Calibration used by Bundler. More...

#include <Cal3Bundler.h>

Inheritance diagram for gtsam::Cal3Bundler:

[legend]

Public Types
using	shared_ptr = std::shared_ptr< Cal3Bundler >

Public Types inherited from gtsam::Cal3f
using	shared_ptr = std::shared_ptr< Cal3f >

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

Static Public Attributes
constexpr static auto	dimension = 3

Static Public Attributes inherited from gtsam::Cal3f
constexpr static auto	dimension = 1

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

Private Attributes
double	k1_ = 0.0

double	k2_ = 0.0
	radial distortion coefficients More...

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

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=default

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

bool	equals (const Cal3Bundler &K, double tol=1e-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
	distortion parameter k1 More...

double	k2 () const
	distortion parameter k2 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::Cal3f
	Cal3f ()=default
	Default constructor. More...

	Cal3f (double f, double u0, double v0)

	~Cal3f () override=default

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

bool	equals (const Cal3f &K, double tol=1e-9) const
	assert equality up to a tolerance More...

double	f () const
	focal length More...

Vector1	vector () const
	vectorized form (column-wise) More...

Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 1 > 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, 1 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const

size_t	dim () const override
	Return DOF, dimensionality of tangent space. More...

Cal3f	retract (const Vector &d) const
	Update calibration with tangent space delta. More...

Vector1	localCoordinates (const Cal3f &T2) const
	Calculate local coordinates to another calibration. More...

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::Cal3f
static size_t	Dim ()
	Return DOF, dimensionality of tangent space. 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 41 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

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 58 of file Cal3Bundler.h.

◆ ~Cal3Bundler()

gtsam::Cal3Bundler::~Cal3Bundler ( )

overridedefault

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

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

Returns: point in intrinsic coordinates

Definition at line 93 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 138 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 131 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 145 of file Cal3Bundler.cpp.

◆ Dim()

static size_t gtsam::Cal3Bundler::Dim ( )

inlinestatic

Return DOF, dimensionality of tangent space.

Definition at line 131 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 128 of file Cal3Bundler.h.

◆ equals()

bool gtsam::Cal3Bundler::equals	(	const Cal3Bundler &	K,
		double	tol = `1e-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

distortion parameter k1

Definition at line 83 of file Cal3Bundler.h.

◆ k2()

double gtsam::Cal3Bundler::k2 ( ) const

inline

distortion parameter k2

Definition at line 86 of file Cal3Bundler.h.

◆ localCoordinates()

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

inline

Calculate local coordinates to another calibration.

Definition at line 139 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.

◆ retract()

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

inline

Update calibration with tangent space delta.

Definition at line 134 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

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 64 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

◆ dimension

constexpr static auto gtsam::Cal3Bundler::dimension = 3

inlinestaticconstexpr

Definition at line 40 of file Cal3Bundler.h.

◆ k1_

double gtsam::Cal3Bundler::k1_ = 0.0

private

Definition at line 34 of file Cal3Bundler.h.

◆ k2_

double gtsam::Cal3Bundler::k2_ = 0.0

private

radial distortion coefficients

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:

Public Types

Static Public Attributes

Private Attributes

Constructors

Testable

Standard Interface

Manifold

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Cal3Bundler() [1/2]

◆ Cal3Bundler() [2/2]

◆ ~Cal3Bundler()

Member Function Documentation

◆ calibrate()

◆ D2d_calibration()

◆ D2d_intrinsic()

◆ D2d_intrinsic_calibration()

◆ Dim()

◆ dim()

◆ equals()

◆ k()

◆ K()

◆ k1()

◆ k2()

◆ localCoordinates()

◆ print()

◆ retract()

◆ uncalibrate()

◆ vector()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ dimension

◆ k1_

◆ k2_

◆ tol_