#include <Cal3Bundler.h>

Inheritance diagram for gtsam::Cal3Bundler:

Public Types
enum	{ dimension = 3 }

Public Types inherited from gtsam::Cal3
enum	{ dimension = 5 }

using	shared_ptr = boost::shared_ptr< Cal3 >

Public Member Functions
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

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=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives More...

Point2	calibrate (const Point2 &pi, OptionalJacobian< 2, 3 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const

Matrix2	D2d_intrinsic (const Point2 &p) const

Matrix23	D2d_calibration (const Point2 &p) const

Matrix25	D2d_intrinsic_calibration (const Point2 &p) const

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...

Private Attributes
double	k1_ = 0.0f

double	k2_ = 0.0f
	radial distortion More...

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

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3Bundler &cal)
	Output stream operator. More...

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...

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...

Advanced Interface
class	boost::serialization::access

template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Additional Inherited Members
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

Definition at line 32 of file Cal3Bundler.h.

Member Enumeration Documentation

anonymous enum

Enumerator
dimension

Definition at line 42 of file Cal3Bundler.h.

Constructor & Destructor Documentation

gtsam::Cal3Bundler::Cal3Bundler ( )

default

Default constructor.

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

inline

Constructor

Parameters

f	focal length
k1	first radial distortion coefficient (quadratic)
k2	second radial distortion coefficient (quartic)
u0	optional image center (default 0), considered a constant
v0	optional image center (default 0), considered a constant
tol	optional calibration tolerance value

Definition at line 59 of file Cal3Bundler.h.

gtsam::Cal3Bundler::~Cal3Bundler ( )

inlineoverride

Definition at line 63 of file Cal3Bundler.h.

Member Function Documentation

Point2 gtsam::Cal3Bundler::calibrate	(	const Point2 &	pi,
		OptionalJacobian< 2, 3 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		const

Convert a pixel coordinate to ideal coordinate xy

Parameters

p	point in image coordinates
tol	optional tolerance threshold value for iterative minimization
Dcal	optional 2*3 Jacobian wrpt Cal3Bundler parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in intrinsic coordinates

Definition at line 95 of file Cal3Bundler.cpp.

Matrix23 gtsam::Cal3Bundler::D2d_calibration ( const Point2 & p ) const

Deprecated:: might be removed in next release, use uncalibrate

Definition at line 135 of file Cal3Bundler.cpp.

Matrix2 gtsam::Cal3Bundler::D2d_intrinsic ( const Point2 & p ) const

Deprecated:: might be removed in next release, use uncalibrate

Definition at line 128 of file Cal3Bundler.cpp.

Matrix25 gtsam::Cal3Bundler::D2d_intrinsic_calibration ( const Point2 & p ) const

Deprecated:: might be removed in next release, use uncalibrate

Definition at line 142 of file Cal3Bundler.cpp.

size_t gtsam::Cal3Bundler::dim ( ) const

inlineoverridevirtual

return DOF, dimensionality of tangent space

Reimplemented from gtsam::Cal3.

Definition at line 144 of file Cal3Bundler.h.

static size_t gtsam::Cal3Bundler::Dim ( )

inlinestatic

return DOF, dimensionality of tangent space

Definition at line 147 of file Cal3Bundler.h.

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.

Matrix3 gtsam::Cal3Bundler::K ( ) const

overridevirtual

Standard 3*3 calibration matrix.

Reimplemented from gtsam::Cal3.

Definition at line 27 of file Cal3Bundler.cpp.

Vector4 gtsam::Cal3Bundler::k ( ) const

Radial distortion parameters (4 of them, 2 0)

Definition at line 35 of file Cal3Bundler.cpp.

double gtsam::Cal3Bundler::k1 ( ) const

inline

distorsion parameter k1

Definition at line 84 of file Cal3Bundler.h.

double gtsam::Cal3Bundler::k2 ( ) const

inline

distorsion parameter k2

Definition at line 87 of file Cal3Bundler.h.

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

inline

Calculate local coordinates to another calibration.

Definition at line 155 of file Cal3Bundler.h.

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.

double gtsam::Cal3Bundler::px ( ) const

inline

image center in x

Definition at line 90 of file Cal3Bundler.h.

double gtsam::Cal3Bundler::py ( ) const

inline

image center in y

Definition at line 93 of file Cal3Bundler.h.

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

inline

Update calibration with tangent space delta.

Definition at line 150 of file Cal3Bundler.h.

template<class Archive >

void gtsam::Cal3Bundler::serialize	(	Archive &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 167 of file Cal3Bundler.h.

Point2 gtsam::Cal3Bundler::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 3 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		const

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

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*3 Jacobian wrpt Cal3Bundler parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in image coordinates

Definition at line 66 of file Cal3Bundler.cpp.

Vector3 gtsam::Cal3Bundler::vector ( ) const

Definition at line 42 of file Cal3Bundler.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 165 of file Cal3Bundler.h.

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

double gtsam::Cal3Bundler::k1_ = 0.0f

private

Definition at line 34 of file Cal3Bundler.h.

double gtsam::Cal3Bundler::k2_ = 0.0f

private

radial distortion

Definition at line 34 of file Cal3Bundler.h.

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:

Public Types

Public Member Functions

Private Attributes

Testable

Manifold

Advanced Interface

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation