct received by a particular user, \"normally used\" refers to a\ntypical or common use of that class of product, regardless of the status\nof the particular user or of the way in which the particular user\nactually uses, or expects or is expected to use, the product. A product\nis a consumer product regardless of whether the product has substantial\ncommercial, industrial or non-consumer uses, unless such uses represent\nthe only significant mode of use of the product.\n\n \"Installation Information\" for a User Product means any methods,\nprocedures, authorization keys, or other information required to install\nand execute modified versions of a covered work in that User Product from\na modified version of its Corresponding Source. The information must\nsuffice to ensure that the continued functioning of the modified object\ncode is in no case prevented or interfered with solely because\nmodification has been made.\n\n If you convey an object code work under this section in, or with, or\nspecifically for use in, a User Product, and the conveying occurs as\npart of a transaction in which the right of possession and use of the\nUser Product is transferred to the recipient in perpetuity or for a\nfixed term (regardless of how the transaction is characterized), the\nCorresponding Source conveyed under this section must be accompanied\nby the Installation Information. But this requirement does not apply\nif neither you nor any third party retains the ability to install\nmodified object code on the User Product (for example, the work has\nbeen installed in ROM).\n\n The requirement to provide Installation Information does not include a\nrequirement to continue to provide support service, warranty, or updates\nfor a work that has been modified or installed by the recipient, or for\nthe User Product in which it has been modified or installed. Access to a\nnetwork may be denied when the modification itself materially and\nadversely affects the operation of the network or violates the rules and\nprotocols for communication across the network.\n\n Corresponding Source conveyed, and Installation Information provided,\nin accord with this section must be in a format that is publicly\ndocumented (and with an implementation available to the public in\nsource code form), and must require no special password or key for\nunpacking, reading or copying.\n\n 7. Additional Terms.\n\n \"Additional permissions\" are terms that supplement the terms of this\nLicense by making exceptions from one or more of its conditions.\nAdditional permissions that are applicable to the entire Program shall\nbe treated as though they were included in this License, to the extent\nthat they are valid under applicable law. If additional permissions\napply only to part of the Program, that part may be used separately\nunder those permissions, but the entire Program remains governed by\nthis License without regard to the additional permissions.\n\n When you convey a copy of a covered work, you may at your option\nremove any additional permissions from that copy, or from any part of\nit. (Additional permissions may be written to require their own\nremoval in certain cases when you modify the work.) You may place\nadditional permissions on material, added by you to a covered work,\nfor which you have or can give appropriate copyright permission.\n\n Notwithstanding any other provision of this License, for material you\nadd to a covered work, you may (if authorized by the copyright holders of\nthat material) supplement the terms of this License with terms:\n\n a) Disclaiming warranty or limiting liability differently from the\n terms of sections 15 and 16 of this License; or\n\n b) Requiring preservation of specified reasonable legal notices or\n author attributions in that material or in the Appropriate Legal\n Notices displayed by works containing it; or\n\n c) Prohibiting misrepresentation of the origin of that material, or\n requiring that modified versions of such material be marked in\n reasonable ways as different from the original version; or\n\n d) Limiting the use for publicity purposes of names of licensors or\n authors of the material; or\n\n e) Declining to grant rights under trademark law for use of some\n trade names, trademarks, or service marks; or\n\n f) Requiring indemnification of licensors and authors of that\n material by anyone who conveys the material (or modified versions of\n it) with contractual assumptions of liability to the recipient, for\n any liability that these contractual assumptions directly impose on\n those licensors and authors.\n\n All other non-permissive additional terms are considered \"further\nrestrictions\" within the meaning of section 10. If the Program as you\nreceived it, or any part of it, contains a notice stating that it is\ngoverned by this License along with a term that is a further\nrestriction, you may remove that term. If a license document contains\na further restriction but permits relicensing or conveying under this\nLicense, you may add to a covered work material governed by the terms\nof that license document, provided that the further restriction does\nnot survive such relicensing or conveying.\n\n If you add terms to a covered work in accord with this section, you\nmust place, in the relevant source files, a statement of the\nadditional terms that apply to those files, or a notice indicating\nwhere to find the applicable terms.\n\n Additional terms, permissive or non-permissive, may be stated in the\nform of a separately written license, or stated as exceptions;\nthe above requirements apply either way.\n\n 8. Termination.\n\n You may not propagate or modify a covered work except as expressly\nprovided under this License. Any attempt otherwise to propagate or\nmodify it is void, and will automatically terminate your rights under\nthis License (including any patent licenses granted under the third\nparagraph of section 11).\n\n However, if you cease all violation of this License, then your\nlicense from a particular copyright holder is reinstated (a)\nprovisionally, unless and until the copyright holder explicitly and\nfinally terminates your license, and (b) permanently, if the copyright\nholder fails to notify you of the violation by some reasonable means\nprior to 60 days after the cessation.\n\n Moreover, your license from a particular copyright holder is\nreinstated permanently if the copyright holder notifies you of the\nviolation by some reasonable means, this is the first time you have\nreceived notice of violation of this License (for any work) from that\ncopyright holder, and you cure the violation prior to 30 days after\nyour receipt of the notice.\n\n Termination of your rights under this section does not terminate the\nlicenses of parties who have received copies or rights from you under\nthis License. If your rights have been terminated and not permanently\nreinstated, you do not qualify to receive new licenses for the same\nmaterial under section 10.\n\n 9. Acceptance Not Required for Having Copies.\n\n You are not required to accept this License in order to receive or\nrun a copy of the Program. Ancillary propagation of a covered work\noccurring solely as a consequence of using peer-to-peer transmission\nto receive a copy likewise does not require acceptance. However,\nnothing other than this License grants you permission to propagate or\nmodify any covered work. These actions infringe copyright if you do\nnot accept this License. Therefore, by modifying or propagating a\ncovered work, you indicate your acceptance of this License to do so.\n\n 10. Automatic Licensing of Downstream Recipients.\n\n Each time you convey a covered work, the recipient automatically\nreceives a license from the original licensors, to run, modify and\npropagate that work, subject to this License. You are not responsible\nfor enforcing compliance by third parties with this License.\n\n An \"entity transaction\" is a transaction transferring control of an\norganization, or substantially all assets of one, or subdividing an\norganization, or merging organizations. If propagation of a covered\nwork results from an entity transaction, each party to that\ntransaction who receives a copy of the work also receives whatever\nlicenses to the work the party's predecessor in interest had or could\ngive under the previous paragraph, plus a right to possession of the\nCorresponding Source of the work from the predecessor in interest, if\nthe predecessor has it or can get it with reasonable efforts.\n\n You may not impose any further restrictions on the exercise of the\nrights granted or affirmed under this License. For example, you may\nnot impose a license fee, royalty, or other charge for exercise of\nrights granted under this License, and you may not initiate litigation\n(including a cross-claim or counterclaim in a lawsuit) alleging that\nany patent claim is infringed by making, using, selling, offering for\nsale, or importing the Program or any portion of it.\n\n 11. Patents.\n\n A \"contributor\" is a copyright holder who authorizes use under this\nLicense of the Program or a work on which the Program is based. The\nwork thus licensed is called the contributor's \"contributor version\".\n\n A contributor's \"essential patent claims\" are all patent claims\nowned or controlled by the contributor, whether already acquired or\nhereafter acquired, that would be infringed by some manner, permitted\nby this License, of making, using, or selling its contributor version,\nbut do not include claims that would be infringed only as a\nconsequence of further modification of the contributor version. For\npurposes of this definition, \"control\" includes the right to grant\npatent sublicenses in a manner consistent with the requirements of\nthis License.\n\n Each contributor grants you a non-exclusive, worldwide, royalty-free\npatent license under the contributor's essential patent claims, to\nmake, use, sell, offer for sale, import and otherwise run, modify and\npropagate the contents of its contributor version.\n\n In the following three paragraphs, a \"patent license\" is any express\nagreement or commitment, however denominated, not to enforce a patent\n(such as an express permission to practice a patent or covenant not to\nsue for patent infringement). To \"grant\" such a patent license to a\nparty means to make such an agreement or commitment not to enforce a\npatent against the party.\n\n If you convey a covered work, knowingly relying on a patent license,\nand the Corresponding Source of the work is not available for anyone\nto copy, free of charge and under the terms of this License, through a\npublicly available network server or other readily accessible means,\nthen you must either (1) cause the Corresponding Source to be so\navailable, or (2) arrange to deprive yourself of the benefit of the\npatent license for this particular work, or (3) arrange, in a manner\nconsistent with the requirements of this License, to extend the patent\nlicense to downstream recipients. \"Knowingly relying\" means you have\nactual knowledge that, but for the patent license, your conveying the\ncovered work in a country, or your recipient's use of the covered work\nin a country, would infringe one or more identifiable patents in that\ncountry that you have reason to believe are valid.\n\n If, pursuant to or in connection with a single transaction or\narrangement, you convey, or propagate by procuring conveyance of, a\ncovered work, and grant a patent license to some of the parties\nreceiving the covered work authorizing them to use, propagate, modify\nor convey a specific copy of the covered work, then the patent license\nyou grant is automatically extended to all recipients of the covered\nwork and works based on it.\n\n A patent license is \"discriminatory\" if it does not include within\nthe scope of its coverage, prohibits the exercise of, or is\nconditioned on the non-exercise of one or more of the rights that are\nspecifically granted under this License. You may not convey a covered\nwork if you are a party to an arrangement with a third party that is\nin the business of distributing software, under which you make payment\nto the third party based on the extent of your activity of conveying\nthe work, and under which the third party grants, to any of the\nparties who would receive the covered work from you, a discriminatory\npatent license (a) in connection with copies of the covered work\nconveyed by you (or copies made from those copies), or (b) primarily\nfor and in connection with specific products or compilations that\ncontain the covered work, unless you entered into that arrangement,\nor that patent license was granted, prior to 28 March 2007.\n\n Nothing in this License shall be construed as excluding or limiting\nany implied license or other defenses to infringement that may\notherwise be available to you under applicable patent law.\n\n 12. No Surrender of Others' Freedom.\n\n If conditions are imposed on you (whether by court order, agreement or\notherwise) that contradict the conditions of this License, they do not\nexcuse you from the conditions of this License. If you cannot convey a\ncovered work so as to satisfy simultaneously your obligations under this\nLicense and any other pertinent obligations, then as a consequence you may\nnot convey it at all. For example, if you agree to terms that obligate you\nto collect a royalty for further conveying from those to whom you convey\nthe Program, the only way you could satisfy both those terms and this\nLicense would be to refrain entirely from conveying the Program.\n\n 13. Use with the GNU Affero General Public License.\n\n Notwithstanding any other provision of this License, you have\npermission to link or combine any covered work with a work licensed\nunder version 3 of the GNU Affero General Public License into a single\ncombined work, and to convey the resulting work. The terms of this\nLicense will continue to apply to the part which is the covered work,\nbut the special requirements of the GNU Affero General Public License,\nsection 13, concerning interaction through a network will apply to the\ncombination as such.\n\n 14. Revised Versions of this License.\n\n The Free Software Foundation may publish revised and/or new versions of\nthe GNU General Public License from time to time. Such new versions will\nbe similar in spirit to the present version, but may differ in detail to\naddress new problems or concerns.\n\n Each version is given a distinguishing version number. If the\nProgram specifies that a certain numbered version of the GNU General\nPublic License \"or any later version\" applies to it, you have the\noption of following the terms and conditions either of that numbered\nversion or of any later version published by the Free Software\nFoundation. If the Program does not specify a version number of the\nGNU General Public License, you may choose any version ever published\nby the Free Software Foundation.\n\n If the Program specifies that a proxy can decide which future\nversions of the GNU General Public License can be used, that proxy's\npublic statement of acceptance of a version permanently authorizes you\nto choose that version for the Program.\n\n Later license versions may give you additional or different\npermissions. However, no additional obligations are imposed on any\nauthor or copyright holder as a result of your choosing to follow a\nlater version.\n\n 15. Disclaimer of Warranty.\n\n THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY\nAPPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT\nHOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM \"AS IS\" WITHOUT WARRANTY\nOF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,\nTHE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR\nPURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM\nIS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF\nALL NECESSARY SERVICING, REPAIR OR CORRECTION.\n\n 16. Limitation of Liability.\n\n IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING\nWILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS\nTHE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY\nGENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE\nUSE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF\nDATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD\nPARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),\nEVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF\nSUCH DAMAGES.\n\n 17. Interpretation of Sections 15 and 16.\n\n If the disclaimer of warranty and limitation of liability provided\nabove cannot be given local legal effect according to their terms,\nreviewing courts shall apply local law that most closely approximates\nan absolute waiver of all civil liability in connection with the\nProgram, unless a warranty or assumption of liability accompanies a\ncopy of the Program in return for a fee.\n\n END OF TERMS AND CONDITIONS\n\n How to Apply These Terms to Your New Programs\n\n If you develop a new program, and you want it to be of the greatest\npossible use to the public, the best way to achieve this is to make it\nfree software which everyone can redistribute and change under these terms.\n\n To do so, attach the following notices to the program. It is safest\nto attach them to the start of each source file to most effectively\nstate the exclusion of warranty; and each file should have at least\nthe \"copyright\" line and a pointer to where the full notice is found.\n\n {one line to give the program's name and a brief idea of what it does.}\n Copyright (C) {year} {name of author}\n\n This program is free software: you can redistribute it and/or modify\n it under the terms of the GNU General Public License as published by\n the Free Software Foundation, either version 3 of the License, or\n (at your option) any later version.\n\n This program is distributed in the hope that it will be useful,\n but WITHOUT ANY WARRANTY; without even the implied warranty of\n MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n GNU General Public License for more details.\n\n You should have received a copy of the GNU General Public License\n along with this program. If not, see .\n\nAlso add information on how to contact you by electronic and paper mail.\n\n If the program does terminal interaction, make it output a short\nnotice like this when it starts in an interactive mode:\n\n {project} Copyright (C) {year} {fullname}\n This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.\n This is free software, and you are welcome to redistribute it\n under certain conditions; type `show c' for details.\n\nThe hypothetical commands `show w' and `show c' should show the appropriate\nparts of the General Public License. Of course, your program's commands\nmight be different; for a GUI interface, you would use an \"about box\".\n\n You should also get your employer (if you work as a programmer) or school,\nif any, to sign a \"copyright disclaimer\" for the program, if necessary.\nFor more information on this, and how to apply and follow the GNU GPL, see\n.\n\n The GNU General Public License does not permit incorporating your program\ninto proprietary programs. If your program is a subroutine library, you\nmay consider it more useful to permit linking proprietary applications with\nthe library. If this is what you want to do, use the GNU Lesser General\nPublic License instead of this License. But first, please read\n.\n"
},
{
"path": "README.md",
"content": "## RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments\nKarnik Ram, Chaitanya Kharyal, Sudarshan S. Harithas, K. Madhava Krishna.\n\n[[`arXiv`](https://arxiv.org/pdf/2103.10400.pdf)]\n[[`Project Page`](https://karnikram.info/rp-vio/)]\n\nIn IROS 2021\n\n
\n\n
\nRP-VIO is a monocular visual-inertial odometry (VIO) system that uses only planar features and their induced homographies, during both initialization and sliding-window estimation, for increased robustness and accuracy in dynamic environments.\n\n## Setup\nOur evaluation setup is a 6-core Intel Core i5-8400 CPU with 8GB RAM and a 1 TB HDD, running Ubuntu 18.04.1. We recommend using a more powerful setup, especially for heavy datasets like ADVIO or OpenLORIS.\n\n### Pre-requisites\n[ROS Melodic](http://wiki.ros.org/melodic) (OpenCV 3.2.0, Eigen 3.3.4-4) \n[Ceres Solver 1.14.0](https://github.com/ceres-solver/ceres-solver/releases) \n[EVO](https://github.com/MichaelGrupp/evo)\n\nThe versions indicated are the versions used in our evaluation setup, and we do not guarantee our code to run on newer versions like ROS Noetic (OpenCV 4.2).\n\n### Build\nRun the following commands in your terminal to clone our project and build,\n\n```\n cd ~/catkin_ws/src\n git clone https://github.com/karnikram/rp-vio.git\n cd ../\n catkin_make -j4\n source ~/catkin_ws/devel/setup.bash\n```\n\n\n## Evaluation\nWe provide evaluation scripts to run RP-VIO on the [RPVIO-Sim](https://github.com/karnikram/rp-vio#rpvio-sim-dataset-1) dataset, and select sequences from the [OpenLORIS-Scene]((https://lifelong-robotic-vision.github.io/dataset/scene.html)), [ADVIO](https://github.com/AaltoVision/ADVIO), and [VIODE](https://github.com/kminoda/VIODE) datasets. The output errors from your evaluation might not be exactly the same as reported in our paper, but should be similar.\n\n### RPVIO-Sim Dataset\nDownload the [dataset](https://github.com/karnikram/rp-vio#rpvio-sim-dataset-1) files to a parent folder, and then run the following commands to launch our evaluation script. The script runs rp-vio on each of the six sequences once and computes the ATE error statistics.\n\n```\n cd ~/catkin_ws/src/rp-vio/scripts/\n ./run_rpvio_sim.sh \n```\n\nTo run the multiple planes version (RPVIO-Multi), checkout the corresponding branch by running `git checkout rpvio-multi`, and re-run the above script.\n\n### Real-world sequences\nWe evaluate on two real-world sequences: the market1-1 sequence from the OpenLORIS-Scene dataset and the metro station sequence (12) from the ADVIO dataset. Both of these sequences along with their segmented plane masks are available as bagfiles for download [here](https://iiitaphyd-my.sharepoint.com/:f:/g/personal/robotics_iiit_ac_in/EozZ6vJP5UZFmZhA-9w0bBcBvTXpszD42fPx3x3ZlKvD6A?e=FtzFRz). After downloading and extracting the files run the following commands for evaluation,\n\n```\n cd ~/catkin_ws/src/rp-vio/scripts/\n ./run_ol_market1.sh \n ./run_advio_12.sh \n```\n\n### Own data\nTo run RP-VIO on your own data, you need to provide synchronized monocular images, IMU readings, and plane masks on three separate ROS topics. The camera and IMU need to be properly calibrated and synchronized as there is no online calibration. A plane segmentation model to segment plane masks from images is provided [below](https://github.com/karnikram/rp-vio#plane-segmentation).\n\nA semantic segmentation model can also be used as long as the RGB labels of the (static) planar semantic classes are provided. As an example, we evaluate on a sequence from the VIODE dataset (provided [here](https://iiitaphyd-my.sharepoint.com/:f:/g/personal/robotics_iiit_ac_in/EoxFVvuAxUdFsnXu0XJY0egBMFxB9D8XbNqe0jkUkRdjVg?e=G18fDo)) using semantic segmentation labels which are specified in the [config file](https://github.com/karnikram/rp-vio/blob/semantic-viode/config/viode_config.yaml). To run, \n\n```\n cd ~/catkin_ws/src/rp-vio/scripts\n git checkout semantic-viode\n ./run_viode_night.sh \n```\n\n## Plane segmentation\nWe provide a pre-trained plane instance segmentation model, based on the [Plane-Recover](https://github.com/fuy34/planerecover) model. We retrained their model, with an added inter-plane constraint, on their SYNTHIA training data and two additional sequences (00,01) from the ScanNet dataset. The model was trained on a single Titan X (maxwell) GPU for about 700K iterations. We also provide the training script.\n\nWe run the model offline, after extracting and [processing](https://github.com/fuy34/planerecover#preparing-training-data) the input RGB images from their ROS bagfiles. Follow the steps given below to run the pre-trained model on your custom dataset (requires CUDA 9.0),\n\n#### Create Environment \n\nRun the following commands to create a suitable conda environemnt,\n```\ncd plane_segmentation/\nconda create --name plane_seg --file requirements.txt\nconda activate plane_seg\n```\n\n#### Run inference\n\nNow extract images from your dataset to a test folder, resize them to (192,320) (height, width), and run the following, \n\n```\npython inference.py --dataset= --output_dir= --test_list= --ckpt_file= --use_preprocessed=true \n```\n*TEST_DATA_LIST.txt* is a file that points to every image within the test dataset, an example can be found [here](./plane_segmentation/openloris.txt). *PATH_TO_DATASET* is the path to the parent directory of the test folder.\n\n\nThe result of the inference would be a stored in three folders that are named as *plane_sgmts* (predicted masks in grayscale), *plane_sgmts_vis* (predicted masks in color), *plane_sgmts_modified* (grayscale masks but suitable for visualization (feed this output to the CRF inference)).\n\n#### Run CRF inference\n\nWe also use a dense CRF model (from [PyDenseCRF](https://github.com/lucasb-eyer/pydensecrf)) to further refine the output masks. To run,\n\n```\npython crf_inference.py \n```\nwhere the *labels_dir* is the path to the *plane_sgmts_modified* folder. \n \nWe then write these outputs mask images back into the original bagfile on a separate topic for running with RP-VIO.\n\n## RPVIO-Sim Dataset\n\n\n\n \n\nFor an effective evaluation of the capabilities of modern VINS systems, we generate a highly-dynamic visual-inertial dataset using [AirSim](https://github.com/microsoft/AirSim/) which contains dynamic characters present throughout the sequences (including initialization), and with sufficient IMU excitation. Dynamic characters are progressively added, keeping everything else fixed, starting from no characters in the `static` sequence to eight characters in the `C8` sequence. All the generated sequences (six) in rosbag format, along with their groundtruth files, have been made available via [Zenodo](https://zenodo.org/record/4603494#.YE4BzlMzZH4).\n\nEach rosbag contains RGB images published on the `/image` topic at 20 Hz, imu measurements published on the`/imu` topic at ~1000 Hz (which we sub-sample to 200Hz for our evaluations), and plane-instance mask images published on the`/mask` topic at 20 Hz. The groundtruth trajectory is saved as a txt file in TUM format. The parameters for the camera and IMU used in our dataset are as follows,\n \n\n\n\n\nTo quantify the dynamic nature of our generated sequences, we compute the percentage of dynamic pixels out of all the pixels present in every image. We report these values in the following table,\n\n\n\n\n### TO-DO\n- [ ] Provide Unreal Engine environment\n- [ ] Provide AirSim recording scripts\n\n## Acknowledgement\nOur code is built upon [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono). Its implementations of feature tracking, IMU preintegration, IMU state initialization, the reprojection factor, and marginalization are used as such. Our contributions include planar features tracking, planar homography based initialization, and the planar homography factor. All these changes (corresponding to a slightly older version) are available as a [git patch file](./rpvio.patch).\n\nFor our simulated dataset, we imported several high-quality assets from the [FlightGoggles](https://flightgoggles.mit.edu/) project into [Unreal Engine](unrealengine.com) before integrating it with AirSim. The dynamic characters were downloaded from [Mixamo](https://mixamo.com).\n"
},
{
"path": "camera_model/CMakeLists.txt",
"content": "cmake_minimum_required(VERSION 2.8.3)\nproject(camera_model)\n\nset(CMAKE_BUILD_TYPE \"Release\")\nset(CMAKE_CXX_FLAGS \"-std=c++11\")\nset(CMAKE_CXX_FLAGS_RELEASE \"-O3 -fPIC\")\n\nfind_package(catkin REQUIRED COMPONENTS\n roscpp\n std_msgs\n )\n\nfind_package(Boost REQUIRED COMPONENTS filesystem program_options system)\ninclude_directories(${Boost_INCLUDE_DIRS})\n\nfind_package(OpenCV REQUIRED)\n\n# set(EIGEN_INCLUDE_DIR \"/usr/local/include/eigen3\")\nfind_package(Ceres REQUIRED)\ninclude_directories(${CERES_INCLUDE_DIRS})\n\n\ncatkin_package(\n INCLUDE_DIRS include\n LIBRARIES camera_model\n CATKIN_DEPENDS roscpp std_msgs\n# DEPENDS system_lib\n )\n\ninclude_directories(\n ${catkin_INCLUDE_DIRS}\n )\n\ninclude_directories(\"include\")\n\n\nadd_executable(Calibration \n src/intrinsic_calib.cc\n src/chessboard/Chessboard.cc\n src/calib/CameraCalibration.cc\n src/camera_models/Camera.cc\n src/camera_models/CameraFactory.cc\n src/camera_models/CostFunctionFactory.cc\n src/camera_models/PinholeCamera.cc\n src/camera_models/CataCamera.cc\n src/camera_models/EquidistantCamera.cc\n src/camera_models/ScaramuzzaCamera.cc\n src/sparse_graph/Transform.cc\n src/gpl/gpl.cc\n src/gpl/EigenQuaternionParameterization.cc)\n\nadd_library(camera_model\n src/chessboard/Chessboard.cc\n src/calib/CameraCalibration.cc\n src/camera_models/Camera.cc\n src/camera_models/CameraFactory.cc\n src/camera_models/CostFunctionFactory.cc\n src/camera_models/PinholeCamera.cc\n src/camera_models/CataCamera.cc\n src/camera_models/EquidistantCamera.cc\n src/camera_models/ScaramuzzaCamera.cc\n src/sparse_graph/Transform.cc\n src/gpl/gpl.cc\n src/gpl/EigenQuaternionParameterization.cc)\n\ntarget_link_libraries(Calibration ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})\ntarget_link_libraries(camera_model ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})\n"
},
{
"path": "camera_model/cmake/FindEigen.cmake",
"content": "# Ceres Solver - A fast non-linear least squares minimizer\n# Copyright 2015 Google Inc. All rights reserved.\n# http://ceres-solver.org/\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# * Redistributions of source code must retain the above copyright notice,\n# this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above copyright notice,\n# this list of conditions and the following disclaimer in the documentation\n# and/or other materials provided with the distribution.\n# * Neither the name of Google Inc. nor the names of its contributors may be\n# used to endorse or promote products derived from this software without\n# specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n#\n# Author: alexs.mac@gmail.com (Alex Stewart)\n#\n\n# FindEigen.cmake - Find Eigen library, version >= 3.\n#\n# This module defines the following variables:\n#\n# EIGEN_FOUND: TRUE iff Eigen is found.\n# EIGEN_INCLUDE_DIRS: Include directories for Eigen.\n#\n# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h\n# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0\n# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0\n# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0\n#\n# The following variables control the behaviour of this module:\n#\n# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to\n# search for eigen includes, e.g: /timbuktu/eigen3.\n#\n# The following variables are also defined by this module, but in line with\n# CMake recommended FindPackage() module style should NOT be referenced directly\n# by callers (use the plural variables detailed above instead). These variables\n# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which\n# are NOT re-called (i.e. search for library is not repeated) if these variables\n# are set with valid values _in the CMake cache_. This means that if these\n# variables are set directly in the cache, either by the user in the CMake GUI,\n# or by the user passing -DVAR=VALUE directives to CMake when called (which\n# explicitly defines a cache variable), then they will be used verbatim,\n# bypassing the HINTS variables and other hard-coded search locations.\n#\n# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the\n# include directory of any dependencies.\n\n# Called if we failed to find Eigen or any of it's required dependencies,\n# unsets all public (designed to be used externally) variables and reports\n# error message at priority depending upon [REQUIRED/QUIET/] argument.\nmacro(EIGEN_REPORT_NOT_FOUND REASON_MSG)\n unset(EIGEN_FOUND)\n unset(EIGEN_INCLUDE_DIRS)\n # Make results of search visible in the CMake GUI if Eigen has not\n # been found so that user does not have to toggle to advanced view.\n mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)\n # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()\n # use the camelcase library name, not uppercase.\n if (Eigen_FIND_QUIETLY)\n message(STATUS \"Failed to find Eigen - \" ${REASON_MSG} ${ARGN})\n elseif (Eigen_FIND_REQUIRED)\n message(FATAL_ERROR \"Failed to find Eigen - \" ${REASON_MSG} ${ARGN})\n else()\n # Neither QUIETLY nor REQUIRED, use no priority which emits a message\n # but continues configuration and allows generation.\n message(\"-- Failed to find Eigen - \" ${REASON_MSG} ${ARGN})\n endif ()\n return()\nendmacro(EIGEN_REPORT_NOT_FOUND)\n\n# Protect against any alternative find_package scripts for this library having\n# been called previously (in a client project) which set EIGEN_FOUND, but not\n# the other variables we require / set here which could cause the search logic\n# here to fail.\nunset(EIGEN_FOUND)\n\n# Search user-installed locations first, so that we prefer user installs\n# to system installs where both exist.\nlist(APPEND EIGEN_CHECK_INCLUDE_DIRS\n /usr/local/include\n /usr/local/homebrew/include # Mac OS X\n /opt/local/var/macports/software # Mac OS X.\n /opt/local/include\n /usr/include)\n# Additional suffixes to try appending to each search path.\nlist(APPEND EIGEN_CHECK_PATH_SUFFIXES\n eigen3 # Default root directory for Eigen.\n Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3\n Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3\n\n# Search supplied hint directories first if supplied.\nfind_path(EIGEN_INCLUDE_DIR\n NAMES Eigen/Core\n PATHS ${EIGEN_INCLUDE_DIR_HINTS}\n ${EIGEN_CHECK_INCLUDE_DIRS}\n PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})\n\nif (NOT EIGEN_INCLUDE_DIR OR\n NOT EXISTS ${EIGEN_INCLUDE_DIR})\n eigen_report_not_found(\n \"Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to \"\n \"path to eigen3 include directory, e.g. /usr/local/include/eigen3.\")\nendif (NOT EIGEN_INCLUDE_DIR OR\n NOT EXISTS ${EIGEN_INCLUDE_DIR})\n\n# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets\n# if called.\nset(EIGEN_FOUND TRUE)\n\n# Extract Eigen version from Eigen/src/Core/util/Macros.h\nif (EIGEN_INCLUDE_DIR)\n set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)\n if (NOT EXISTS ${EIGEN_VERSION_FILE})\n eigen_report_not_found(\n \"Could not find file: ${EIGEN_VERSION_FILE} \"\n \"containing version information in Eigen install located at: \"\n \"${EIGEN_INCLUDE_DIR}.\")\n else (NOT EXISTS ${EIGEN_VERSION_FILE})\n file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)\n\n string(REGEX MATCH \"#define EIGEN_WORLD_VERSION [0-9]+\"\n EIGEN_WORLD_VERSION \"${EIGEN_VERSION_FILE_CONTENTS}\")\n string(REGEX REPLACE \"#define EIGEN_WORLD_VERSION ([0-9]+)\" \"\\\\1\"\n EIGEN_WORLD_VERSION \"${EIGEN_WORLD_VERSION}\")\n\n string(REGEX MATCH \"#define EIGEN_MAJOR_VERSION [0-9]+\"\n EIGEN_MAJOR_VERSION \"${EIGEN_VERSION_FILE_CONTENTS}\")\n string(REGEX REPLACE \"#define EIGEN_MAJOR_VERSION ([0-9]+)\" \"\\\\1\"\n EIGEN_MAJOR_VERSION \"${EIGEN_MAJOR_VERSION}\")\n\n string(REGEX MATCH \"#define EIGEN_MINOR_VERSION [0-9]+\"\n EIGEN_MINOR_VERSION \"${EIGEN_VERSION_FILE_CONTENTS}\")\n string(REGEX REPLACE \"#define EIGEN_MINOR_VERSION ([0-9]+)\" \"\\\\1\"\n EIGEN_MINOR_VERSION \"${EIGEN_MINOR_VERSION}\")\n\n # This is on a single line s/t CMake does not interpret it as a list of\n # elements and insert ';' separators which would result in 3.;2.;0 nonsense.\n set(EIGEN_VERSION \"${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}\")\n endif (NOT EXISTS ${EIGEN_VERSION_FILE})\nendif (EIGEN_INCLUDE_DIR)\n\n# Set standard CMake FindPackage variables if found.\nif (EIGEN_FOUND)\n set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})\nendif (EIGEN_FOUND)\n\n# Handle REQUIRED / QUIET optional arguments and version.\ninclude(FindPackageHandleStandardArgs)\nfind_package_handle_standard_args(Eigen\n REQUIRED_VARS EIGEN_INCLUDE_DIRS\n VERSION_VAR EIGEN_VERSION)\n\n# Only mark internal variables as advanced if we found Eigen, otherwise\n# leave it visible in the standard GUI for the user to set manually.\nif (EIGEN_FOUND)\n mark_as_advanced(FORCE EIGEN_INCLUDE_DIR)\nendif (EIGEN_FOUND)\n"
},
{
"path": "camera_model/include/camodocal/calib/CameraCalibration.h",
"content": "#ifndef CAMERACALIBRATION_H\n#define CAMERACALIBRATION_H\n\n#include \n\n#include \"camodocal/camera_models/Camera.h\"\n\nnamespace camodocal\n{\n\nclass CameraCalibration\n{\npublic:\n EIGEN_MAKE_ALIGNED_OPERATOR_NEW\n CameraCalibration();\n\n CameraCalibration(Camera::ModelType modelType,\n const std::string& cameraName,\n const cv::Size& imageSize,\n const cv::Size& boardSize,\n float squareSize);\n\n void clear(void);\n\n void addChessboardData(const std::vector& corners);\n\n bool calibrate(void);\n\n int sampleCount(void) const;\n std::vector >& imagePoints(void);\n const std::vector >& imagePoints(void) const;\n std::vector >& scenePoints(void);\n const std::vector >& scenePoints(void) const;\n CameraPtr& camera(void);\n const CameraConstPtr camera(void) const;\n\n Eigen::Matrix2d& measurementCovariance(void);\n const Eigen::Matrix2d& measurementCovariance(void) const;\n\n cv::Mat& cameraPoses(void);\n const cv::Mat& cameraPoses(void) const;\n\n void drawResults(std::vector& images) const;\n\n void writeParams(const std::string& filename) const;\n\n bool writeChessboardData(const std::string& filename) const;\n bool readChessboardData(const std::string& filename);\n\n void setVerbose(bool verbose);\n\nprivate:\n bool calibrateHelper(CameraPtr& camera,\n std::vector& rvecs, std::vector& tvecs) const;\n\n void optimize(CameraPtr& camera,\n std::vector& rvecs, std::vector& tvecs) const;\n\n template\n void readData(std::ifstream& ifs, T& data) const;\n\n template\n void writeData(std::ofstream& ofs, T data) const;\n\n cv::Size m_boardSize;\n float m_squareSize;\n\n CameraPtr m_camera;\n cv::Mat m_cameraPoses;\n\n std::vector > m_imagePoints;\n std::vector > m_scenePoints;\n\n Eigen::Matrix2d m_measurementCovariance;\n\n bool m_verbose;\n};\n\n}\n\n#endif\n"
},
{
"path": "camera_model/include/camodocal/camera_models/Camera.h",
"content": "#ifndef CAMERA_H\n#define CAMERA_H\n\n#include \n#include \n#include \n#include \n\nnamespace camodocal\n{\n\nclass Camera\n{\npublic:\n EIGEN_MAKE_ALIGNED_OPERATOR_NEW\n enum ModelType\n {\n KANNALA_BRANDT,\n MEI,\n PINHOLE,\n SCARAMUZZA\n };\n\n class Parameters\n {\n public:\n EIGEN_MAKE_ALIGNED_OPERATOR_NEW\n Parameters(ModelType modelType);\n\n Parameters(ModelType modelType, const std::string& cameraName,\n int w, int h);\n\n ModelType& modelType(void);\n std::string& cameraName(void);\n int& imageWidth(void);\n int& imageHeight(void);\n\n ModelType modelType(void) const;\n const std::string& cameraName(void) const;\n int imageWidth(void) const;\n int imageHeight(void) const;\n\n int nIntrinsics(void) const;\n\n virtual bool readFromYamlFile(const std::string& filename) = 0;\n virtual void writeToYamlFile(const std::string& filename) const = 0;\n\n protected:\n ModelType m_modelType;\n int m_nIntrinsics;\n std::string m_cameraName;\n int m_imageWidth;\n int m_imageHeight;\n };\n\n virtual ModelType modelType(void) const = 0;\n virtual const std::string& cameraName(void) const = 0;\n virtual int imageWidth(void) const = 0;\n virtual int imageHeight(void) const = 0;\n\n virtual cv::Mat& mask(void);\n virtual const cv::Mat& mask(void) const;\n\n virtual void estimateIntrinsics(const cv::Size& boardSize,\n const std::vector< std::vector >& objectPoints,\n const std::vector< std::vector >& imagePoints) = 0;\n virtual void estimateExtrinsics(const std::vector& objectPoints,\n const std::vector& imagePoints,\n cv::Mat& rvec, cv::Mat& tvec) const;\n\n // Lift points from the image plane to the sphere\n virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const = 0;\n //%output P\n\n // Lift points from the image plane to the projective space\n virtual void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const = 0;\n //%output P\n\n // Projects 3D points to the image plane (Pi function)\n virtual void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const = 0;\n //%output p\n\n // Projects 3D points to the image plane (Pi function)\n // and calculates jacobian\n //virtual void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,\n // Eigen::Matrix& J) const = 0;\n //%output p\n //%output J\n\n virtual void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const = 0;\n //%output p\n\n //virtual void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const = 0;\n virtual cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,\n float fx = -1.0f, float fy = -1.0f,\n cv::Size imageSize = cv::Size(0, 0),\n float cx = -1.0f, float cy = -1.0f,\n cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const = 0;\n\n virtual int parameterCount(void) const = 0;\n\n virtual void readParameters(const std::vector& parameters) = 0;\n virtual void writeParameters(std::vector& parameters) const = 0;\n\n virtual void writeParametersToYamlFile(const std::string& filename) const = 0;\n\n virtual std::string parametersToString(void) const = 0;\n\n /**\n * \\brief Calculates the reprojection distance between points\n *\n * \\param P1 first 3D point coordinates\n * \\param P2 second 3D point coordinates\n * \\return euclidean distance in the plane\n */\n double reprojectionDist(const Eigen::Vector3d& P1, const Eigen::Vector3d& P2) const;\n\n double reprojectionError(const std::vector< std::vector >& objectPoints,\n const std::vector< std::vector >& imagePoints,\n const std::vector& rvecs,\n const std::vector& tvecs,\n cv::OutputArray perViewErrors = cv::noArray()) const;\n\n double reprojectionError(const Eigen::Vector3d& P,\n const Eigen::Quaterniond& camera_q,\n const Eigen::Vector3d& camera_t,\n const Eigen::Vector2d& observed_p) const;\n\n void projectPoints(const std::vector& objectPoints,\n const cv::Mat& rvec,\n const cv::Mat& tvec,\n std::vector& imagePoints) const;\nprotected:\n cv::Mat m_mask;\n};\n\ntypedef boost::shared_ptr CameraPtr;\ntypedef boost::shared_ptr CameraConstPtr;\n\n}\n\n#endif\n"
},
{
"path": "camera_model/include/camodocal/camera_models/CameraFactory.h",
"content": "#ifndef CAMERAFACTORY_H\n#define CAMERAFACTORY_H\n\n#include \n#include \n\n#include \"camodocal/camera_models/Camera.h\"\n\nnamespace camodocal\n{\n\nclass CameraFactory\n{\npublic:\n EIGEN_MAKE_ALIGNED_OPERATOR_NEW\n CameraFactory();\n\n static boost::shared_ptr instance(void);\n\n CameraPtr generateCamera(Camera::ModelType modelType,\n const std::string& cameraName,\n cv::Size imageSize) const;\n\n CameraPtr generateCameraFromYamlFile(const std::string& filename);\n\nprivate:\n static boost::shared_ptr m_instance;\n};\n\n}\n\n#endif\n"
},
{
"path": "camera_model/include/camodocal/camera_models/CataCamera.h",
