[libcvd-members] libcvd/cvd camera.h

[Olaf Kähler]

CVSROOT:        /sources/libcvd
Module name:    libcvd
Changes by:     Olaf Kähler <ok245>     10/04/21 13:38:55

Modified files:
        cvd            : camera.h 

Log message:
        allow calculation of derivatives of Camera::Harris without first 
calling project()

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/libcvd/cvd/camera.h?cvsroot=libcvd&r1=1.23&r2=1.24

Patches:
Index: camera.h
===================================================================
RCS file: /sources/libcvd/libcvd/cvd/camera.h,v
retrieving revision 1.23
retrieving revision 1.24
diff -u -b -r1.23 -r1.24
--- camera.h    14 Apr 2009 12:57:53 -0000      1.23
+++ camera.h    21 Apr 2010 13:38:54 -0000      1.24
@@ -124,6 +124,7 @@
        /// Returns the vector of camera parameters in the format
        /// \f$ \begin{pmatrix}f_u & f_v & u_0 & v_0 & c\end{pmatrix} \f$
     inline TooN::Vector<num_parameters>& get_parameters() {return 
my_camera_parameters;}
+    inline const TooN::Vector<num_parameters>& get_parameters() const {return 
my_camera_parameters;}
 
   private:
     TooN::Vector<num_parameters> my_camera_parameters; // f_u, f_v, u_0, v_0
@@ -283,10 +284,17 @@
                        /// in the form \f$ \begin{bmatrix} \frac{\partial 
\text{im1}}{\partial \text{cam1}} & \frac{\partial \text{im1}}{\partial 
\text{cam2}} \\ \frac{\partial \text{im2}}{\partial \text{cam1}} & 
\frac{\partial \text{im2}}{\partial \text{cam2}} \end{bmatrix} \f$
                        inline TooN::Matrix<2,2> get_derivative() const
                        {
+                               return get_derivative(my_last_camframe);
+                       }
+
+                       /// Evaluate the derivative of image frame wrt camera 
frame at an arbitrary point @p pt.
+                       /// @sa get_derivative()
+                       inline TooN::Matrix<2,2> get_derivative(const 
TooN::Vector<2>& pt) const
+                       {
                                TooN::Matrix<2,2> J;
 
-                               double xc = my_last_camframe[0];
-                               double yc = my_last_camframe[1];
+                               double xc = pt[0];
+                               double yc = pt[1];
 
                                double fu= my_camera_parameters[0];
                                double fv= my_camera_parameters[1];
@@ -295,10 +303,10 @@
                                double g = 1/sqrt(1 + a * (xc*xc + yc*yc));
                                double g3= g*g*g;
                                
-                               J[0][0] = fu * (g - 2 * a * xc*xc*g3);
-                               J[0][1] = -2 * fu * a * xc * yc * g3;
-                               J[1][0] = -2 * fv * a * xc * yc * g3;
-                               J[1][1] = fv * (g - 2 * a * yc*yc*g3);
+                               J[0][0] = fu * (g - a * xc*xc*g3);
+                               J[0][1] = - fu * a * xc * yc * g3;
+                               J[1][0] = - fv * a * xc * yc * g3;
+                               J[1][1] = fv * (g - a * yc*yc*g3);
 
                                return J;
                        }
@@ -306,12 +314,19 @@
                        /// Get the motion of a point with respect to each of 
the internal camera parameters
                        inline TooN::Matrix<num_parameters,2> 
get_parameter_derivs() const 
                        {
-                               TooN::Vector<2> mod_camframe = 
radial_distort(my_last_camframe);
+                               return 
get_parameter_derivs_at(my_last_camframe);
+                       }
+
+                       /// Evaluate the derivative of the image coordinates of 
a given point @p pt in camera
+                       /// coordinates with respect to each of the internal 
camera parameters
+                       inline TooN::Matrix<num_parameters,2> 
get_parameter_derivs_at(const TooN::Vector<2>& pt) const
+                       {
+                               TooN::Vector<2> mod_camframe = 
radial_distort(pt);
 
                                TooN::Matrix<5, 2> result;
 
-                               double xc = my_last_camframe[0];
-                               double yc = my_last_camframe[1];
+                               double xc = pt[0];
+                               double yc = pt[1];
                                double r2 = xc*xc + yc*yc;
 
                                double fu= my_camera_parameters[0];
@@ -328,8 +343,6 @@
                                result[3][0] = 0;
                                result[4][0] = - fu * xc * r2 / 2 * g3;
 
-
-
                                //Derivatives of y_image:
                                result[0][1] = 0;
                                result[1][1] = mod_camframe[1];
@@ -359,6 +372,10 @@
                        {
                                return my_camera_parameters;
                        }
+                       inline const TooN::Vector<num_parameters>& 
get_parameters() const
+                       {
+                               return my_camera_parameters;
+                       }
 
                  private:
                        TooN::Vector<num_parameters> my_camera_parameters; // 
f_u, f_v, u_0, v_0, alpha