Public Types | Private Attributes | List of all members
gtsam::Cal3Bundler Class Reference

Calibration used by Bundler. More...

#include <Cal3Bundler.h>

Inheritance diagram for gtsam::Cal3Bundler:
Inheritance graph
[legend]

Public Types

enum  { dimension = 3 }
 
using shared_ptr = std::shared_ptr< Cal3Bundler >
 
- Public Types inherited from gtsam::Cal3
enum  { dimension = 5 }
 
using shared_ptr = std::shared_ptr< Cal3 >
 

Private Attributes

double k1_ = 0.0f
 
double k2_ = 0.0f
 radial distortion More...
 
double tol_ = 1e-5
 tolerance value when calibrating More...
 

Standard Constructors

 Cal3Bundler ()=default
 Default constructor. More...
 
 Cal3Bundler (double f, double k1, double k2, double u0=0, double v0=0, double tol=1e-5)
 
 ~Cal3Bundler () override
 

Testable

void print (const std::string &s="") const override
 print with optional string More...
 
bool equals (const Cal3Bundler &K, double tol=10e-9) const
 assert equality up to a tolerance More...
 
GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const Cal3Bundler &cal)
 Output stream operator. More...
 

Standard Interface

double k1 () const
 distorsion parameter k1 More...
 
double k2 () const
 distorsion parameter k2 More...
 
double px () const
 image center in x More...
 
double py () const
 image center in y More...
 
Matrix3 K () const override
 Standard 3*3 calibration matrix. More...
 
Vector4 k () const
 Radial distortion parameters (4 of them, 2 0) More...
 
Vector3 vector () const
 
Point2 uncalibrate (const Point2 &p, OptionalJacobian< 2, 3 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
 : convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives More...
 
Point2 calibrate (const Point2 &pi, OptionalJacobian< 2, 3 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
 
Matrix2 D2d_intrinsic (const Point2 &p) const
 
Matrix23 D2d_calibration (const Point2 &p) const
 
Matrix25 D2d_intrinsic_calibration (const Point2 &p) const
 

Manifold

size_t dim () const override
 return DOF, dimensionality of tangent space More...
 
Cal3Bundler retract (const Vector &d) const
 Update calibration with tangent space delta. More...
 
Vector3 localCoordinates (const Cal3Bundler &T2) const
 Calculate local coordinates to another calibration. More...
 
static size_t Dim ()
 return DOF, dimensionality of tangent space More...
 

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...
 
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 used by Bundler.

Definition at line 32 of file Cal3Bundler.h.

Member Typedef Documentation

◆ shared_ptr

using gtsam::Cal3Bundler::shared_ptr = std::shared_ptr<Cal3Bundler>

Definition at line 45 of file Cal3Bundler.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
dimension 

Definition at line 42 of file Cal3Bundler.h.

Constructor & Destructor Documentation

◆ Cal3Bundler() [1/2]

gtsam::Cal3Bundler::Cal3Bundler ( )
default

Default constructor.

◆ Cal3Bundler() [2/2]

gtsam::Cal3Bundler::Cal3Bundler ( double  f,
double  k1,
double  k2,
double  u0 = 0,
double  v0 = 0,
double  tol = 1e-5 
)
inline

Constructor

Parameters
ffocal length
k1first radial distortion coefficient (quadratic)
k2second radial distortion coefficient (quartic)
u0optional image center (default 0), considered a constant
v0optional image center (default 0), considered a constant
toloptional calibration tolerance value

Definition at line 62 of file Cal3Bundler.h.

◆ ~Cal3Bundler()

gtsam::Cal3Bundler::~Cal3Bundler ( )
inlineoverride

Definition at line 66 of file Cal3Bundler.h.

Member Function Documentation

◆ calibrate()

Point2 gtsam::Cal3Bundler::calibrate ( const Point2 pi,
OptionalJacobian< 2, 3 >  Dcal = {},
OptionalJacobian< 2, 2 >  Dp = {} 
) const

Convert a pixel coordinate to ideal coordinate xy

Parameters
ppoint in image coordinates
toloptional tolerance threshold value for iterative minimization
Dcaloptional 2*3 Jacobian wrpt Cal3Bundler parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in intrinsic coordinates

Definition at line 95 of file Cal3Bundler.cpp.