"content": "#ifndef CATACAMERA_H\r\n#define CATACAMERA_H\r\n\r\n#include \r\n#include \r\n\r\n#include \"ceres/rotation.h\"\r\n#include \"Camera.h\"\r\n\r\nnamespace camodocal\r\n{\r\n\r\n/**\r\n * C. Mei, and P. Rives, Single View Point Omnidirectional Camera Calibration\r\n * from Planar Grids, ICRA 2007\r\n */\r\n\r\nclass CataCamera: public Camera\r\n{\r\npublic:\r\n class Parameters: public Camera::Parameters\r\n {\r\n public:\r\n Parameters();\r\n Parameters(const std::string& cameraName,\r\n int w, int h,\r\n double xi,\r\n double k1, double k2, double p1, double p2,\r\n double gamma1, double gamma2, double u0, double v0);\r\n\r\n double& xi(void);\r\n double& k1(void);\r\n double& k2(void);\r\n double& p1(void);\r\n double& p2(void);\r\n double& gamma1(void);\r\n double& gamma2(void);\r\n double& u0(void);\r\n double& v0(void);\r\n\r\n double xi(void) const;\r\n double k1(void) const;\r\n double k2(void) const;\r\n double p1(void) const;\r\n double p2(void) const;\r\n double gamma1(void) const;\r\n double gamma2(void) const;\r\n double u0(void) const;\r\n double v0(void) const;\r\n\r\n bool readFromYamlFile(const std::string& filename);\r\n void writeToYamlFile(const std::string& filename) const;\r\n\r\n Parameters& operator=(const Parameters& other);\r\n friend std::ostream& operator<< (std::ostream& out, const Parameters& params);\r\n\r\n private:\r\n double m_xi;\r\n double m_k1;\r\n double m_k2;\r\n double m_p1;\r\n double m_p2;\r\n double m_gamma1;\r\n double m_gamma2;\r\n double m_u0;\r\n double m_v0;\r\n };\r\n\r\n CataCamera();\r\n\r\n /**\r\n * \\brief Constructor from the projection model parameters\r\n */\r\n CataCamera(const std::string& cameraName,\r\n int imageWidth, int imageHeight,\r\n double xi, double k1, double k2, double p1, double p2,\r\n double gamma1, double gamma2, double u0, double v0);\r\n /**\r\n * \\brief Constructor from the projection model parameters\r\n */\r\n CataCamera(const Parameters& params);\r\n\r\n Camera::ModelType modelType(void) const;\r\n const std::string& cameraName(void) const;\r\n int imageWidth(void) const;\r\n int imageHeight(void) const;\r\n\r\n void estimateIntrinsics(const cv::Size& boardSize,\r\n const std::vector< std::vector >& objectPoints,\r\n const std::vector< std::vector >& imagePoints);\r\n\r\n // Lift points from the image plane to the sphere\r\n void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;\r\n //%output P\r\n\r\n // Lift points from the image plane to the projective space\r\n void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;\r\n //%output P\r\n\r\n // Projects 3D points to the image plane (Pi function)\r\n void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;\r\n //%output p\r\n\r\n // Projects 3D points to the image plane (Pi function)\r\n // and calculates jacobian\r\n void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,\r\n Eigen::Matrix& J) const;\r\n //%output p\r\n //%output J\r\n\r\n void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;\r\n //%output p\r\n\r\n template \r\n static void spaceToPlane(const T* const params,\r\n const T* const q, const T* const t,\r\n const Eigen::Matrix& P,\r\n Eigen::Matrix& p);\r\n\r\n void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const;\r\n void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u,\r\n Eigen::Matrix2d& J) const;\r\n\r\n void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;\r\n cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,\r\n float fx = -1.0f, float fy = -1.0f,\r\n cv::Size imageSize = cv::Size(0, 0),\r\n float cx = -1.0f, float cy = -1.0f,\r\n cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;\r\n\r\n int parameterCount(void) const;\r\n\r\n const Parameters& getParameters(void) const;\r\n void setParameters(const Parameters& parameters);\r\n\r\n void readParameters(const std::vector& parameterVec);\r\n void writeParameters(std::vector& parameterVec) const;\r\n\r\n void writeParametersToYamlFile(const std::string& filename) const;\r\n\r\n std::string parametersToString(void) const;\r\n\r\nprivate:\r\n Parameters mParameters;\r\n\r\n double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;\r\n bool m_noDistortion;\r\n};\r\n\r\ntypedef boost::shared_ptr CataCameraPtr;\r\ntypedef boost::shared_ptr CataCameraConstPtr;\r\n\r\ntemplate \r\nvoid\r\nCataCamera::spaceToPlane(const T* const params,\r\n const T* const q, const T* const t,\r\n const Eigen::Matrix& P,\r\n Eigen::Matrix& p)\r\n{\r\n T P_w[3];\r\n P_w[0] = T(P(0));\r\n P_w[1] = T(P(1));\r\n P_w[2] = T(P(2));\r\n\r\n // Convert quaternion from Eigen convention (x, y, z, w)\r\n // to Ceres convention (w, x, y, z)\r\n T q_ceres[4] = {q[3], q[0], q[1], q[2]};\r\n\r\n T P_c[3];\r\n ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);\r\n\r\n P_c[0] += t[0];\r\n P_c[1] += t[1];\r\n P_c[2] += t[2];\r\n\r\n // project 3D object point to the image plane\r\n T xi = params[0];\r\n T k1 = params[1];\r\n T k2 = params[2];\r\n T p1 = params[3];\r\n T p2 = params[4];\r\n T gamma1 = params[5];\r\n T gamma2 = params[6];\r\n T alpha = T(0); //cameraParams.alpha();\r\n T u0 = params[7];\r\n T v0 = params[8];\r\n\r\n // Transform to model plane\r\n T len = sqrt(P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2]);\r\n P_c[0] /= len;\r\n P_c[1] /= len;\r\n P_c[2] /= len;\r\n\r\n T u = P_c[0] / (P_c[2] + xi);\r\n T v = P_c[1] / (P_c[2] + xi);\r\n\r\n T rho_sqr = u * u + v * v;\r\n T L = T(1.0) + k1 * rho_sqr + k2 * rho_sqr * rho_sqr;\r\n T du = T(2.0) * p1 * u * v + p2 * (rho_sqr + T(2.0) * u * u);\r\n T dv = p1 * (rho_sqr + T(2.0) * v * v) + T(2.0) * p2 * u * v;\r\n\r\n u = L * u + du;\r\n v = L * v + dv;\r\n p(0) = gamma1 * (u + alpha * v) + u0;\r\n p(1) = gamma2 * v + v0;\r\n}\r\n\r\n}\r\n\r\n#endif\r\n"
},
{
"path": "camera_model/include/camodocal/camera_models/CostFunctionFactory.h",
"content": "#ifndef COSTFUNCTIONFACTORY_H\n#define COSTFUNCTIONFACTORY_H\n\n#include \n#include \n\n#include \"camodocal/camera_models/Camera.h\"\n\nnamespace ceres\n{\n class CostFunction;\n}\n\nnamespace camodocal\n{\n\nenum\n{\n CAMERA_INTRINSICS = 1 << 0,\n CAMERA_POSE = 1 << 1,\n POINT_3D = 1 << 2,\n ODOMETRY_INTRINSICS = 1 << 3,\n ODOMETRY_3D_POSE = 1 << 4,\n ODOMETRY_6D_POSE = 1 << 5,\n CAMERA_ODOMETRY_TRANSFORM = 1 << 6\n};\n\nclass CostFunctionFactory\n{\npublic:\n EIGEN_MAKE_ALIGNED_OPERATOR_NEW\n CostFunctionFactory();\n\n static boost::shared_ptr instance(void);\n\n ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,\n const Eigen::Vector3d& observed_P,\n const Eigen::Vector2d& observed_p,\n int flags) const;\n\n ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,\n const Eigen::Vector3d& observed_P,\n const Eigen::Vector2d& observed_p,\n const Eigen::Matrix2d& sqrtPrecisionMat,\n int flags) const;\n\n ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,\n const Eigen::Vector2d& observed_p,\n int flags, bool optimize_cam_odo_z = true) const;\n\n ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,\n const Eigen::Vector2d& observed_p,\n const Eigen::Matrix2d& sqrtPrecisionMat,\n int flags, bool optimize_cam_odo_z = true) const;\n\n ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,\n const Eigen::Vector3d& odo_pos,\n const Eigen::Vector3d& odo_att,\n const Eigen::Vector2d& observed_p,\n int flags, bool optimize_cam_odo_z = true) const;\n\n ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera,\n const Eigen::Quaterniond& cam_odo_q,\n const Eigen::Vector3d& cam_odo_t,\n const Eigen::Vector3d& odo_pos,\n const Eigen::Vector3d& odo_att,\n const Eigen::Vector2d& observed_p,\n int flags) const;\n\n ceres::CostFunction* generateCostFunction(const CameraConstPtr& cameraLeft,\n const CameraConstPtr& cameraRight,\n const Eigen::Vector3d& observed_P,\n const Eigen::Vector2d& observed_p_left,\n const Eigen::Vector2d& observed_p_right) const;\n\nprivate:\n static boost::shared_ptr m_instance;\n};\n\n}\n\n#endif\n"
},
{
"path": "camera_model/include/camodocal/camera_models/EquidistantCamera.h",
"content": "#ifndef EQUIDISTANTCAMERA_H\r\n#define EQUIDISTANTCAMERA_H\r\n\r\n#include \r\n#include \r\n\r\n#include \"ceres/rotation.h\"\r\n#include \"Camera.h\"\r\n\r\nnamespace camodocal\r\n{\r\n\r\n/**\r\n * J. Kannala, and S. Brandt, A Generic Camera Model and Calibration Method\r\n * for Conventional, Wide-Angle, and Fish-Eye Lenses, PAMI 2006\r\n */\r\n\r\nclass EquidistantCamera: public Camera\r\n{\r\npublic:\r\n class Parameters: public Camera::Parameters\r\n {\r\n public:\r\n Parameters();\r\n Parameters(const std::string& cameraName,\r\n int w, int h,\r\n double k2, double k3, double k4, double k5,\r\n double mu, double mv,\r\n double u0, double v0);\r\n\r\n double& k2(void);\r\n double& k3(void);\r\n double& k4(void);\r\n double& k5(void);\r\n double& mu(void);\r\n double& mv(void);\r\n double& u0(void);\r\n double& v0(void);\r\n\r\n double k2(void) const;\r\n double k3(void) const;\r\n double k4(void) const;\r\n double k5(void) const;\r\n double mu(void) const;\r\n double mv(void) const;\r\n double u0(void) const;\r\n double v0(void) const;\r\n\r\n bool readFromYamlFile(const std::string& filename);\r\n void writeToYamlFile(const std::string& filename) const;\r\n\r\n Parameters& operator=(const Parameters& other);\r\n friend std::ostream& operator<< (std::ostream& out, const Parameters& params);\r\n\r\n private:\r\n // projection\r\n double m_k2;\r\n double m_k3;\r\n double m_k4;\r\n double m_k5;\r\n\r\n double m_mu;\r\n double m_mv;\r\n double m_u0;\r\n double m_v0;\r\n };\r\n\r\n EquidistantCamera();\r\n\r\n /**\r\n * \\brief Constructor from the projection model parameters\r\n */\r\n EquidistantCamera(const std::string& cameraName,\r\n int imageWidth, int imageHeight,\r\n double k2, double k3, double k4, double k5,\r\n double mu, double mv,\r\n double u0, double v0);\r\n /**\r\n * \\brief Constructor from the projection model parameters\r\n */\r\n EquidistantCamera(const Parameters& params);\r\n\r\n Camera::ModelType modelType(void) const;\r\n const std::string& cameraName(void) const;\r\n int imageWidth(void) const;\r\n int imageHeight(void) const;\r\n\r\n void estimateIntrinsics(const cv::Size& boardSize,\r\n const std::vector< std::vector >& objectPoints,\r\n const std::vector< std::vector >& imagePoints);\r\n\r\n // Lift points from the image plane to the sphere\r\n virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;\r\n //%output P\r\n\r\n // Lift points from the image plane to the projective space\r\n void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;\r\n //%output P\r\n\r\n // Projects 3D points to the image plane (Pi function)\r\n void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;\r\n //%output p\r\n\r\n // Projects 3D points to the image plane (Pi function)\r\n // and calculates jacobian\r\n void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,\r\n Eigen::Matrix& J) const;\r\n //%output p\r\n //%output J\r\n\r\n void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;\r\n //%output p\r\n\r\n template \r\n static void spaceToPlane(const T* const params,\r\n const T* const q, const T* const t,\r\n const Eigen::Matrix& P,\r\n Eigen::Matrix& p);\r\n\r\n void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;\r\n cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,\r\n float fx = -1.0f, float fy = -1.0f,\r\n cv::Size imageSize = cv::Size(0, 0),\r\n float cx = -1.0f, float cy = -1.0f,\r\n cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;\r\n\r\n int parameterCount(void) const;\r\n\r\n const Parameters& getParameters(void) const;\r\n void setParameters(const Parameters& parameters);\r\n\r\n void readParameters(const std::vector& parameterVec);\r\n void writeParameters(std::vector& parameterVec) const;\r\n\r\n void writeParametersToYamlFile(const std::string& filename) const;\r\n\r\n std::string parametersToString(void) const;\r\n\r\nprivate:\r\n template\r\n static T r(T k2, T k3, T k4, T k5, T theta);\r\n\r\n\r\n void fitOddPoly(const std::vector& x, const std::vector& y,\r\n int n, std::vector& coeffs) const;\r\n\r\n void backprojectSymmetric(const Eigen::Vector2d& p_u,\r\n double& theta, double& phi) const;\r\n\r\n Parameters mParameters;\r\n\r\n double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;\r\n};\r\n\r\ntypedef boost::shared_ptr EquidistantCameraPtr;\r\ntypedef boost::shared_ptr EquidistantCameraConstPtr;\r\n\r\ntemplate\r\nT\r\nEquidistantCamera::r(T k2, T k3, T k4, T k5, T theta)\r\n{\r\n // k1 = 1\r\n return theta +\r\n k2 * theta * theta * theta +\r\n k3 * theta * theta * theta * theta * theta +\r\n k4 * theta * theta * theta * theta * theta * theta * theta +\r\n k5 * theta * theta * theta * theta * theta * theta * theta * theta * theta;\r\n}\r\n\r\ntemplate \r\nvoid\r\nEquidistantCamera::spaceToPlane(const T* const params,\r\n const T* const q, const T* const t,\r\n const Eigen::Matrix& P,\r\n Eigen::Matrix& p)\r\n{\r\n T P_w[3];\r\n P_w[0] = T(P(0));\r\n P_w[1] = T(P(1));\r\n P_w[2] = T(P(2));\r\n\r\n // Convert quaternion from Eigen convention (x, y, z, w)\r\n // to Ceres convention (w, x, y, z)\r\n T q_ceres[4] = {q[3], q[0], q[1], q[2]};\r\n\r\n T P_c[3];\r\n ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);\r\n\r\n P_c[0] += t[0];\r\n P_c[1] += t[1];\r\n P_c[2] += t[2];\r\n\r\n // project 3D object point to the image plane;\r\n T k2 = params[0];\r\n T k3 = params[1];\r\n T k4 = params[2];\r\n T k5 = params[3];\r\n T mu = params[4];\r\n T mv = params[5];\r\n T u0 = params[6];\r\n T v0 = params[7];\r\n\r\n T len = sqrt(P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2]);\r\n T theta = acos(P_c[2] / len);\r\n T phi = atan2(P_c[1], P_c[0]);\r\n\r\n Eigen::Matrix p_u = r(k2, k3, k4, k5, theta) * Eigen::Matrix(cos(phi), sin(phi));\r\n\r\n p(0) = mu * p_u(0) + u0;\r\n p(1) = mv * p_u(1) + v0;\r\n}\r\n\r\n}\r\n\r\n#endif\r\n"
