-
Notifications
You must be signed in to change notification settings - Fork 13
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge remote-tracking branch 'origin/master' into feature/ppca
- Loading branch information
Showing
11 changed files
with
516 additions
and
36 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,116 @@ | ||
|
|
||
| /// The five-parameter camera calibration. | ||
| public struct Cal3_S2: Manifold, Equatable { | ||
| public typealias Coordinate = Cal3_S2Coordinate | ||
| public typealias TangentVector = Vector5 | ||
|
|
||
| public var coordinateStorage: Cal3_S2Coordinate | ||
|
|
||
| public init() { | ||
| self.init(coordinateStorage: Cal3_S2Coordinate()) | ||
| } | ||
|
|
||
| public init(coordinateStorage: Cal3_S2Coordinate) { | ||
| self.coordinateStorage = coordinateStorage | ||
| } | ||
|
|
||
| /// Initializes from individual values. | ||
| public init(fx: Double, fy: Double, s: Double, u0: Double, v0: Double) { | ||
| self.init(coordinateStorage: Cal3_S2Coordinate(fx: fx, fy: fy, s: s, u0: u0, v0: v0)) | ||
| } | ||
|
|
||
| /// Moves the parameter values by the specified direction. | ||
| public mutating func move(along direction: Vector5) { | ||
| coordinateStorage = coordinateStorage.retract(direction) | ||
| } | ||
| } | ||
|
|
||
| /// CameraCalibration conformance. | ||
| extension Cal3_S2: CameraCalibration { | ||
| @differentiable | ||
| public func uncalibrate(_ np: Vector2) -> Vector2 { | ||
| coordinate.uncalibrate(np) | ||
| } | ||
|
|
||
| @differentiable | ||
| public func calibrate(_ ip: Vector2) -> Vector2 { | ||
| coordinate.calibrate(ip) | ||
| } | ||
| } | ||
|
|
||
|
|
||
| /// Manifold coordinate for Cal3_S2. | ||
| public struct Cal3_S2Coordinate: Equatable { | ||
| /// Focal length in X direction. | ||
| public var fx: Double | ||
|
|
||
| /// Focal length in Y direction. | ||
| public var fy: Double | ||
|
|
||
| /// Skew factor. | ||
| public var s: Double | ||
|
|
||
| /// Image center in X direction. | ||
| public var u0: Double | ||
|
|
||
| /// Image center in Y direction. | ||
| public var v0: Double | ||
|
|
||
| /// Initializes from individual values. | ||
| public init(fx: Double, fy: Double, s: Double, u0: Double, v0: Double) { | ||
| self.fx = fx | ||
| self.fy = fy | ||
| self.s = s | ||
| self.u0 = u0 | ||
| self.v0 = v0 | ||
| } | ||
|
|
||
| /// Initializes from a vector. | ||
| public init(_ params: Vector5) { | ||
| self.fx = params.s0 | ||
| self.fy = params.s1 | ||
| self.s = params.s2 | ||
| self.u0 = params.s3 | ||
| self.v0 = params.s4 | ||
| } | ||
|
|
||
| /// Initializes with default values, corresponding to the identity element. | ||
| public init() { | ||
| self.init(fx: 1.0, fy: 1.0, s: 0.0, u0: 0.0, v0: 0.0) | ||
| } | ||
|
|
||
| /// Returns the parameters as a vector. | ||
| public func asVector() -> Vector5 { | ||
| Vector5(fx, fy, s, u0, v0) | ||
| } | ||
| } | ||
|
|
||
| /// ManifoldCoordinate conformance. | ||
| extension Cal3_S2Coordinate: ManifoldCoordinate { | ||
| public typealias LocalCoordinate = Vector5 | ||
|
|
||
| @differentiable(wrt: local) | ||
| public func retract(_ local: Vector5) -> Cal3_S2Coordinate { | ||
| Cal3_S2Coordinate(asVector() + local) | ||
| } | ||
|
|
||
| @differentiable(wrt: global) | ||
| public func localCoordinate(_ global: Cal3_S2Coordinate) -> Vector5 { | ||
| global.asVector() - asVector() | ||
| } | ||
| } | ||
|
|
||
| /// Operations on a point. | ||
| extension Cal3_S2Coordinate { | ||
| @differentiable | ||
| public func uncalibrate(_ np: Vector2) -> Vector2 { | ||
| Vector2(fx * np.x + s * np.y + u0, fy * np.y + v0) | ||
| } | ||
|
|
||
| @differentiable | ||
| public func calibrate(_ ip: Vector2) -> Vector2 { | ||
| let (du, dv) = (ip.x - u0, ip.y - v0) | ||
| let (fxInv, fyInv) = (1.0 / fx, 1.0 / fy) | ||
| return Vector2(fxInv * du - s * fxInv * fyInv * dv, fyInv * dv) | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
|
|
||
| /// A protocol for camera calibration parameters. | ||
| public protocol CameraCalibration: Differentiable { | ||
| /// Initializes to default (usually identity). | ||
| init() | ||
|
|
||
| /// Converts from image coordinate to normalized coordinate. | ||
| @differentiable | ||
| func calibrate(_ ip: Vector2) -> Vector2 | ||
|
|
||
| /// Converts from normalized coordinate to image coordinate. | ||
| @differentiable | ||
| func uncalibrate(_ np: Vector2) -> Vector2 | ||
| } |
Oops, something went wrong.