[Libcvd-members] libcvd/cvd camera.h

[Ethan Eade]

CVSROOT:        /cvsroot/libcvd
Module name:    libcvd
Branch:         
Changes by:     Ethan Eade <address@hidden>     06/05/16 13:26:02

Modified files:
        cvd            : camera.h 

Log message:
        Added project_vector and unproject_vector to quintic camera, and
        get_derivative(Vector<2>) for getting the derivative at a point.

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/libcvd/libcvd/cvd/camera.h.diff?tr1=1.13&tr2=1.14&r1=text&r2=text

Patches:
Index: libcvd/cvd/camera.h
diff -u libcvd/cvd/camera.h:1.13 libcvd/cvd/camera.h:1.14
--- libcvd/cvd/camera.h:1.13    Thu Mar 16 14:04:30 2006
+++ libcvd/cvd/camera.h Tue May 16 13:26:02 2006
@@ -147,6 +147,16 @@
     /// Fast linear projection for working out what's there
     inline TooN::Vector<2> linearproject(const TooN::Vector<2>& camframe, 
double scale=1) const ;
        /// Project from Euclidean camera frame to image plane
+
+       inline TooN::Vector<2> project_vector(const TooN::Vector<2>& d) const {
+           return diagmult(my_camera_parameters.slice<0,2>(), d);
+       }
+       inline TooN::Vector<2> unproject_vector(const TooN::Vector<2>& d) const 
{
+           TooN::Vector<2> v;
+           v[0] = d[0]/my_camera_parameters[0];
+           v[1] = d[1]/my_camera_parameters[1];
+           return v;
+       }
     inline TooN::Vector<2> project(const TooN::Vector<2>& camframe) const; 
        /// Project from image plane to a Euclidean camera
     inline TooN::Vector<2> unproject(const TooN::Vector<2>& imframe) const;
@@ -154,6 +164,7 @@
     /// Get the derivative of image frame wrt camera frame at the last 
computed projection
     /// 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;
+    inline TooN::Matrix<2,2> get_derivative(const TooN::Vector<2>& x) const;
 
     /// 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 ;
@@ -401,6 +412,17 @@
   return result;
 }
 
+TooN::Matrix<2,2> Camera::Quintic::get_derivative(const TooN::Vector<2>& x) 
const {
+    TooN::Matrix<2,2> result;
+    double temp1=x*x;
+    double temp2=my_camera_parameters[5]*temp1;
+    Identity(result,1+temp1*(my_camera_parameters[4]+temp2));
+    result += (2*(my_camera_parameters[4]+2*temp2)*x.as_col()) * x.as_row();
+    result[0] *= my_camera_parameters[0];
+    result[1] *= my_camera_parameters[1];
+    return result;
+}
+
 TooN::Matrix<Camera::Quintic::num_parameters,2> 
Camera::Quintic::get_parameter_derivs() const {
   TooN::Matrix<num_parameters,2> result;
   double r2 = my_last_camframe * my_last_camframe;