Calibration of a fisheye camera. More...

#include <Cal3Fisheye.h>

Inheritance diagram for gtsam::Cal3Fisheye:

Public Types
using	shared_ptr = std::shared_ptr< Cal3Fisheye >

Public Types inherited from gtsam::Cal3
using	shared_ptr = std::shared_ptr< Cal3 >

Static Public Attributes
constexpr static auto	dimension = 9
	shared pointer to fisheye calibration object More...

Static Public Attributes inherited from gtsam::Cal3
constexpr static auto	dimension = 5
	shared pointer to calibration object More...

Private Attributes
double	k1_ = 0.0f

double	k2_ = 0.0f
	fisheye distortion coefficients More...

double	k3_ = 0.0f

double	k4_ = 0.0f
	fisheye distortion coefficients More...

double	tol_ = 1e-5
	tolerance value when calibrating More...

Standard Constructors
	Cal3Fisheye ()=default
	Default Constructor with only unit focal length. More...

	Cal3Fisheye (const double fx, const double fy, const double s, const double u0, const double v0, const double k1, const double k2, const double k3, const double k4, double tol=1e-5)

	~Cal3Fisheye () override

Advanced Constructors
	Cal3Fisheye (const Vector9 &v)

Standard Interface
double	k1 () const
	First distortion coefficient. More...

double	k2 () const
	Second distortion coefficient. More...

double	k3 () const
	First tangential distortion coefficient. More...

double	k4 () const
	Second tangential distortion coefficient. More...

Vector4	k () const
	return distortion parameter vector More...

Vector9	vector () const
	Return all parameters as a vector. More...

Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
	convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v] More...

Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const

static double	Scaling (double r)
	Helper function that calculates atan(r)/r. More...

Testable
void	print (const std::string &s="") const override
	print with optional string More...

bool	equals (const Cal3Fisheye &K, double tol=10e-9) const
	assert equality up to a tolerance More...

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3Fisheye &cal)
	Output stream operator. More...

Manifold
size_t	dim () const override
	Return dimensions of calibration manifold object. More...

Cal3Fisheye	retract (const Vector &d) const
	Given delta vector, update calibration. More...

Vector	localCoordinates (const Cal3Fisheye &T2) const
	Given a different calibration, calculate update to obtain it. More...

static size_t	Dim ()
	Return dimensions of calibration manifold object. More...

Clone
virtual std::shared_ptr< Cal3Fisheye >	clone () const

Additional Inherited Members
Public Member Functions inherited from gtsam::Cal3
	Cal3 ()=default
	Create a default calibration that leaves coordinates unchanged. More...

	Cal3 (double fx, double fy, double s, double u0, double v0)
	constructor from doubles More...

	Cal3 (const Vector5 &d)
	constructor from vector More...

	Cal3 (double fov, int w, int h)

virtual	~Cal3 ()
	Virtual destructor. More...

	Cal3 (const std::string &path)

bool	equals (const Cal3 &K, double tol=10e-9) const
	Check if equal up to specified tolerance. More...

double	fx () const
	focal length x More...

double	fy () const
	focal length y More...

double	aspectRatio () const
	aspect ratio More...

double	skew () const
	skew More...

double	px () const
	image center in x More...

double	py () const
	image center in y More...

Point2	principalPoint () const
	return the principal point More...

Vector5	vector () const
	vectorized form (column-wise) More...

virtual Matrix3	K () const
	return calibration matrix K More...

Matrix3	inverse () const
	Return inverted calibration matrix inv(K) More...

Static Public Member Functions inherited from gtsam::Cal3
static size_t	Dim ()
	return DOF, dimensionality of tangent space More...

Protected Attributes inherited from gtsam::Cal3
double	fx_ = 1.0f

double	fy_ = 1.0f
	focal length More...

double	s_ = 0.0f
	skew More...

double	u0_ = 0.0f

double	v0_ = 0.0f
	principal point More...

Detailed Description

Calibration of a fisheye camera.

Uses same distortionmodel as OpenCV, with https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html 3D point in camera frame p = (x, y, z) Intrinsic coordinates: [x_i;y_i] = [x/z; y/z] Distorted coordinates: r² = (x_i)² + (y_i)² th = atan(r) th_d = th(1 + k1*th² + k2*th⁴ + k3*th⁶ + k4*th⁸) [x_d; y_d] = (th_d / r)*[x_i; y_i] Pixel coordinates: K = [fx s u0; 0 fy v0 ;0 0 1] [u; v; 1] = K*[x_d; y_d; 1]

Definition at line 51 of file Cal3Fisheye.h.

Member Typedef Documentation

◆ shared_ptr

using gtsam::Cal3Fisheye::shared_ptr = std::shared_ptr<Cal3Fisheye>

Definition at line 60 of file Cal3Fisheye.h.

Constructor & Destructor Documentation

◆ Cal3Fisheye() [1/3]

gtsam::Cal3Fisheye::Cal3Fisheye ( )

default

Default Constructor with only unit focal length.

◆ Cal3Fisheye() [2/3]

gtsam::Cal3Fisheye::Cal3Fisheye	(	const double	fx,
		const double	fy,
		const double	s,
		const double	u0,
		const double	v0,
		const double	k1,
		const double	k2,
		const double	k3,
		const double	k4,
		double	tol = `1e-5`
	)

inline

Definition at line 68 of file Cal3Fisheye.h.

◆ ~Cal3Fisheye()

gtsam::Cal3Fisheye::~Cal3Fisheye ( )

inlineoverride

Definition at line 78 of file Cal3Fisheye.h.

