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<div class="title">affine.h</div> </div>
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<a href="affine_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (c) 2011, Hauke Strasdat</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Copyright (c) 2012, Steven Lovegrove</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Copyright (c) 2021, farm-ng, inc.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Use of this source code is governed by an MIT-style</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// license that can be found in the LICENSE file or at</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// https://opensource.org/licenses/MIT.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <Eigen/Dense></span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span><a class="code" href="namespacesophus.html">sophus</a> {</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div>
<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classsophus_1_1_affine_transform.html">AffineTransform</a> {</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#adc35a61216c1ec5a3dac7e2492a2d8ee"> 17</a></span>  <span class="keyword">static</span> <span class="keywordtype">int</span> constexpr <a class="code" href="classsophus_1_1_affine_transform.html#adc35a61216c1ec5a3dac7e2492a2d8ee">kNumDistortionParams</a> = 0;</div>
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#a32c58289696c5b3f1a5c34a8d1e81008"> 18</a></span>  <span class="keyword">static</span> <span class="keywordtype">int</span> constexpr <a class="code" href="classsophus_1_1_affine_transform.html#a32c58289696c5b3f1a5c34a8d1e81008">kNumParams</a> = 4;</div>
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#abf83a0cfe0949dd436541c30e3b4f955"> 19</a></span>  <span class="keyword">static</span> constexpr <span class="keyword">const</span> std::string_view <a class="code" href="classsophus_1_1_affine_transform.html#abf83a0cfe0949dd436541c30e3b4f955">kProjectionModel</a> =</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="stringliteral">"Pinhole:fx,fy,cx,cy"</span>;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#a5d46688af2074eff307748f2a58014a7"> 23</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_affine_transform.html#a5d46688af2074eff307748f2a58014a7">ProjInCameraZ1Plane</a> = Eigen::Matrix<TScalar, 2, 1>;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#a0ca84401f5e4affc2426e96a34209d7f"> 25</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_affine_transform.html#a0ca84401f5e4affc2426e96a34209d7f">PixelImage</a> = Eigen::Matrix<TScalar, 2, 1>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#a546ea4985d52865f8fff0568982cecf7"> 27</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_affine_transform.html#a546ea4985d52865f8fff0568982cecf7">Params</a> = Eigen::Matrix<TScalar, kNumParams, 1>;</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#a6dd6135235d0f3876471fa43143bce16"> 29</a></span>  <span class="keyword">using</span> <a class="code" href="classsophus_1_1_affine_transform.html#a6dd6135235d0f3876471fa43143bce16">DistorationParams</a> = Eigen::Matrix<TScalar, kNumDistortionParams, 1>;</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TParamsTypeT, <span class="keyword">class</span> TPo<span class="keywordtype">int</span>TypeT></div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#a204086c89c1d7e9830e504a7dcb46a31"> 32</a></span>  <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_affine_transform.html#a204086c89c1d7e9830e504a7dcb46a31">distort</a>(</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  Eigen::MatrixBase<TParamsTypeT> <span class="keyword">const</span>& params,</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  Eigen::MatrixBase<TPointTypeT> <span class="keyword">const</span>& proj_point_in_camera_z1_plane)</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  -> <a class="code" href="classsophus_1_1_affine_transform.html#a0ca84401f5e4affc2426e96a34209d7f">PixelImage<typename TPointTypeT::Scalar></a> {</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  static_assert(</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  TParamsTypeT::ColsAtCompileTime == 1, <span class="stringliteral">"params must be a column-vector"</span>);</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  static_assert(</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  TParamsTypeT::RowsAtCompileTime == <a class="code" href="classsophus_1_1_affine_transform.html#a32c58289696c5b3f1a5c34a8d1e81008">kNumParams</a>,</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="stringliteral">"params must have exactly kNumParams rows"</span>);</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  static_assert(</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  TPointTypeT::ColsAtCompileTime == 1,</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="stringliteral">"point_camera must be a column-vector"</span>);</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  static_assert(</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  TPointTypeT::RowsAtCompileTime == 2,</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="stringliteral">"point_camera must have exactly 2 columns"</span>);</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_affine_transform.html#a0ca84401f5e4affc2426e96a34209d7f">PixelImage<typename TPointTypeT::Scalar></a>(</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  proj_point_in_camera_z1_plane[0] * params[0] + params[2],</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  proj_point_in_camera_z1_plane[1] * params[1] + params[3]);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  }</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TScalar></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#afa8feddd6781dee7a82e97bd1852d14a"> 54</a></span>  <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_affine_transform.html#afa8feddd6781dee7a82e97bd1852d14a">undistort</a>(</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="classsophus_1_1_affine_transform.html#a546ea4985d52865f8fff0568982cecf7">Params<TScalar></a> <span class="keyword">const</span>& params, <a class="code" href="classsophus_1_1_affine_transform.html#a0ca84401f5e4affc2426e96a34209d7f">PixelImage<TScalar></a> <span class="keyword">const</span>& pixel_image)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  -> <a class="code" href="classsophus_1_1_affine_transform.html#a5d46688af2074eff307748f2a58014a7">ProjInCameraZ1Plane<TScalar></a> {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  TScalar proj_x_in_camera_z1_plane =</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  (pixel_image.x() - TScalar(params[2])) / TScalar(params[0]);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  TScalar proj_y_in_camera_z1_plane =</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  (pixel_image.y() - TScalar(params[3])) / TScalar(params[1]);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">return</span> <a class="code" href="classsophus_1_1_affine_transform.html#a5d46688af2074eff307748f2a58014a7">ProjInCameraZ1Plane<TScalar></a>(</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  proj_x_in_camera_z1_plane, proj_y_in_camera_z1_plane);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  }</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">template</span> <<span class="keyword">class</span> TParamsTypeT, <span class="keyword">class</span> TPo<span class="keywordtype">int</span>TypeT></div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classsophus_1_1_affine_transform.html#a907650e4cf05175a28b816bfd179cd2b"> 66</a></span>  <span class="keyword">static</span> <span class="keyword">auto</span> <a class="code" href="classsophus_1_1_affine_transform.html#a907650e4cf05175a28b816bfd179cd2b">dxDistort</a>(</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  Eigen::MatrixBase<TParamsTypeT> <span class="keyword">const</span>& params,</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  Eigen::MatrixBase<TPointTypeT> <span class="keyword">const</span>& <span class="comment">/*proj_point_in_camera_z1_plane*/</span>)</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  -> Eigen::Matrix<typename TPointTypeT::Scalar, 2, 2> {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  static_assert(</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  TParamsTypeT::ColsAtCompileTime == 1, <span class="stringliteral">"params must be a column-vector"</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  static_assert(</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  TParamsTypeT::RowsAtCompileTime == <a class="code" href="classsophus_1_1_affine_transform.html#a32c58289696c5b3f1a5c34a8d1e81008">kNumParams</a>,</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="stringliteral">"params must have exactly kNumParams rows"</span>);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  static_assert(</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  TPointTypeT::ColsAtCompileTime == 1,</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="stringliteral">"point_camera must be a column-vector"</span>);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  static_assert(</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  TPointTypeT::RowsAtCompileTime == 2,</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="stringliteral">"point_camera must have exactly 2 columns"</span>);</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  Eigen::Matrix<typename TPointTypeT::Scalar, 2, 2> dx;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// clang-format off</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  