Calibration of a camera with radial distortion that also supports Lie-group behaviors for optimization.
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| Cal3DS2_Base ()=default |
| Default Constructor with only unit focal length. More...
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| Cal3DS2_Base (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double tol=1e-5) |
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| ~Cal3DS2_Base () override |
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| Cal3DS2_Base (const Vector9 &v) |
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void | print (const std::string &s="") const override |
| print with optional string More...
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bool | equals (const Cal3DS2_Base &K, double tol=1e-8) const |
| assert equality up to a tolerance More...
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double | k1 () const |
| First distortion coefficient. More...
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double | k2 () const |
| Second distortion coefficient. More...
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double | p1 () const |
| First tangential distortion coefficient. More...
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double | p2 () const |
| Second tangential distortion coefficient. More...
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Vector4 | k () const |
| return distortion parameter vector More...
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Vector9 | vector () const |
| Return all parameters as a vector. More...
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Point2 | uncalibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const |
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Point2 | calibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const |
| Convert (distorted) image coordinates uv to intrinsic coordinates xy. More...
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Matrix2 | D2d_intrinsic (const Point2 &p) const |
| Derivative of uncalibrate wrpt intrinsic coordinates. More...
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Matrix29 | D2d_calibration (const Point2 &p) const |
| Derivative of uncalibrate wrpt the calibration parameters. More...
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size_t | dim () const override |
| return DOF, dimensionality of tangent space More...
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| Cal3 ()=default |
| Create a default calibration that leaves coordinates unchanged. More...
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| Cal3 (double fx, double fy, double s, double u0, double v0) |
| constructor from doubles More...
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| Cal3 (const Vector5 &d) |
| constructor from vector More...
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| Cal3 (double fov, int w, int h) |
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virtual | ~Cal3 () |
| Virtual destructor. More...
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| Cal3 (const std::string &path) |
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bool | equals (const Cal3 &K, double tol=10e-9) const |
| Check if equal up to specified tolerance. More...
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double | fx () const |
| focal length x More...
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double | fy () const |
| focal length y More...
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double | aspectRatio () const |
| aspect ratio More...
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double | skew () const |
| skew More...
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double | px () const |
| image center in x More...
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double | py () const |
| image center in y More...
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Point2 | principalPoint () const |
| return the principal point More...
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Vector5 | vector () const |
| vectorized form (column-wise) More...
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virtual Matrix3 | K () const |
| return calibration matrix K More...
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Matrix3 | inverse () const |
| Return inverted calibration matrix inv(K) More...
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static size_t | Dim () |
| return DOF, dimensionality of tangent space More...
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static size_t | Dim () |
| return DOF, dimensionality of tangent space More...
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double | k1_ = 0.0f |
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double | k2_ = 0.0f |
| radial 2nd-order and 4th-order More...
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double | p1_ = 0.0f |
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double | p2_ = 0.0f |
| tangential distortion More...
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double | tol_ = 1e-5 |
| tolerance value when calibrating More...
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double | fx_ = 1.0f |
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double | fy_ = 1.0f |
| focal length More...
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double | s_ = 0.0f |
| skew More...
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double | u0_ = 0.0f |
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double | v0_ = 0.0f |
| principal point More...
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Calibration of a camera with radial distortion that also supports Lie-group behaviors for optimization.
- See also
- Cal3DS2_Base
Definition at line 35 of file Cal3DS2.h.