Calibration of a camera with radial distortion that also supports Lie-group behaviors for optimization. More...

#include <Cal3DS2.h>

Inheritance diagram for gtsam::Cal3DS2:

Public Types
using	shared_ptr = std::shared_ptr< Cal3DS2 >

Public Types inherited from gtsam::Cal3DS2_Base
using	shared_ptr = std::shared_ptr< Cal3DS2_Base >

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

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

Static Public Attributes inherited from gtsam::Cal3DS2_Base
constexpr static auto	dimension = 9
	shared pointer to stereo calibration object More...

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

Private Types
using	Base = Cal3DS2_Base

Standard Constructors
	Cal3DS2 ()=default
	Default Constructor with only unit focal length. More...

	Cal3DS2 (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double tol=1e-5)

	~Cal3DS2 () override

Advanced Constructors
	Cal3DS2 (const Vector9 &v)

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

bool	equals (const Cal3DS2 &K, double tol=10e-9) const
	assert equality up to a tolerance More...

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3DS2 &cal)
	Output stream operator. More...

Manifold
Cal3DS2	retract (const Vector &d) const
	Given delta vector, update calibration. More...

Vector	localCoordinates (const Cal3DS2 &T2) const
	Given a different calibration, calculate update to obtain it. More...

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

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

Clone
std::shared_ptr< Base >	clone () const override

Additional Inherited Members
Public Member Functions inherited from gtsam::Cal3DS2_Base
	Cal3DS2_Base ()=default
	Default Constructor with only unit focal length. More...

	Cal3DS2_Base (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double tol=1e-5)

	~Cal3DS2_Base () override

	Cal3DS2_Base (const Vector9 &v)

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

bool	equals (const Cal3DS2_Base &K, double tol=1e-8) const
	assert equality up to a tolerance More...

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

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

double	p1 () const
	First tangential distortion coefficient. More...

double	p2 () 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

Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
	Convert (distorted) image coordinates uv to intrinsic coordinates xy. More...

Matrix2	D2d_intrinsic (const Point2 &p) const
	Derivative of uncalibrate wrpt intrinsic coordinates. More...

Matrix29	D2d_calibration (const Point2 &p) const
	Derivative of uncalibrate wrpt the calibration parameters. More...

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

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::Cal3DS2_Base
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::Cal3DS2_Base
double	k1_ = 0.0f

double	k2_ = 0.0f
	radial 2nd-order and 4th-order More...

double	p1_ = 0.0f

double	p2_ = 0.0f
	tangential distortion More...

double	tol_ = 1e-5
	tolerance value when calibrating 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 camera with radial distortion that also supports Lie-group behaviors for optimization.

See also: Cal3DS2_Base

Definition at line 35 of file Cal3DS2.h.

Member Typedef Documentation

◆ Base

using gtsam::Cal3DS2::Base = Cal3DS2_Base

private

Definition at line 36 of file Cal3DS2.h.

◆ shared_ptr

using gtsam::Cal3DS2::shared_ptr = std::shared_ptr<Cal3DS2>

Definition at line 42 of file Cal3DS2.h.

Constructor & Destructor Documentation

◆ Cal3DS2() [1/3]

gtsam::Cal3DS2::Cal3DS2 ( )

default

Default Constructor with only unit focal length.

◆ Cal3DS2() [2/3]

gtsam::Cal3DS2::Cal3DS2	(	double	fx,
		double	fy,
		double	s,
		double	u0,
		double	v0,
		double	k1,
		double	k2,
		double	p1 = `0.0`,
		double	p2 = `0.0`,
		double	tol = `1e-5`
	)

inline

Definition at line 50 of file Cal3DS2.h.

◆ ~Cal3DS2()

gtsam::Cal3DS2::~Cal3DS2 ( )

inlineoverride

Definition at line 54 of file Cal3DS2.h.

◆ Cal3DS2() [3/3]

gtsam::Cal3DS2::Cal3DS2 ( const Vector9 & v )

inline

Definition at line 60 of file Cal3DS2.h.

Member Function Documentation

◆ clone()

std::shared_ptr<Base> gtsam::Cal3DS2::clone ( ) const

inlineoverridevirtual

Returns: a deep copy of this object

Reimplemented from gtsam::Cal3DS2_Base.

Definition at line 97 of file Cal3DS2.h.

◆ Dim()

static size_t gtsam::Cal3DS2::Dim ( )

inlinestatic

Return dimensions of calibration manifold object.

Definition at line 90 of file Cal3DS2.h.

◆ dim()

size_t gtsam::Cal3DS2::dim ( ) const

inlineoverridevirtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3.

Definition at line 87 of file Cal3DS2.h.

◆ equals()

bool gtsam::Cal3DS2::equals	(	const Cal3DS2 &	K,
		double	tol = `10e-9`
	)		const

assert equality up to a tolerance

Definition at line 37 of file Cal3DS2.cpp.

◆ localCoordinates()

Vector gtsam::Cal3DS2::localCoordinates ( const Cal3DS2 & T2 ) const

Given a different calibration, calculate update to obtain it.

Definition at line 48 of file Cal3DS2.cpp.

◆ print()

void gtsam::Cal3DS2::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Definition at line 34 of file Cal3DS2.cpp.

◆ retract()

Cal3DS2 gtsam::Cal3DS2::retract ( const Vector & d ) const

Given delta vector, update calibration.

Definition at line 43 of file Cal3DS2.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Cal3DS2 &	cal
	)

friend

Output stream operator.

Definition at line 28 of file Cal3DS2.cpp.

Member Data Documentation

◆ dimension

constexpr static auto gtsam::Cal3DS2::dimension = 9

inlinestaticconstexpr

shared pointer to stereo calibration object

Definition at line 39 of file Cal3DS2.h.

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

Public Types

Static Public Attributes

Private Types

Standard Constructors

Advanced Constructors

Testable

Manifold

Clone

Additional Inherited Members