distortion_model.h

浏览该文件的文档.

/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <memory>
#include <string>
 
#include "modules/perception/common/base/camera.h"
 
namespace apollo {
namespace perception {
namespace base {
 
class BaseCameraDistortionModel {
 public:
  BaseCameraDistortionModel() = default;
  virtual ~BaseCameraDistortionModel() = default;
 
  // @brief: project a point from camera space to image plane
  // @params[IN] point3d: 3d point in camera space;
  // @return: 2d point in image plane
  // @note: the input point should be in front of the camera,
  //        i.e. point3d[2] > 0
  virtual Eigen::Vector2f Project(const Eigen::Vector3f& point3d) = 0;
 
  virtual std::shared_ptr<BaseCameraModel> get_camera_model() = 0;
  virtual std::string name() const = 0;
  virtual bool set_params(size_t width, size_t height,
                          const Eigen::VectorXf& params) = 0;
 
  size_t get_height() const { return height_; }
  size_t get_width() const { return width_; }
 
 protected:
  size_t width_ = 0;
  size_t height_ = 0;
};
 
/* TODO(all): to remove
typedef std::shared_ptr<BaseCameraDistortionModel> BaseCameraDistortionModelPtr;
typedef std::shared_ptr<const BaseCameraDistortionModel>
    BaseCameraDistortionModelConstPtr;
*/
 
class BrownCameraDistortionModel : public BaseCameraDistortionModel {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
 public:
  BrownCameraDistortionModel() = default;
  ~BrownCameraDistortionModel() = default;
 
  Eigen::Vector2f Project(const Eigen::Vector3f& point3d) override;
 
  std::shared_ptr<BaseCameraModel> get_camera_model() override;
 
  std::string name() const override { return "BrownCameraDistortionModel"; }
 
  bool set_params(size_t width, size_t height,
                  const Eigen::VectorXf& params) override;
 
  inline Eigen::Matrix3f get_intrinsic_params() const {
    return intrinsic_params_;
  }
 
  inline Eigen::Matrix<float, 8, 1> get_distort_params() const {
    return distort_params_;
  }
 
 protected:
  Eigen::Matrix3f intrinsic_params_;
  Eigen::Matrix<float, 8, 1> distort_params_;
};
 
using BrownCameraDistortionModelPtr =
    std::shared_ptr<BrownCameraDistortionModel>;
 
using BrownCameraDistortionModelConstPtr =
    std::shared_ptr<const BrownCameraDistortionModel>;
 
}  // namespace base
}  // namespace perception
}  // namespace apollo