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‎CMakeLists.txt

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SET (PROJECT_NAME robotvision)
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PROJECT(${PROJECT_NAME})
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CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
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OPTION (OPENCV_SUPPORT "opencv support" ON)
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IF (OPENCV_SUPPORT)
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add_definitions(-DRV_OPENCV_SUPPORT)
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ENDIF()
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# override by appending -DCMAKE_BUILD_TYPE=Debug to cmake argument list
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IF( NOT CMAKE_BUILD_TYPE )
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SET( CMAKE_BUILD_TYPE Release )
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add_definitions(-DRV_BUILD_RELEASE)
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ENDIF()
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SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Werror -Wall ")
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SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wall ")
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MESSAGE(STATUS "LIB PATH: ${CMAKE_LIBRARY_PATH}")
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SET (LIB_NAMES lapack f77blas cblas atlas GL cvd ) #jpeg png tiff
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IF (OPENCV_SUPPORT)
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SET (LIB_NAMES ${LIB_NAMES} cv cvaux cxcore highgui)
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ENDIF()
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SET (LIBS "")
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FOREACH(lib ${LIB_NAMES})
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FIND_LIBRARY(LIB_${lib} ${lib})
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IF (LIB_${lib})
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MESSAGE(STATUS "found library '${lib}': ${LIB_${lib}}")
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ELSE (LIB_${lib})
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MESSAGE(FATAL_ERROR "cannot find library '${lib}' - this will not work ...")
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ENDIF (LIB_${lib})
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LIST(APPEND LIBS ${LIB_${lib}})
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ENDFOREACH(lib)
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SET (CLASSES gui_view abstract_view gui_window maths_utils image Camera/linear_camera opencv_helper )
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SET (SOURCES quadtree.h stopwatch.h bundle_adjuster.h graph_optimizer.h transformations.h sparse_cholesky.h sparse_matrix.h rectangle.h sim3.h Camera/abstract_camera.h )
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# Append CSparse Sources
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FILE(GLOB CSPARSE_H "CSparse/*.h")
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FILE(GLOB CSPARSE_C "CSparse/*.c")
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LIST(APPEND SOURCES ${CSPARSE_H} ${CSPARSE_C} )
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FOREACH(class ${CLASSES})
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LIST(APPEND SOURCES ${class}.cpp ${class}.h)
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ENDFOREACH(class)
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LINK_LIBRARIES (${PROJECT_NAME} ${LIBS})
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SET(HEADERS "")
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FOREACH(file ${SOURCES})
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SET(SOURCES_TO_FILE ${SOURCES_TO_FILE} "${file}\n")
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STRING(REGEX MATCH ".*[.][h]" header ${file})
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LIST(APPEND HEADERS ${header})
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ENDFOREACH(file)
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FOREACH(csparse ${CSPARSE_SOURCES})
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LIST(APPEND SOURCES CSparse/${csparse})
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ENDFOREACH(csparse)
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LINK_LIBRARIES (${PROJECT_NAME} ${LIBS})
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ADD_LIBRARY (${PROJECT_NAME} SHARED ${SOURCES} )
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ADD_EXECUTABLE(rss2010_demo rss2010_demo.cpp)
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# Install all .h and .hpp files
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INSTALL(DIRECTORY ./ DESTINATION include/${PROJECT_NAME}
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FILES_MATCHING REGEX ".*[.]h(pp)?"
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PATTERN ".svn" EXCLUDE
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PATTERN "CMakeFiles" EXCLUDE
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PATTERN "debug" EXCLUDE
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PATTERN "release" EXCLUDE
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)
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INSTALL(TARGETS ${PROJECT_NAME}
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib)

