#include <Cal3Fisheye.h>

Inheritance diagram for gtsam::Cal3Fisheye:

Public Types
enum	{ dimension = 9 }

using	shared_ptr = boost::shared_ptr< Cal3Fisheye >

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

using	shared_ptr = boost::shared_ptr< Cal3 >

Public Member Functions
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)

Clone
virtual boost::shared_ptr< Cal3Fisheye >	clone () 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...

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

Matrix3	inverse () const
	Return inverted calibration matrix inv(K) 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 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=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v] More...

Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const

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

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

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...

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...

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 49 of file Cal3Fisheye.h.

Member Typedef Documentation

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

Definition at line 58 of file Cal3Fisheye.h.

Member Enumeration Documentation

anonymous enum

Enumerator
dimension

Definition at line 56 of file Cal3Fisheye.h.

Constructor & Destructor Documentation

gtsam::Cal3Fisheye::Cal3Fisheye ( )

default

Default Constructor with only unit focal length.

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 66 of file Cal3Fisheye.h.

gtsam::Cal3Fisheye::~Cal3Fisheye ( )

inlineoverride

Definition at line 76 of file Cal3Fisheye.h.

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

inlineexplicit

Definition at line 82 of file Cal3Fisheye.h.

Member Function Documentation

Point2 gtsam::Cal3Fisheye::calibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		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 107 of file Cal3Fisheye.cpp.

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

inlinevirtual

Returns: a deep copy of this object

Definition at line 175 of file Cal3Fisheye.h.

size_t gtsam::Cal3Fisheye::dim ( ) const

inlineoverridevirtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3.

Definition at line 155 of file Cal3Fisheye.h.

static size_t gtsam::Cal3Fisheye::Dim ( )

inlinestatic

Return dimensions of calibration manifold object.

Definition at line 158 of file Cal3Fisheye.h.

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

assert equality up to a tolerance

Definition at line 157 of file Cal3Fisheye.cpp.

Vector4 gtsam::Cal3Fisheye::k ( ) const

inline

return distortion parameter vector

Definition at line 106 of file Cal3Fisheye.h.

double gtsam::Cal3Fisheye::k1 ( ) const

inline

First distortion coefficient.

Definition at line 94 of file Cal3Fisheye.h.

double gtsam::Cal3Fisheye::k2 ( ) const

inline

Second distortion coefficient.

Definition at line 97 of file Cal3Fisheye.h.

double gtsam::Cal3Fisheye::k3 ( ) const

inline

First tangential distortion coefficient.

Definition at line 100 of file Cal3Fisheye.h.

double gtsam::Cal3Fisheye::k4 ( ) const

inline

Second tangential distortion coefficient.

Definition at line 103 of file Cal3Fisheye.h.

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

inline

Given a different calibration, calculate update to obtain it.

Definition at line 166 of file Cal3Fisheye.h.

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

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Definition at line 151 of file Cal3Fisheye.cpp.

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

inline

Given delta vector, update calibration.

Definition at line 161 of file Cal3Fisheye.h.

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

static

Helper function that calculates atan(r)/r.

Definition at line 35 of file Cal3Fisheye.cpp.

template<class Archive >

void gtsam::Cal3Fisheye::serialize	(	Archive &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 188 of file Cal3Fisheye.h.

Point2 gtsam::Cal3Fisheye::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		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.

Vector9 gtsam::Cal3Fisheye::vector ( ) const

Return all parameters as a vector.

Definition at line 28 of file Cal3Fisheye.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 186 of file Cal3Fisheye.h.

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

friend

Output stream operator.

Definition at line 143 of file Cal3Fisheye.cpp.

Member Data Documentation

double gtsam::Cal3Fisheye::k1_ = 0.0f

private

Definition at line 51 of file Cal3Fisheye.h.

double gtsam::Cal3Fisheye::k2_ = 0.0f

private

fisheye distortion coefficients

Definition at line 51 of file Cal3Fisheye.h.

double gtsam::Cal3Fisheye::k3_ = 0.0f

private

Definition at line 52 of file Cal3Fisheye.h.

double gtsam::Cal3Fisheye::k4_ = 0.0f

private

fisheye distortion coefficients

Definition at line 52 of file Cal3Fisheye.h.

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

private

tolerance value when calibrating

Definition at line 53 of file Cal3Fisheye.h.

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

Public Types

Public Member Functions

Private Attributes

Standard Interface

Testable

Manifold

Advanced Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation