windows下编译PTAM所需已编译好的libcvd，gvars库的相关内容

/* This file is part of the CVD Library. Copyright (C) 2005 The Authors This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA */ //-*- c++ -*- #ifndef __CAMERA_H #define __CAMERA_H #include <cmath> #include <TooN/TooN.h> #include <TooN/helpers.h> template<class T> inline T SAT(T x){return (x<-1.0/3?-1e9:x);} /// Classes which represent camera calibrations. /// @ingroup gVision namespace Camera { /// A linear camera with zero skew /// @ingroup gVision class Linear { public: /// The number of parameters in the camera static const int num_parameters=4; ///Load parameters from a stream ///@param is The stream to use inline void load(std::istream& is); /// Save parameters to a stream ///@param os The stream to use inline void save(std::ostream& os); /// 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(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; /// 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; /// 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 ; /// Get the component of the motion of a point in the direction provided /// with respect to each of the internal camera parameters /// @param direction The (x,y) direction to use inline TooN::Vector<num_parameters> get_parameter_derivs(const TooN::Vector<2>& direction) const ; /// Update the internal camera parameters by adding the vector given /// @param updates Update vector in the format /// \f$ \begin{pmatrix}\Delta f_u & \Delta f_v & \Delta u_0 & \Delta v_0 \end{pmatrix} \f$ inline void update(const TooN::Vector<num_parameters>& updates); /// Returns the vector of camera parameters in the format /// \f$ \begin{pmatrix}f_u & f_v & u_0 & v_0 \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; mutable TooN::Vector<2> my_last_camframe; }; /// A camera with zero skew and cubic distortion /// @ingroup gVision class Cubic { public: /// The number of parameters in the camera static const int num_parameters=5; ///Load parameters from a stream ///@param is The stream to use inline void load(std::istream& is); /// Save parameters to a stream ///@param os The stream to use inline void save(std::ostream& os); /// Fast linear projection for working out what's there inline TooN::Vector<2> linearproject(const TooN::Vector<2>& camframe, double scale=1); /// Project from Euclidean camera frame to image plane 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); /// 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(); /// 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 ; /// Get the component of the motion of a point in the direction provided /// with respect to each of the internal camera parameters /// @param direction The (x,y) direction to use inline TooN::Vector<num_parameters> get_parameter_derivs(const TooN::Vector<2>& direction) const ; /// Update the internal camera parameters by adding the vector given /// @param updates Update vector in the format /// \f$ \begin{pmatrix}\Delta f_u & \Delta f_v & \Delta u_0 & \Delta v_0 & \Delta c\end{pmatrix} \f$ inline void update(const TooN::Vector<num_parameters>& updates); /// 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 mutable TooN::Vector<2> my_last_camframe; }; /// A camera with zero skew and quintic distortion /// @ingroup gVision class Quintic { public: /// The number of parameters in the camera static const int num_parameters=6; ///Load parameters from a stream ///@param is The stream to use inline void load(std::istream& is); /// Save parameters to a stream ///@param os The stream to use inline void save(std::ostream& os); /// 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>& x, const TooN::Vector<2>& d) const { const double xsq = x*x; const double& a = my_camera_parameters[4]; const double& b = my_camera_parameters[5]; return (2 * (a + 2*b*xsq) * (x*d) * TooN::diagmult(my_camera_parameters.slice<0,2>(), x) + (1 + a*xsq + b*xsq*xsq)*TooN::diagmult(my_camera_parameters.slice<0,2>(), d)); } 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; inline std::pair<TooN::Vector<2>, TooN::Matrix<2> > project(const TooN::Vector<2>& camframe, const TooN::Matrix<2>& R) const; /// Project from image plane to a Euclidean camera inline TooN::Vector<2> unproject(const TooN::Vector<2>& imframe) const; inline std::pair<TooN::Vector<2>, TooN::Matrix<2> > unproject(const TooN::Vector<2>& imframe, const TooN::Matrix<2>& R) const; /// 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}}{\