dx << <span class="comment">//</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  params[0], 0,</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  0, params[1];</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="comment">// clang-format on</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">return</span> dx;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> };</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> } <span class="comment">// namespace sophus</span></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html"><div class="ttname"><a href="classsophus_1_1_affine_transform.html">sophus::AffineTransform</a></div><div class="ttdef"><b>Definition:</b> affine.h:15</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_a0ca84401f5e4affc2426e96a34209d7f"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#a0ca84401f5e4affc2426e96a34209d7f">sophus::AffineTransform::PixelImage</a></div><div class="ttdeci">Eigen::Matrix< TScalar, 2, 1 > PixelImage</div><div class="ttdef"><b>Definition:</b> affine.h:25</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_a204086c89c1d7e9830e504a7dcb46a31"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#a204086c89c1d7e9830e504a7dcb46a31">sophus::AffineTransform::distort</a></div><div class="ttdeci">static auto distort(Eigen::MatrixBase< TParamsTypeT > const &params, Eigen::MatrixBase< TPointTypeT > const &proj_point_in_camera_z1_plane) -> PixelImage< typename TPointTypeT::Scalar ></div><div class="ttdef"><b>Definition:</b> affine.h:32</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_a32c58289696c5b3f1a5c34a8d1e81008"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#a32c58289696c5b3f1a5c34a8d1e81008">sophus::AffineTransform::kNumParams</a></div><div class="ttdeci">static constexpr int kNumParams</div><div class="ttdef"><b>Definition:</b> affine.h:18</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_a546ea4985d52865f8fff0568982cecf7"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#a546ea4985d52865f8fff0568982cecf7">sophus::AffineTransform::Params</a></div><div class="ttdeci">Eigen::Matrix< TScalar, kNumParams, 1 > Params</div><div class="ttdef"><b>Definition:</b> affine.h:27</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_a5d46688af2074eff307748f2a58014a7"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#a5d46688af2074eff307748f2a58014a7">sophus::AffineTransform::ProjInCameraZ1Plane</a></div><div class="ttdeci">Eigen::Matrix< TScalar, 2, 1 > ProjInCameraZ1Plane</div><div class="ttdef"><b>Definition:</b> affine.h:23</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_a6dd6135235d0f3876471fa43143bce16"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#a6dd6135235d0f3876471fa43143bce16">sophus::AffineTransform::DistorationParams</a></div><div class="ttdeci">Eigen::Matrix< TScalar, kNumDistortionParams, 1 > DistorationParams</div><div class="ttdef"><b>Definition:</b> affine.h:29</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_a907650e4cf05175a28b816bfd179cd2b"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#a907650e4cf05175a28b816bfd179cd2b">sophus::AffineTransform::dxDistort</a></div><div class="ttdeci">static auto dxDistort(Eigen::MatrixBase< TParamsTypeT > const &params, Eigen::MatrixBase< TPointTypeT > const &) -> Eigen::Matrix< typename TPointTypeT::Scalar, 2, 2 ></div><div class="ttdef"><b>Definition:</b> affine.h:66</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_abf83a0cfe0949dd436541c30e3b4f955"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#abf83a0cfe0949dd436541c30e3b4f955">sophus::AffineTransform::kProjectionModel</a></div><div class="ttdeci">static constexpr const std::string_view kProjectionModel</div><div class="ttdef"><b>Definition:</b> affine.h:19</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_adc35a61216c1ec5a3dac7e2492a2d8ee"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#adc35a61216c1ec5a3dac7e2492a2d8ee">sophus::AffineTransform::kNumDistortionParams</a></div><div class="ttdeci">static constexpr int kNumDistortionParams</div><div class="ttdef"><b>Definition:</b> affine.h:17</div></div>
<div class="ttc" id="aclasssophus_1_1_affine_transform_html_afa8feddd6781dee7a82e97bd1852d14a"><div class="ttname"><a href="classsophus_1_1_affine_transform.html#afa8feddd6781dee7a82e97bd1852d14a">sophus::AffineTransform::undistort</a></div><div class="ttdeci">static auto undistort(Params< TScalar > const &params, PixelImage< TScalar > const &pixel_image) -> ProjInCameraZ1Plane< TScalar ></div><div class="ttdef"><b>Definition:</b> affine.h:54</div></div>
<div class="ttc" id="anamespacesophus_html"><div class="ttname"><a href="namespacesophus.html">sophus</a></div><div class="ttdoc">Image MutImage, owning images types.</div><div class="ttdef"><b>Definition:</b> num_diff.h:20</div></div>
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