},
{
"path": "camera_model/include/camodocal/camera_models/PinholeCamera.h",
"content": "#ifndef PINHOLECAMERA_H\n#define PINHOLECAMERA_H\n\n#include \n#include \n\n#include \"ceres/rotation.h\"\n#include \"Camera.h\"\n\nnamespace camodocal\n{\n\nclass PinholeCamera: public Camera\n{\npublic:\n class Parameters: public Camera::Parameters\n {\n public:\n Parameters();\n Parameters(const std::string& cameraName,\n int w, int h,\n double k1, double k2, double p1, double p2,\n double fx, double fy, double cx, double cy);\n\n double& k1(void);\n double& k2(void);\n double& p1(void);\n double& p2(void);\n double& fx(void);\n double& fy(void);\n double& cx(void);\n double& cy(void);\n\n double xi(void) const;\n double k1(void) const;\n double k2(void) const;\n double p1(void) const;\n double p2(void) const;\n double fx(void) const;\n double fy(void) const;\n double cx(void) const;\n double cy(void) const;\n\n bool readFromYamlFile(const std::string& filename);\n void writeToYamlFile(const std::string& filename) const;\n\n Parameters& operator=(const Parameters& other);\n friend std::ostream& operator<< (std::ostream& out, const Parameters& params);\n\n private:\n double m_k1;\n double m_k2;\n double m_p1;\n double m_p2;\n double m_fx;\n double m_fy;\n double m_cx;\n double m_cy;\n };\n\n PinholeCamera();\n\n /**\n * \\brief Constructor from the projection model parameters\n */\n PinholeCamera(const std::string& cameraName,\n int imageWidth, int imageHeight,\n double k1, double k2, double p1, double p2,\n double fx, double fy, double cx, double cy);\n /**\n * \\brief Constructor from the projection model parameters\n */\n PinholeCamera(const Parameters& params);\n\n Camera::ModelType modelType(void) const;\n const std::string& cameraName(void) const;\n int imageWidth(void) const;\n int imageHeight(void) const;\n\n void estimateIntrinsics(const cv::Size& boardSize,\n const std::vector< std::vector >& objectPoints,\n const std::vector< std::vector >& imagePoints);\n\n // Lift points from the image plane to the sphere\n virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;\n //%output P\n\n // Lift points from the image plane to the projective space\n void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;\n //%output P\n\n // Projects 3D points to the image plane (Pi function)\n void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;\n //%output p\n\n // Projects 3D points to the image plane (Pi function)\n // and calculates jacobian\n void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,\n Eigen::Matrix& J) const;\n //%output p\n //%output J\n\n void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;\n //%output p\n\n template \n static void spaceToPlane(const T* const params,\n const T* const q, const T* const t,\n const Eigen::Matrix& P,\n Eigen::Matrix& p);\n\n void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const;\n void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u,\n Eigen::Matrix2d& J) const;\n\n void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;\n cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,\n float fx = -1.0f, float fy = -1.0f,\n cv::Size imageSize = cv::Size(0, 0),\n float cx = -1.0f, float cy = -1.0f,\n cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;\n\n int parameterCount(void) const;\n\n const Parameters& getParameters(void) const;\n void setParameters(const Parameters& parameters);\n\n void readParameters(const std::vector& parameterVec);\n void writeParameters(std::vector& parameterVec) const;\n\n void writeParametersToYamlFile(const std::string& filename) const;\n\n std::string parametersToString(void) const;\n\nprivate:\n Parameters mParameters;\n\n double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;\n bool m_noDistortion;\n};\n\ntypedef boost::shared_ptr PinholeCameraPtr;\ntypedef boost::shared_ptr PinholeCameraConstPtr;\n\ntemplate \nvoid\nPinholeCamera::spaceToPlane(const T* const params,\n const T* const q, const T* const t,\n const Eigen::Matrix& P,\n Eigen::Matrix& p)\n{\n T P_w[3];\n P_w[0] = T(P(0));\n P_w[1] = T(P(1));\n P_w[2] = T(P(2));\n\n // Convert quaternion from Eigen convention (x, y, z, w)\n // to Ceres convention (w, x, y, z)\n T q_ceres[4] = {q[3], q[0], q[1], q[2]};\n\n T P_c[3];\n ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);\n\n P_c[0] += t[0];\n P_c[1] += t[1];\n P_c[2] += t[2];\n\n // project 3D object point to the image plane\n T k1 = params[0];\n T k2 = params[1];\n T p1 = params[2];\n T p2 = params[3];\n T fx = params[4];\n T fy = params[5];\n T alpha = T(0); //cameraParams.alpha();\n T cx = params[6];\n T cy = params[7];\n\n // Transform to model plane\n T u = P_c[0] / P_c[2];\n T v = P_c[1] / P_c[2];\n\n T rho_sqr = u * u + v * v;\n T L = T(1.0) + k1 * rho_sqr + k2 * rho_sqr * rho_sqr;\n T du = T(2.0) * p1 * u * v + p2 * (rho_sqr + T(2.0) * u * u);\n T dv = p1 * (rho_sqr + T(2.0) * v * v) + T(2.0) * p2 * u * v;\n\n u = L * u + du;\n v = L * v + dv;\n p(0) = fx * (u + alpha * v) + cx;\n p(1) = fy * v + cy;\n}\n\n}\n\n#endif\n"
},
{
"path": "camera_model/include/camodocal/camera_models/ScaramuzzaCamera.h",
"content": "#ifndef SCARAMUZZACAMERA_H\r\n#define SCARAMUZZACAMERA_H\r\n\r\n#include \r\n#include \r\n\r\n#include \"ceres/rotation.h\"\r\n#include \"Camera.h\"\r\n\r\nnamespace camodocal\r\n{\r\n\r\n#define SCARAMUZZA_POLY_SIZE 5\r\n#define SCARAMUZZA_INV_POLY_SIZE 20\r\n\r\n#define SCARAMUZZA_CAMERA_NUM_PARAMS (SCARAMUZZA_POLY_SIZE + SCARAMUZZA_INV_POLY_SIZE + 2 /*center*/ + 3 /*affine*/)\r\n\r\n/**\r\n * Scaramuzza Camera (Omnidirectional)\r\n * https://sites.google.com/site/scarabotix/ocamcalib-toolbox\r\n */\r\n\r\nclass OCAMCamera: public Camera\r\n{\r\npublic:\r\n class Parameters: public Camera::Parameters\r\n {\r\n public:\r\n Parameters();\r\n\r\n double& C(void) { return m_C; }\r\n double& D(void) { return m_D; }\r\n double& E(void) { return m_E; }\r\n\r\n double& center_x(void) { return m_center_x; }\r\n double& center_y(void) { return m_center_y; }\r\n\r\n double& poly(int idx) { return m_poly[idx]; }\r\n double& inv_poly(int idx) { return m_inv_poly[idx]; }\r\n\r\n double C(void) const { return m_C; }\r\n double D(void) const { return m_D; }\r\n double E(void) const { return m_E; }\r\n\r\n double center_x(void) const { return m_center_x; }\r\n double center_y(void) const { return m_center_y; }\r\n\r\n double poly(int idx) const { return m_poly[idx]; }\r\n double inv_poly(int idx) const { return m_inv_poly[idx]; }\r\n\r\n bool readFromYamlFile(const std::string& filename);\r\n void writeToYamlFile(const std::string& filename) const;\r\n\r\n Parameters& operator=(const Parameters& other);\r\n friend std::ostream& operator<< (std::ostream& out, const Parameters& params);\r\n\r\n private:\r\n double m_poly[SCARAMUZZA_POLY_SIZE];\r\n double m_inv_poly[SCARAMUZZA_INV_POLY_SIZE];\r\n double m_C;\r\n double m_D;\r\n double m_E;\r\n double m_center_x;\r\n double m_center_y;\r\n };\r\n\r\n OCAMCamera();\r\n\r\n /**\r\n * \\brief Constructor from the projection model parameters\r\n */\r\n OCAMCamera(const Parameters& params);\r\n\r\n Camera::ModelType modelType(void) const;\r\n const std::string& cameraName(void) const;\r\n int imageWidth(void) const;\r\n int imageHeight(void) const;\r\n\r\n void estimateIntrinsics(const cv::Size& boardSize,\r\n const std::vector< std::vector >& objectPoints,\r\n const std::vector< std::vector >& imagePoints);\r\n\r\n // Lift points from the image plane to the sphere\r\n void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;\r\n //%output P\r\n\r\n // Lift points from the image plane to the projective space\r\n void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const;\r\n //%output P\r\n\r\n // Projects 3D points to the image plane (Pi function)\r\n void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const;\r\n //%output p\r\n\r\n // Projects 3D points to the image plane (Pi function)\r\n // and calculates jacobian\r\n //void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,\r\n // Eigen::Matrix& J) const;\r\n //%output p\r\n //%output J\r\n\r\n void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const;\r\n //%output p\r\n\r\n template \r\n static void spaceToPlane(const T* const params,\r\n const T* const q, const T* const t,\r\n const Eigen::Matrix& P,\r\n Eigen::Matrix& p);\r\n template \r\n static void spaceToSphere(const T* const params,\r\n const T* const q, const T* const t,\r\n const Eigen::Matrix& P,\r\n Eigen::Matrix& P_s);\r\n template \r\n static void LiftToSphere(const T* const params,\r\n const Eigen::Matrix& p,\r\n Eigen::Matrix& P);\r\n\r\n template \r\n static void SphereToPlane(const T* const params, const Eigen::Matrix& P,\r\n Eigen::Matrix& p);\r\n\r\n\r\n void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const;\r\n cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2,\r\n float fx = -1.0f, float fy = -1.0f,\r\n cv::Size imageSize = cv::Size(0, 0),\r\n float cx = -1.0f, float cy = -1.0f,\r\n cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const;\r\n\r\n int parameterCount(void) const;\r\n\r\n const Parameters& getParameters(void) const;\r\n void setParameters(const Parameters& parameters);\r\n\r\n void readParameters(const std::vector& parameterVec);\r\n void writeParameters(std::vector& parameterVec) const;\r\n\r\n void writeParametersToYamlFile(const std::string& filename) const;\r\n\r\n std::string parametersToString(void) const;\r\n\r\nprivate:\r\n Parameters mParameters;\r\n\r\n double m_inv_scale;\r\n};\r\n\r\ntypedef boost::shared_ptr OCAMCameraPtr;\r\ntypedef boost::shared_ptr OCAMCameraConstPtr;\r\n\r\ntemplate \r\nvoid\r\nOCAMCamera::spaceToPlane(const T* const params,\r\n const T* const q, const T* const t,\r\n const Eigen::Matrix& P,\r\n Eigen::Matrix& p)\r\n{\r\n T P_c[3];\r\n {\r\n T P_w[3];\r\n P_w[0] = T(P(0));\r\n P_w[1] = T(P(1));\r\n P_w[2] = T(P(2));\r\n\r\n // Convert quaternion from Eigen convention (x, y, z, w)\r\n // to Ceres convention (w, x, y, z)\r\n T q_ceres[4] = {q[3], q[0], q[1], q[2]};\r\n\r\n ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);\r\n\r\n P_c[0] += t[0];\r\n P_c[1] += t[1];\r\n P_c[2] += t[2];\r\n }\r\n\r\n T c = params[0];\r\n T d = params[1];\r\n T e = params[2];\r\n T xc[2] = { params[3], params[4] };\r\n\r\n //T poly[SCARAMUZZA_POLY_SIZE];\r\n //for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)\r\n // poly[i] = params[5+i];\r\n\r\n T inv_poly[SCARAMUZZA_INV_POLY_SIZE];\r\n for (int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++)\r\n inv_poly[i] = params[5 + SCARAMUZZA_POLY_SIZE + i];\r\n\r\n T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1];\r\n T norm = T(0.0);\r\n if (norm_sqr > T(0.0))\r\n norm = sqrt(norm_sqr);\r\n\r\n T theta = atan2(-P_c[2], norm);\r\n T rho = T(0.0);\r\n T theta_i = T(1.0);\r\n\r\n for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++)\r\n {\r\n rho += theta_i * inv_poly[i];\r\n theta_i *= theta;\r\n }\r\n\r\n T invNorm = T(1.0) / norm;\r\n T xn[2] = {\r\n P_c[0] * invNorm * rho,\r\n P_c[1] * invNorm * rho\r\n };\r\n\r\n p(0) = xn[0] * c + xn[1] * d + xc[0];\r\n p(1) = xn[0] * e + xn[1] + xc[1];\r\n}\r\n\r\ntemplate \r\nvoid\r\nOCAMCamera::spaceToSphere(const T* const params,\r\n const T* const q, const T* const t,\r\n const Eigen::Matrix& P,\r\n Eigen::Matrix& P_s)\r\n{\r\n T P_c[3];\r\n {\r\n T P_w[3];\r\n P_w[0] = T(P(0));\r\n P_w[1] = T(P(1));\r\n P_w[2] = T(P(2));\r\n\r\n // Convert quaternion from Eigen convention (x, y, z, w)\r\n // to Ceres convention (w, x, y, z)\r\n T q_ceres[4] = {q[3], q[0], q[1], q[2]};\r\n\r\n ceres::QuaternionRotatePoint(q_ceres, P_w, P_c);\r\n\r\n P_c[0] += t[0];\r\n P_c[1] += t[1];\r\n P_c[2] += t[2];\r\n }\r\n\r\n //T poly[SCARAMUZZA_POLY_SIZE];\r\n //for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)\r\n // poly[i] = params[5+i];\r\n\r\n T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2];\r\n T norm = T(0.0);\r\n if (norm_sqr > T(0.0))\r\n norm = sqrt(norm_sqr);\r\n\r\n P_s(0) = P_c[0] / norm;\r\n P_s(1) = P_c[1] / norm;\r\n P_s(2) = P_c[2] / norm;\r\n}\r\n\r\ntemplate \r\nvoid\r\nOCAMCamera::LiftToSphere(const T* const params,\r\n const Eigen::Matrix& p,\r\n Eigen::Matrix& P)\r\n{\r\n T c = params[0];\r\n T d = params[1];\r\n T e = params[2];\r\n T cc[2] = { params[3], params[4] };\r\n T poly[SCARAMUZZA_POLY_SIZE];\r\n for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++)\r\n poly[i] = params[5+i];\r\n\r\n // Relative to Center\r\n T p_2d[2];\r\n p_2d[0] = T(p(0));\r\n p_2d[1] = T(p(1));\r\n\r\n T xc[2] = { p_2d[0] - cc[0], p_2d[1] - cc[1]};\r\n\r\n T inv_scale = T(1.0) / (c - d * e);\r\n\r\n // Affine Transformation\r\n T xc_a[2];\r\n\r\n xc_a[0] = inv_scale * (xc[0] - d * xc[1]);\r\n xc_a[1] = inv_scale * (-e * xc[0] + c * xc[1]);\r\n\r\n T norm_sqr = xc_a[0] * xc_a[0] + xc_a[1] * xc_a[1];\r\n T phi = sqrt(norm_sqr);\r\n T phi_i = T(1.0);\r\n T z = T(0.0);\r\n\r\n for (int i = 0; i < SCARAMUZZA_POLY_SIZE; i++)\r\n {\r\n if (i!=1) {\r\n z += phi_i * poly[i];\r\n }\r\n phi_i *= phi;\r\n }\r\n\r\n T p_3d[3];\r\n p_3d[0] = xc[0];\r\n p_3d[1] = xc[1];\r\n p_3d[2] = -z;\r\n\r\n T p_3d_norm_sqr = p_3d[0] * p_3d[0] + p_3d[1] * p_3d[1] + p_3d[2] * p_3d[2];\r\n T p_3d_norm = sqrt(p_3d_norm_sqr);\r\n\r\n P << p_3d[0] / p_3d_norm, p_3d[1] / p_3d_norm, p_3d[2] / p_3d_norm;\r\n}\r\n\r\ntemplate \r\nvoid OCAMCamera::SphereToPlane(const T* const params, const Eigen::Matrix& P,\r\n Eigen::Matrix& p) {\r\n T P_c[3];\r\n {\r\n P_c[0] = T(P(0));\r\n P_c[1] = T(P(1));\r\n P_c[2] = T(P(2));\r\n }\r\n\r\n T c = params[0];\r\n T d = params[1];\r\n T e = params[2];\r\n T xc[2] = {params[3], params[4]};\r\n\r\n T inv_poly[SCARAMUZZA_INV_POLY_SIZE];\r\n for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++)\r\n inv_poly[i] = params[5 + SCARAMUZZA_POLY_SIZE + i];\r\n\r\n T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1];\r\n T norm = T(0.0);\r\n if (norm_sqr > T(0.0)) norm = sqrt(norm_sqr);\r\n\r\n T theta = atan2(-P_c[2], norm);\r\n T rho = T(0.0);\r\n T theta_i = T(1.0);\r\n\r\n for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++) {\r\n rho += theta_i * inv_poly[i];\r\n theta_i *= theta;\r\n }\r\n\r\n T invNorm = T(1.0) / norm;\r\n T xn[2] = {P_c[0] * invNorm * rho, P_c[1] * invNorm * rho};\r\n\r\n p(0) = xn[0] * c + xn[1] * d + xc[0];\r\n p(1) = xn[0] * e + xn[1] + xc[1];\r\n}\r\n}\r\n\r\n#endif\r\n"
},
{
"path": "camera_model/include/camodocal/chessboard/Chessboard.h",
"content": "#ifndef CHESSBOARD_H\n#define CHESSBOARD_H\n\n#include \n#include \n\nnamespace camodocal\n{\n\n// forward declarations\nclass ChessboardCorner;\ntypedef boost::shared_ptr ChessboardCornerPtr;\nclass ChessboardQuad;\ntypedef boost::shared_ptr ChessboardQuadPtr;\n\nclass Chessboard\n{\npublic:\n Chessboard(cv::Size boardSize, cv::Mat& image);\n\n void findCorners(bool useOpenCV = false);\n const std::vector& getCorners(void) const;\n bool cornersFound(void) const;\n\n const cv::Mat& getImage(void) const;\n const cv::Mat& getSketch(void) const;\n\nprivate:\n bool findChessboardCorners(const cv::Mat& image,\n const cv::Size& patternSize,\n std::vector& corners,\n int flags, bool useOpenCV);\n\n bool findChessboardCornersImproved(const cv::Mat& image,\n const cv::Size& patternSize,\n std::vector& corners,\n int flags);\n\n void cleanFoundConnectedQuads(std::vector& quadGroup, cv::Size patternSize);\n\n void findConnectedQuads(std::vector& quads,\n std::vector& group,\n int group_idx, int dilation);\n\n// int checkQuadGroup(std::vector& quadGroup,\n// std::vector& outCorners,\n// cv::Size patternSize);\n\n void labelQuadGroup(std::vector& quad_group,\n cv::Size patternSize, bool firstRun);\n\n void findQuadNeighbors(std::vector& quads, int dilation);\n\n int augmentBestRun(std::vector& candidateQuads, int candidateDilation,\n std::vector& existingQuads, int existingDilation);\n\n void generateQuads(std::vector& quads,\n cv::Mat& image, int flags,\n int dilation, bool firstRun);\n\n bool checkQuadGroup(std::vector& quads,\n std::vector& corners,\n cv::Size patternSize);\n\n void getQuadrangleHypotheses(const std::vector< std::vector >& contours,\n std::vector< std::pair >& quads,\n int classId) const;\n\n bool checkChessboard(const cv::Mat& image, cv::Size patternSize) const;\n\n bool checkBoardMonotony(std::vector& corners,\n cv::Size patternSize);\n\n bool matchCorners(ChessboardQuadPtr& quad1, int corner1,\n ChessboardQuadPtr& quad2, int corner2) const;\n\n cv::Mat mImage;\n cv::Mat mSketch;\n std::vector mCorners;\n cv::Size mBoardSize;\n bool mCornersFound;\n};\n\n}\n\n#endif\n"
},
{
"path": "camera_model/include/camodocal/chessboard/ChessboardCorner.h",
"content": "#ifndef CHESSBOARDCORNER_H\n#define CHESSBOARDCORNER_H\n\n#include \n#include \n\nnamespace camodocal\n{\n\nclass ChessboardCorner;\ntypedef boost::shared_ptr ChessboardCornerPtr;\n\nclass ChessboardCorner\n{\npublic:\n ChessboardCorner() : row(0), column(0), needsNeighbor(true), count(0) {}\n\n float meanDist(int &n) const\n {\n float sum = 0;\n n = 0;\n for (int i = 0; i < 4; ++i)\n {\n if (neighbors[i].get())\n {\n float dx = neighbors[i]->pt.x - pt.x;\n float dy = neighbors[i]->pt.y - pt.y;\n sum += sqrt(dx*dx + dy*dy);\n n++;\n }\n }\n return sum / std::max(n, 1);\n }\n\n cv::Point2f pt; // X and y coordinates\n int row; // Row and column of the corner\n int column; // in the found pattern\n bool needsNeighbor; // Does the corner require a neighbor?\n int count; // number of corner neighbors\n ChessboardCornerPtr neighbors[4]; // pointer to all corner neighbors\n};\n\n}\n\n#endif\n"
},
{
"path": "camera_model/include/camodocal/chessboard/ChessboardQuad.h",
"content": "#ifndef CHESSBOARDQUAD_H\n#define CHESSBOARDQUAD_H\n\n#include \n\n#include \"camodocal/chessboard/ChessboardCorner.h\"\n\nnamespace camodocal\n{\n\nclass ChessboardQuad;\ntypedef boost::shared_ptr ChessboardQuadPtr;\n\nclass ChessboardQuad\n{\npublic:\n ChessboardQuad() : count(0), group_idx(-1), edge_len(FLT_MAX), labeled(false) {}\n\n int count; // Number of quad neighbors\n int group_idx; // Quad group ID\n float edge_len; // Smallest side length^2\n ChessboardCornerPtr corners[4]; // Coordinates of quad corners\n ChessboardQuadPtr neighbors[4]; // Pointers of quad neighbors\n bool labeled; // Has this corner been labeled?\n};\n\n}\n\n#endif\n"
},
{
"path": "camera_model/include/camodocal/chessboard/Spline.h",
"content": "/* dynamo:- Event driven molecular dynamics simulator\n http://www.marcusbannerman.co.uk/dynamo\n Copyright (C) 2011 Marcus N Campbell Bannerman \n\n This program is free software: you can redistribute it and/or\n modify it under the terms of the GNU General Public License\n version 3 as published by the Free Software Foundation.\n\n This program is distributed in the hope that it will be useful,\n but WITHOUT ANY WARRANTY; without even the implied warranty of\n MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n GNU General Public License for more details.\n\n You should have received a copy of the GNU General Public License\n along with this program. If not, see .\n*/\n\n#pragma once\n\n#include \n#include \n#include \n#include \n#include \n#include \n\nnamespace ublas = boost::numeric::ublas;\n\nclass Spline : private std::vector >\n{\npublic:\n //The boundary conditions available\n enum BC_type {\n\tFIXED_1ST_DERIV_BC,\n\tFIXED_2ND_DERIV_BC,\n\tPARABOLIC_RUNOUT_BC\n };\n\n enum Spline_type {\n\tLINEAR,\n\tCUBIC\n };\n\n //Constructor takes the boundary conditions as arguments, this\n //sets the first derivative (gradient) at the lower and upper\n //end points\n Spline():\n\t_valid(false),\n\t_BCLow(FIXED_2ND_DERIV_BC), _BCHigh(FIXED_2ND_DERIV_BC),\n\t_BCLowVal(0), _BCHighVal(0),\n\t_type(CUBIC)\n {}\n\n typedef std::vector > base;\n typedef base::const_iterator const_iterator;\n\n //Standard STL read-only container stuff\n const_iterator begin() const { return base::begin(); }\n const_iterator end() const { return base::end(); }\n void clear() { _valid = false; base::clear(); _data.clear(); }\n size_t size() const { return base::size(); }\n size_t max_size() const { return base::max_size(); }\n size_t capacity() const { return base::capacity(); }\n bool empty() const { return base::empty(); }\n\n //Add a point to the spline, and invalidate it so its\n //recalculated on the next access\n inline void addPoint(double x, double y)\n {\n\t_valid = false;\n\tbase::push_back(std::pair(x,y));\n }\n\n //Reset the boundary conditions\n inline void setLowBC(BC_type BC, double val = 0)\n { _BCLow = BC; _BCLowVal = val; _valid = false; }\n\n inline void setHighBC(BC_type BC, double val = 0)\n { _BCHigh = BC; _BCHighVal = val; _valid = false; }\n\n void setType(Spline_type type) { _type = type; _valid = false; }\n\n //Check if the spline has been calculated, then generate the\n //spline interpolated value\n double operator()(double xval)\n {\n\tif (!_valid) generate();\n\n\t//Special cases when we're outside the range of the spline points\n\tif (xval <= x(0)) return lowCalc(xval);\n\tif (xval >= x(size()-1)) return highCalc(xval);\n\n\t//Check all intervals except the last one\n\tfor (std::vector::const_iterator iPtr = _data.begin();\n\t\t iPtr != _data.end()-1; ++iPtr)\n\t\tif ((xval >= iPtr->x) && (xval <= (iPtr+1)->x))\n\t\t return splineCalc(iPtr, xval);\n\n\treturn splineCalc(_data.end() - 1, xval);\n }\n\nprivate:\n\n ///////PRIVATE DATA MEMBERS\n struct SplineData { double x,a,b,c,d; };\n //vector of calculated spline data\n std::vector _data;\n //Second derivative at each point\n ublas::vector _ddy;\n //Tracks whether the spline parameters have been calculated for\n //the current set of points\n bool _valid;\n //The boundary conditions\n BC_type _BCLow, _BCHigh;\n //The values of the boundary conditions\n double _BCLowVal, _BCHighVal;\n\n Spline_type _type;\n\n ///////PRIVATE FUNCTIONS\n //Function to calculate the value of a given spline at a point xval\n inline double splineCalc(std::vector::const_iterator i, double xval)\n {\n\tconst double lx = xval - i->x;\n\treturn ((i->a * lx + i->b) * lx + i->c) * lx + i->d;\n }\n\n inline double lowCalc(double xval)\n {\n\tconst double lx = xval - x(0);\n\n\tif (_type == LINEAR)\n\t return lx * _BCHighVal + y(0);\n\n\tconst double firstDeriv = (y(1) - y(0)) / h(0) - 2 * h(0) * (_data[0].b + 2 * _data[1].b) / 6;\n\n\tswitch(_BCLow)\n\t {\n\t case FIXED_1ST_DERIV_BC:\n\t\treturn lx * _BCLowVal + y(0);\n\t case FIXED_2ND_DERIV_BC:\n\t\t return lx * lx * _BCLowVal + firstDeriv * lx + y(0);\n\t case PARABOLIC_RUNOUT_BC:\n\t\treturn lx * lx * _ddy[0] + lx * firstDeriv + y(0);\n\t }\n\tthrow std::runtime_error(\"Unknown BC\");\n }\n\n inline double highCalc(double xval)\n {\n\tconst double lx = xval - x(size() - 1);\n\n\tif (_type == LINEAR)\n\t return lx * _BCHighVal + y(size() - 1);\n\n\tconst double firstDeriv = 2 * h(size() - 2) * (_ddy[size() - 2] + 2 * _ddy[size() - 1]) / 6 + (y(size() - 1) - y(size() - 2)) / h(size() - 2);\n\n\tswitch(_BCHigh)\n\t {\n\t case FIXED_1ST_DERIV_BC:\n\t\treturn lx * _BCHighVal + y(size() - 1);\n\t case FIXED_2ND_DERIV_BC:\n\t\treturn lx * lx * _BCHighVal + firstDeriv * lx + y(size() - 1);\n\t case PARABOLIC_RUNOUT_BC:\n\t\treturn lx * lx * _ddy[size()-1] + lx * firstDeriv + y(size() - 1);\n\t }\n\tthrow std::runtime_error(\"Unknown BC\");\n }\n\n //These just provide access to the point data in a clean way\n inline double x(size_t i) const { return operator[](i).first; }\n inline double y(size_t i) const { return operator[](i).second; }\n inline double h(size_t i) const { return x(i+1) - x(i); }\n\n //Invert a arbitrary matrix using the boost ublas library\n template\n bool InvertMatrix(ublas::matrix A,\n\t\tublas::matrix& inverse)\n {\n\tusing namespace ublas;\n\n\t// create a permutation matrix for the LU-factorization\n\tpermutation_matrix pm(A.size1());\n\n\t// perform LU-factorization\n\tint res = lu_factorize(A,pm);\n\t\tif( res != 0 ) return false;\n\n\t// create identity matrix of \"inverse\"\n\tinverse.assign(ublas::identity_matrix(A.size1()));\n\n\t// backsubstitute to get the inverse\n\tlu_substitute(A, pm, inverse);\n\n\treturn true;\n }\n\n //This function will recalculate the spline parameters and store\n //them in _data, ready for spline interpolation\n void generate()\n {\n\tif (size() < 2)\n\t throw std::runtime_error(\"Spline requires at least 2 points\");\n\n\t//If any spline points are at the same x location, we have to\n\t//just slightly seperate them\n\t{\n\t bool testPassed(false);\n\t while (!testPassed)\n\t\t{\n\t\t testPassed = true;\n\t\t std::sort(base::begin(), base::end());\n\n\t\t for (base::iterator iPtr = base::begin(); iPtr != base::end() - 1; ++iPtr)\n\t\tif (iPtr->first == (iPtr+1)->first)\n\t\t {\n\t\t\tif ((iPtr+1)->first != 0)\n\t\t\t (iPtr+1)->first += (iPtr+1)->first\n\t\t\t* std::numeric_limits::epsilon() * 10;\n\t\t\telse\n\t\t\t (iPtr+1)->first = std::numeric_limits::epsilon() * 10;\n\t\t\ttestPassed = false;\n\t\t\tbreak;\n\t\t }\n\t\t}\n\t}\n\n\tconst size_t e = size() - 1;\n\n\tswitch (_type)\n\t {\n\t case LINEAR:\n\t\t{\n\t\t _data.resize(e);\n\t\t for (size_t i(0); i < e; ++i)\n\t\t{\n\t\t _data[i].x = x(i);\n\t\t _data[i].a = 0;\n\t\t _data[i].b = 0;\n\t\t _data[i].c = (y(i+1) - y(i)) / (x(i+1) - x(i));\n\t\t _data[i].d = y(i);\n\t\t}\n\t\t break;\n\t\t}\n\t case CUBIC:\n\t\t{\n\t\t ublas::matrix A(size(), size());\n\t\t for (size_t yv(0); yv <= e; ++yv)\n\t\tfor (size_t xv(0); xv <= e; ++xv)\n\t\t A(xv,yv) = 0;\n\n\t\t for (size_t i(1); i < e; ++i)\n\t\t{\n\t\t A(i-1,i) = h(i-1);\n\t\t A(i,i) = 2 * (h(i-1) + h(i));\n\t\t A(i+1,i) = h(i);\n\t\t}\n\n\t\t ublas::vector C(size());\n\t\t for (size_t xv(0); xv <= e; ++xv)\n\t\tC(xv) = 0;\n\n\t\t for (size_t i(1); i < e; ++i)\n\t\tC(i) = 6 *\n\t\t ((y(i+1) - y(i)) / h(i)\n\t\t - (y(i) - y(i-1)) / h(i-1));\n\n\t\t //Boundary conditions\n\t\t switch(_BCLow)\n\t\t{\n\t\tcase FIXED_1ST_DERIV_BC:\n\t\t C(0) = 6 * ((y(1) - y(0)) / h(0) - _BCLowVal);\n\t\t A(0,0) = 2 * h(0);\n\t\t A(1,0) = h(0);\n\t\t break;\n\t\tcase FIXED_2ND_DERIV_BC:\n\t\t C(0) = _BCLowVal;\n\t\t A(0,0) = 1;\n\t\t break;\n\t\tcase PARABOLIC_RUNOUT_BC:\n\t\t C(0) = 0; A(0,0) = 1; A(1,0) = -1;\n\t\t break;\n\t\t}\n\n\t\t switch(_BCHigh)\n\t\t{\n\t\tcase FIXED_1ST_DERIV_BC:\n\t\t C(e) = 6 * (_BCHighVal - (y(e) - y(e-1)) / h(e-1));\n\t\t A(e,e) = 2 * h(e - 1);\n\t\t A(e-1,e) = h(e - 1);\n\t\t break;\n\t\tcase FIXED_2ND_DERIV_BC:\n\t\t C(e) = _BCHighVal;\n\t\t A(e,e) = 1;\n\t\t break;\n\t\tcase PARABOLIC_RUNOUT_BC:\n\t\t C(e) = 0; A(e,e) = 1; A(e-1,e) = -1;\n\t\t break;\n\t\t}\n\n\t\t ublas::matrix AInv(size(), size());\n\t\t InvertMatrix(A,AInv);\n\n\t\t _ddy = ublas::prod(C, AInv);\n\n\t\t _data.resize(size()-1);\n\t\t for (size_t i(0); i < e; ++i)\n\t\t{\n\t\t _data[i].x = x(i);\n\t\t _data[i].a = (_ddy(i+1) - _ddy(i)) / (6 * h(i));\n\t\t _data[i].b = _ddy(i) / 2;\n\t\t _data[i].c = (y(i+1) - y(i)) / h(i) - _ddy(i+1) * h(i) / 6 - _ddy(i) * h(i) / 3;\n\t\t _data[i].d = y(i);\n\t\t}\n\t\t}\n\t }\n\t_valid = true;\n }\n};\n"
},
{
"path": "camera_model/include/camodocal/gpl/EigenQuaternionParameterization.h",
"content": "#ifndef EIGENQUATERNIONPARAMETERIZATION_H\n#define EIGENQUATERNIONPARAMETERIZATION_H\n\n#include \"ceres/local_parameterization.h\"\n\nnamespace camodocal\n{\n\nclass EigenQuaternionParameterization : public ceres::LocalParameterization\n{\npublic:\n virtual ~EigenQuaternionParameterization() {}\n virtual bool Plus(const double* x,\n const double* delta,\n double* x_plus_delta) const;\n virtual bool ComputeJacobian(const double* x,\n double* jacobian) const;\n virtual int GlobalSize() const { return 4; }\n virtual int LocalSize() const { return 3; }\n\nprivate:\n template\n void EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) const;\n};\n\n\ntemplate\nvoid\nEigenQuaternionParameterization::EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) const\n{\n zw[0] = z[3] * w[0] + z[0] * w[3] + z[1] * w[2] - z[2] * w[1];\n zw[1] = z[3] * w[1] - z[0] * w[2] + z[1] * w[3] + z[2] * w[0];\n zw[2] = z[3] * w[2] + z[0] * w[1] - z[1] * w[0] + z[2] * w[3];\n zw[3] = z[3] * w[3] - z[0] * w[0] - z[1] * w[1] - z[2] * w[2];\n}\n\n}\n\n#endif\n\n"
},
{
"path": "camera_model/include/camodocal/gpl/EigenUtils.h",
"content": "#ifndef EIGENUTILS_H\n#define EIGENUTILS_H\n\n#include \n\n#include \"ceres/rotation.h\"\n#include \"camodocal/gpl/gpl.h\"\n\nnamespace camodocal\n{\n\n// Returns the 3D cross product skew symmetric matrix of a given 3D vector\ntemplate\nEigen::Matrix skew(const Eigen::Matrix& vec)\n{\n return (Eigen::Matrix() << T(0), -vec(2), vec(1),\n vec(2), T(0), -vec(0),\n -vec(1), vec(0), T(0)).finished();\n}\n\ntemplate\ntypename Eigen::MatrixBase::PlainObject sqrtm(const Eigen::MatrixBase& A)\n{\n Eigen::SelfAdjointEigenSolver es(A);\n\n return es.operatorSqrt();\n}\n\ntemplate\nEigen::Matrix AngleAxisToRotationMatrix(const Eigen::Matrix& rvec)\n{\n T angle = rvec.norm();\n if (angle == T(0))\n {\n return Eigen::Matrix::Identity();\n }\n\n Eigen::Matrix axis;\n axis = rvec.normalized();\n\n Eigen::Matrix rmat;\n rmat = Eigen::AngleAxis(angle, axis);\n\n return rmat;\n}\n\ntemplate\nEigen::Quaternion AngleAxisToQuaternion(const Eigen::Matrix& rvec)\n{\n Eigen::Matrix rmat = AngleAxisToRotationMatrix(rvec);\n\n return Eigen::Quaternion(rmat);\n}\n\ntemplate\nvoid AngleAxisToQuaternion(const Eigen::Matrix& rvec, T* q)\n{\n Eigen::Quaternion quat = AngleAxisToQuaternion(rvec);\n\n q[0] = quat.x();\n q[1] = quat.y();\n q[2] = quat.z();\n q[3] = quat.w();\n}\n\ntemplate\nEigen::Matrix RotationToAngleAxis(const Eigen::Matrix & rmat)\n{\n Eigen::AngleAxis angleaxis; \n angleaxis.fromRotationMatrix(rmat); \n return angleaxis.angle() * angleaxis.axis(); \n \n}\n\ntemplate\nvoid QuaternionToAngleAxis(const T* const q, Eigen::Matrix& rvec)\n{\n Eigen::Quaternion quat(q[3], q[0], q[1], q[2]);\n\n Eigen::Matrix rmat = quat.toRotationMatrix();\n\n Eigen::AngleAxis angleaxis;\n angleaxis.fromRotationMatrix(rmat);\n\n rvec = angleaxis.angle() * angleaxis.axis();\n}\n\ntemplate\nEigen::Matrix QuaternionToRotation(const T* const q)\n{\n T R[9];\n ceres::QuaternionToRotation(q, R);\n\n Eigen::Matrix rmat;\n for (int i = 0; i < 3; ++i)\n {\n for (int j = 0; j < 3; ++j)\n {\n rmat(i,j) = R[i * 3 + j];\n }\n }\n\n return rmat;\n}\n\ntemplate\nvoid QuaternionToRotation(const T* const q, T* rot)\n{\n ceres::QuaternionToRotation(q, rot);\n}\n\ntemplate\nEigen::Matrix QuaternionMultMatLeft(const Eigen::Quaternion& q)\n{\n return (Eigen::Matrix() << q.w(), -q.z(), q.y(), q.x(),\n q.z(), q.w(), -q.x(), q.y(),\n -q.y(), q.x(), q.w(), q.z(),\n -q.x(), -q.y(), -q.z(), q.w()).finished();\n}\n\ntemplate\nEigen::Matrix QuaternionMultMatRight(const Eigen::Quaternion& q)\n{\n return (Eigen::Matrix() << q.w(), q.z(), -q.y(), q.x(),\n -q.z(), q.w(), q.x(), q.y(),\n q.y(), -q.x(), q.w(), q.z(),\n -q.x(), -q.y(), -q.z(), q.w()).finished();\n}\n\n/// @param theta - rotation about screw axis\n/// @param d - projection of tvec on the rotation axis\n/// @param l - screw axis direction\n/// @param m - screw axis moment\ntemplate\nvoid AngleAxisAndTranslationToScrew(const Eigen::Matrix& rvec,\n const Eigen::Matrix& tvec,\n T& theta, T& d,\n Eigen::Matrix& l,\n Eigen::Matrix& m)\n{\n\n theta = rvec.norm();\n if (theta == 0)\n {\n l.setZero(); \n m.setZero(); \n std::cout << \"Warning: Undefined screw! Returned 0. \" << std::endl; \n }\n\n l = rvec.normalized();\n\n Eigen::Matrix t = tvec;\n\n d = t.transpose() * l;\n\n // point on screw axis - projection of origin on screw axis\n Eigen::Matrix c;\n c = 0.5 * (t - d * l + (1.0 / tan(theta / 2.0) * l).cross(t));\n\n // c and hence the screw axis is not defined if theta is either 0 or M_PI\n m = c.cross(l);\n}\n\ntemplate\nEigen::Matrix RPY2mat(T roll, T pitch, T yaw)\n{\n Eigen::Matrix m;\n\n T cr = cos(roll);\n T sr = sin(roll);\n T cp = cos(pitch);\n T sp = sin(pitch);\n T cy = cos(yaw);\n T sy = sin(yaw);\n\n m(0,0) = cy * cp;\n m(0,1) = cy * sp * sr - sy * cr;\n m(0,2) = cy * sp * cr + sy * sr;\n m(1,0) = sy * cp;\n m(1,1) = sy * sp * sr + cy * cr;\n m(1,2) = sy * sp * cr - cy * sr;\n m(2,0) = - sp;\n m(2,1) = cp * sr;\n m(2,2) = cp * cr;\n return m; \n}\n\ntemplate\nvoid mat2RPY(const Eigen::Matrix& m, T& roll, T& pitch, T& yaw)\n{\n roll = atan2(m(2,1), m(2,2));\n pitch = atan2(-m(2,0), sqrt(m(2,1) * m(2,1) + m(2,2) * m(2,2)));\n yaw = atan2(m(1,0), m(0,0));\n}\n\ntemplate
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