◆ D2d_calibration()

Matrix23 gtsam::Cal3Bundler::D2d_calibration ( const Point2 p) const
Deprecated:
might be removed in next release, use uncalibrate

Definition at line 140 of file Cal3Bundler.cpp.

◆ D2d_intrinsic()

Matrix2 gtsam::Cal3Bundler::D2d_intrinsic ( const Point2 p) const
Deprecated:
might be removed in next release, use uncalibrate

Definition at line 133 of file Cal3Bundler.cpp.

◆ D2d_intrinsic_calibration()

Matrix25 gtsam::Cal3Bundler::D2d_intrinsic_calibration ( const Point2 p) const
Deprecated:
might be removed in next release, use uncalibrate

Definition at line 147 of file Cal3Bundler.cpp.

◆ Dim()

static size_t gtsam::Cal3Bundler::Dim ( )
inlinestatic

return DOF, dimensionality of tangent space

Definition at line 142 of file Cal3Bundler.h.

◆ dim()

size_t gtsam::Cal3Bundler::dim ( ) const
inlineoverridevirtual

return DOF, dimensionality of tangent space

Reimplemented from gtsam::Cal3.

Definition at line 139 of file Cal3Bundler.h.

◆ equals()

bool gtsam::Cal3Bundler::equals ( const Cal3Bundler K,
double  tol = 10e-9 
) const

assert equality up to a tolerance

Definition at line 58 of file Cal3Bundler.cpp.

◆ k()

Vector4 gtsam::Cal3Bundler::k ( ) const

Radial distortion parameters (4 of them, 2 0)

Definition at line 35 of file Cal3Bundler.cpp.

◆ K()

Matrix3 gtsam::Cal3Bundler::K ( ) const
overridevirtual

Standard 3*3 calibration matrix.

Reimplemented from gtsam::Cal3.

Definition at line 27 of file Cal3Bundler.cpp.

◆ k1()

double gtsam::Cal3Bundler::k1 ( ) const
inline

distorsion parameter k1

Definition at line 87 of file Cal3Bundler.h.

◆ k2()

double gtsam::Cal3Bundler::k2 ( ) const
inline

distorsion parameter k2

Definition at line 90 of file Cal3Bundler.h.

◆ localCoordinates()

Vector3 gtsam::Cal3Bundler::localCoordinates ( const Cal3Bundler T2) const
inline

Calculate local coordinates to another calibration.

Definition at line 150 of file Cal3Bundler.h.

◆ print()

void gtsam::Cal3Bundler::print ( const std::string &  s = "") const
overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Definition at line 52 of file Cal3Bundler.cpp.

◆ px()

double gtsam::Cal3Bundler::px ( ) const
inline

image center in x

Definition at line 93 of file Cal3Bundler.h.

◆ py()

double gtsam::Cal3Bundler::py ( ) const
inline

image center in y

Definition at line 96 of file Cal3Bundler.h.

◆ retract()

Cal3Bundler gtsam::Cal3Bundler::retract ( const Vector d) const
inline

Update calibration with tangent space delta.

Definition at line 145 of file Cal3Bundler.h.

◆ uncalibrate()

Point2 gtsam::Cal3Bundler::uncalibrate ( const Point2 p,
OptionalJacobian< 2, 3 >  Dcal = {},
OptionalJacobian< 2, 2 >  Dp = {} 
) const

: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives

Parameters
ppoint in intrinsic coordinates
Dcaloptional 2*3 Jacobian wrpt Cal3Bundler parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in image coordinates

Definition at line 66 of file Cal3Bundler.cpp.

◆ vector()

Vector3 gtsam::Cal3Bundler::vector ( ) const

Definition at line 42 of file Cal3Bundler.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const Cal3Bundler cal 
)
friend

Output stream operator.

Definition at line 45 of file Cal3Bundler.cpp.

Member Data Documentation

◆ k1_

double gtsam::Cal3Bundler::k1_ = 0.0f
private

Definition at line 34 of file Cal3Bundler.h.

◆ k2_

double gtsam::Cal3Bundler::k2_ = 0.0f
private

radial distortion

Definition at line 34 of file Cal3Bundler.h.

◆ tol_

double gtsam::Cal3Bundler::tol_ = 1e-5
private

tolerance value when calibrating

Definition at line 35 of file Cal3Bundler.h.


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


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:51:01