camera-intrinsic-model 0.8.0

Camera Intrinsic Models
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162

use crate::generic_model::{CameraModel, ModelCast};
use nalgebra as na;
use serde::{Deserialize, Serialize};

/// Extended Unified Camera Model (EUCM).
#[derive(Serialize, Deserialize, Clone, Copy, Debug)]
pub struct EUCM<T: na::RealField + Clone> {
    pub fx: T,
    pub fy: T,
    pub cx: T,
    pub cy: T,
    pub alpha: T,
    pub beta: T,
    pub width: u32,
    pub height: u32,
}
impl<T: na::RealField + Clone> EUCM<T> {
    /// Creates a new EUCM instance.
    pub fn new(params: &na::DVector<T>, width: u32, height: u32) -> EUCM<T> {
        if params.shape() != (6, 1) {
            panic!("the length of the vector should be 6");
        }
        EUCM {
            fx: params[0].clone(),
            fy: params[1].clone(),
            cx: params[2].clone(),
            cy: params[3].clone(),
            alpha: params[4].clone(),
            beta: params[5].clone(),
            width,
            height,
        }
    }
    /// Creates a new EUCM instance from another with different precision.
    pub fn from<U: na::RealField + Clone>(m: &EUCM<U>) -> EUCM<T> {
        EUCM::new(&m.cast(), m.width, m.height)
    }
    /// Creates a default EUCM instance with zero parameters.
    pub fn zeros() -> EUCM<T> {
        EUCM {
            fx: T::zero(),
            fy: T::zero(),
            cx: T::zero(),
            cy: T::zero(),
            alpha: T::from_f64(0.4).unwrap(),
            beta: T::from_f64(1.0).unwrap(),
            width: 0,
            height: 0,
        }
    }
}

impl<T: na::RealField + Clone> ModelCast<T> for EUCM<T> {}

impl<T: na::RealField + Clone> CameraModel<T> for EUCM<T> {
    fn set_params(&mut self, params: &nalgebra::DVector<T>) {
        if params.shape() != self.params().shape() {
            panic!("params has wrong shape.")
        }
        self.fx = params[0].clone();
        self.fy = params[1].clone();
        self.cx = params[2].clone();
        self.cy = params[3].clone();
        self.alpha = params[4].clone();
        self.beta = params[5].clone();
    }
    #[inline]
    fn params(&self) -> nalgebra::DVector<T> {
        na::dvector![
            self.fx.clone(),
            self.fy.clone(),
            self.cx.clone(),
            self.cy.clone(),
            self.alpha.clone(),
            self.beta.clone()
        ]
    }
    fn width(&self) -> T {
        T::from_u32(self.width).unwrap()
    }

    fn height(&self) -> T {
        T::from_u32(self.height).unwrap()
    }

    fn project_one(&self, pt: &nalgebra::Vector3<T>) -> nalgebra::Vector2<T> {
        let params = self.params();
        let fx = &params[0];
        let fy = &params[1];
        let cx = &params[2];
        let cy = &params[3];
        let alpha = &params[4];
        let beta = &params[5];

        let x = pt[0].clone();
        let y = pt[1].clone();
        let z = pt[2].clone();

        let r2 = x.clone() * x.clone() + y.clone() * y.clone();
        let rho2 = beta.clone() * r2.clone() + z.clone() * z.clone();
        let rho = rho2.sqrt();

        let norm = alpha.clone() * rho + (T::from_f64(1.0).unwrap() - alpha.clone()) * z;

        let mx = x / norm.clone();
        let my = y / norm.clone();

        na::Vector2::new(fx.clone() * mx + cx.clone(), fy.clone() * my + cy.clone())
    }

    fn unproject_one(&self, pt: &nalgebra::Vector2<T>) -> nalgebra::Vector3<T> {
        let params = self.params();
        let fx = &params[0];
        let fy = &params[1];
        let cx = &params[2];
        let cy = &params[3];
        let alpha = &params[4];
        let beta = &params[5];
        let one = T::from_f64(1.0).unwrap();

        let mx = (pt[0].clone() - cx.clone()) / fx.clone();
        let my = (pt[1].clone() - cy.clone()) / fy.clone();

        let r2 = mx.clone() * mx.clone() + my.clone() * my.clone();
        let gamma = one.clone() - alpha.clone();

        let tmp1 = one.clone() - alpha.clone() * alpha.clone() * beta.clone() * r2.clone();
        let tmp_sqrt = (one.clone() - (alpha.clone() - gamma.clone()) * beta.clone() * r2).sqrt();
        let tmp2 = alpha.clone() * tmp_sqrt + gamma;

        let k = tmp1 / tmp2;

        if k < T::zero() {
            -na::Vector3::new(mx, my, k)
        } else {
            na::Vector3::new(mx, my, k)
        }
    }

    fn camera_params(&self) -> nalgebra::DVector<T> {
        na::dvector![
            self.fx.clone(),
            self.fy.clone(),
            self.cx.clone(),
            self.cy.clone()
        ]
    }

    fn distortion_params(&self) -> nalgebra::DVector<T> {
        na::dvector![self.alpha.clone(), self.beta.clone()]
    }

    fn set_w_h(&mut self, w: u32, h: u32) {
        self.width = w;
        self.height = h;
    }

    fn distortion_params_bound(&self) -> Vec<(usize, (f64, f64))> {
        // alpha [0, 1], beta > 0
        vec![(4, (0.0, 1.0)), (5, (0.0, 100.0))]
    }
}