‎COPYING

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‎COPYING.LESSER

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GNU LESSER GENERAL PUBLIC LICENSE
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Version 3, 29 June 2007
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Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
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Everyone is permitted to copy and distribute verbatim copies
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of this license document, but changing it is not allowed.
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This version of the GNU Lesser General Public License incorporates
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the terms and conditions of version 3 of the GNU General Public
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License, supplemented by the additional permissions listed below.
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0. Additional Definitions.
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As used herein, "this License" refers to version 3 of the GNU Lesser
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General Public License, and the "GNU GPL" refers to version 3 of the GNU
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General Public License.
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"The Library" refers to a covered work governed by this License,
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other than an Application or a Combined Work as defined below.
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An "Application" is any work that makes use of an interface provided
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by the Library, but which is not otherwise based on the Library.
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Defining a subclass of a class defined by the Library is deemed a mode
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of using an interface provided by the Library.
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A "Combined Work" is a work produced by combining or linking an
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Application with the Library. The particular version of the Library
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with which the Combined Work was made is also called the "Linked
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Version".
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The "Minimal Corresponding Source" for a Combined Work means the
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Corresponding Source for the Combined Work, excluding any source code
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for portions of the Combined Work that, considered in isolation, are
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based on the Application, and not on the Linked Version.
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The "Corresponding Application Code" for a Combined Work means the
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object code and/or source code for the Application, including any data
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and utility programs needed for reproducing the Combined Work from the
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Application, but excluding the System Libraries of the Combined Work.
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1. Exception to Section 3 of the GNU GPL.
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You may convey a covered work under sections 3 and 4 of this License
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without being bound by section 3 of the GNU GPL.
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2. Conveying Modified Versions.
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If you modify a copy of the Library, and, in your modifications, a
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facility refers to a function or data to be supplied by an Application
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that uses the facility (other than as an argument passed when the
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facility is invoked), then you may convey a copy of the modified
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version:
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a) under this License, provided that you make a good faith effort to
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ensure that, in the event an Application does not supply the
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function or data, the facility still operates, and performs
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whatever part of its purpose remains meaningful, or
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b) under the GNU GPL, with none of the additional permissions of
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this License applicable to that copy.
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3. Object Code Incorporating Material from Library Header Files.
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The object code form of an Application may incorporate material from
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a header file that is part of the Library. You may convey such object
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code under terms of your choice, provided that, if the incorporated
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material is not limited to numerical parameters, data structure
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layouts and accessors, or small macros, inline functions and templates
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(ten or fewer lines in length), you do both of the following:
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a) Give prominent notice with each copy of the object code that the
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Library is used in it and that the Library and its use are
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covered by this License.
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b) Accompany the object code with a copy of the GNU GPL and this license
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document.
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4. Combined Works.
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You may convey a Combined Work under terms of your choice that,
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taken together, effectively do not restrict modification of the
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portions of the Library contained in the Combined Work and reverse
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engineering for debugging such modifications, if you also do each of
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the following:
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a) Give prominent notice with each copy of the Combined Work that
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the Library is used in it and that the Library and its use are
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covered by this License.
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b) Accompany the Combined Work with a copy of the GNU GPL and this license
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document.
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c) For a Combined Work that displays copyright notices during
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execution, include the copyright notice for the Library among
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these notices, as well as a reference directing the user to the
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copies of the GNU GPL and this license document.
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d) Do one of the following:
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0) Convey the Minimal Corresponding Source under the terms of this
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License, and the Corresponding Application Code in a form
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suitable for, and under terms that permit, the user to
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recombine or relink the Application with a modified version of
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the Linked Version to produce a modified Combined Work, in the
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manner specified by section 6 of the GNU GPL for conveying
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Corresponding Source.
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1) Use a suitable shared library mechanism for linking with the
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Library. A suitable mechanism is one that (a) uses at run time
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a copy of the Library already present on the user's computer
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system, and (b) will operate properly with a modified version
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of the Library that is interface-compatible with the Linked
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Version.
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e) Provide Installation Information, but only if you would otherwise
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be required to provide such information under section 6 of the
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GNU GPL, and only to the extent that such information is
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necessary to install and execute a modified version of the
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Combined Work produced by recombining or relinking the
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Application with a modified version of the Linked Version. (If
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you use option 4d0, the Installation Information must accompany
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the Minimal Corresponding Source and Corresponding Application
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Code. If you use option 4d1, you must provide the Installation
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Information in the manner specified by section 6 of the GNU GPL
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for conveying Corresponding Source.)
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5. Combined Libraries.
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You may place library facilities that are a work based on the
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Library side by side in a single library together with other library
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facilities that are not Applications and are not covered by this
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License, and convey such a combined library under terms of your
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choice, if you do both of the following:
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a) Accompany the combined library with a copy of the same work based
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on the Library, uncombined with any other library facilities,
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conveyed under the terms of this License.
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b) Give prominent notice with the combined library that part of it
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is a work based on the Library, and explaining where to find the
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accompanying uncombined form of the same work.
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6. Revised Versions of the GNU Lesser General Public License.
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The Free Software Foundation may publish revised and/or new versions
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of the GNU Lesser General Public License from time to time. Such new
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versions will be similar in spirit to the present version, but may
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differ in detail to address new problems or concerns.
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Each version is given a distinguishing version number. If the
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Library as you received it specifies that a certain numbered version
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of the GNU Lesser General Public License "or any later version"
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applies to it, you have the option of following the terms and
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conditions either of that published version or of any later version
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published by the Free Software Foundation. If the Library as you
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received it does not specify a version number of the GNU Lesser
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General Public License, you may choose any version of the GNU Lesser
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General Public License ever published by the Free Software Foundation.
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If the Library as you received it specifies that a proxy can decide
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whether future versions of the GNU Lesser General Public License shall
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apply, that proxy's public statement of acceptance of any version is
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permanent authorization for you to choose that version for the
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Library.

‎Camera/abstract_camera.h

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/**
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* @author Steven Lovegrove, Hauke Strasdat
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*
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* Copyright (C) 2010 Steven Lovegrove, Hauke Strasdat
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* Imperial College London
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*
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* abstract_camera.h is part of RobotVision.
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*
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* RobotVision is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or any later version.
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*
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* RobotVision is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* and the GNU Lesser General Public License along with this program.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef RV_ABSTRACT_CAMERA_H
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#define RV_ABSTRACT_CAMERA_H
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#include <TooN/TooN.h>
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#include <cvd/image_ref.h>
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namespace RobotVision {
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class AbstractCamera
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{
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public:
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/// Image Size
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virtual const CVD::ImageRef& size() const = 0;
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/// Principle Point
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virtual const TooN::Vector<2>& P() const = 0;
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/// Focal Length
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virtual const TooN::Vector<2>& F() const = 0;
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virtual const TooN::Matrix<3,3>& K() const = 0;
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virtual const TooN::Matrix<3,3>& Kinv() const = 0;
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//applies camera intrinsics including distortion
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virtual TooN::Vector<2> map(const TooN::Vector<2>& camframe) const = 0;
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//undo camera intrinsics including undistortion
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virtual TooN::Vector<2> unmap(const TooN::Vector<2>& imframe) const = 0;
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virtual TooN::Matrix<2>
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jacobian(const TooN::Vector<2>& camframe) const = 0;
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virtual TooN::Matrix<2>
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inv_jacobian(const TooN::Vector<2>& imframe) const = 0;
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inline int width() const { return size().x; }
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inline int height() const { return size().y; }
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inline int pixel_area() const { return size().x * size().y; }
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inline double aspect() const { return (double)size().x / (double)size().y; }
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};
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}
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#endif // RV_ABSTRACT_CAMERA_H

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