◆ Cal3Fisheye() [3/3]

gtsam::Cal3Fisheye::Cal3Fisheye ( const Vector9 & v )

inlineexplicit

Definition at line 84 of file Cal3Fisheye.h.

Member Function Documentation

◆ calibrate()

Point2 gtsam::Cal3Fisheye::calibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i, y_i]

Parameters

p	point in image coordinates
Dcal	optional 2*9 Jacobian wrpt intrinsic parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi)

Returns: point in intrinsic coordinates

Definition at line 111 of file Cal3Fisheye.cpp.

◆ clone()

virtual std::shared_ptr<Cal3Fisheye> gtsam::Cal3Fisheye::clone ( ) const

inlinevirtual

Returns: a deep copy of this object

Definition at line 177 of file Cal3Fisheye.h.

◆ Dim()

static size_t gtsam::Cal3Fisheye::Dim ( )

inlinestatic

Return dimensions of calibration manifold object.

Definition at line 160 of file Cal3Fisheye.h.

◆ dim()

size_t gtsam::Cal3Fisheye::dim ( ) const

inlineoverridevirtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3.

Definition at line 157 of file Cal3Fisheye.h.

◆ equals()

bool gtsam::Cal3Fisheye::equals	(	const Cal3Fisheye &	K,
		double	tol = `10e-9`
	)		const

assert equality up to a tolerance

Definition at line 171 of file Cal3Fisheye.cpp.

◆ k()

Vector4 gtsam::Cal3Fisheye::k ( ) const

inline

return distortion parameter vector

Definition at line 108 of file Cal3Fisheye.h.

◆ k1()

double gtsam::Cal3Fisheye::k1 ( ) const

inline

First distortion coefficient.

Definition at line 96 of file Cal3Fisheye.h.

◆ k2()

double gtsam::Cal3Fisheye::k2 ( ) const

inline

Second distortion coefficient.

Definition at line 99 of file Cal3Fisheye.h.

◆ k3()

double gtsam::Cal3Fisheye::k3 ( ) const

inline

First tangential distortion coefficient.

Definition at line 102 of file Cal3Fisheye.h.

◆ k4()

double gtsam::Cal3Fisheye::k4 ( ) const

inline

Second tangential distortion coefficient.

Definition at line 105 of file Cal3Fisheye.h.

◆ localCoordinates()

Vector gtsam::Cal3Fisheye::localCoordinates ( const Cal3Fisheye & T2 ) const

inline

Given a different calibration, calculate update to obtain it.

Definition at line 168 of file Cal3Fisheye.h.

◆ print()

void gtsam::Cal3Fisheye::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Definition at line 165 of file Cal3Fisheye.cpp.

◆ retract()

Cal3Fisheye gtsam::Cal3Fisheye::retract ( const Vector & d ) const

inline

Given delta vector, update calibration.

Definition at line 163 of file Cal3Fisheye.h.

◆ Scaling()

double gtsam::Cal3Fisheye::Scaling ( double r )

static

Helper function that calculates atan(r)/r.

Definition at line 35 of file Cal3Fisheye.cpp.

◆ uncalibrate()

Point2 gtsam::Cal3Fisheye::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v]

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*9 Jacobian wrpt intrinsic parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi)

Returns: point in (distorted) image coordinates

Definition at line 47 of file Cal3Fisheye.cpp.

◆ vector()

Vector9 gtsam::Cal3Fisheye::vector ( ) const

Return all parameters as a vector.

Definition at line 28 of file Cal3Fisheye.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Cal3Fisheye &	cal
	)

friend

Output stream operator.

Definition at line 157 of file Cal3Fisheye.cpp.

Member Data Documentation

◆ dimension

constexpr static auto gtsam::Cal3Fisheye::dimension = 9

inlinestaticconstexpr

shared pointer to fisheye calibration object

Definition at line 58 of file Cal3Fisheye.h.

◆ k1_

double gtsam::Cal3Fisheye::k1_ = 0.0f

private

Definition at line 53 of file Cal3Fisheye.h.

◆ k2_

double gtsam::Cal3Fisheye::k2_ = 0.0f

private

fisheye distortion coefficients

Definition at line 53 of file Cal3Fisheye.h.

◆ k3_

double gtsam::Cal3Fisheye::k3_ = 0.0f

private

Definition at line 54 of file Cal3Fisheye.h.

◆ k4_

double gtsam::Cal3Fisheye::k4_ = 0.0f

private

fisheye distortion coefficients

Definition at line 54 of file Cal3Fisheye.h.

◆ tol_

double gtsam::Cal3Fisheye::tol_ = 1e-5

private

tolerance value when calibrating

Definition at line 55 of file Cal3Fisheye.h.

The documentation for this class was generated from the following files:

Public Types

Static Public Attributes

Private Attributes

Standard Constructors

Advanced Constructors

Standard Interface

Testable

Manifold

Clone

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Cal3Fisheye() [1/3]

◆ Cal3Fisheye() [2/3]

◆ ~Cal3Fisheye()

◆ Cal3Fisheye() [3/3]

Member Function Documentation

◆ calibrate()

◆ clone()

◆ Dim()

◆ dim()

◆ equals()

◆ k()

◆ k1()

◆ k2()

◆ k3()

◆ k4()

◆ localCoordinates()

◆ print()

◆ retract()

◆ Scaling()

◆ uncalibrate()

◆ vector()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ dimension

◆ k1_

◆ k2_

◆ k3_

◆ k4_

◆ tol_