Calibration of a camera with radial distortion. More...

#include <Cal3DS2_Base.h>

Inheritance diagram for gtsam::Cal3DS2_Base:

[legend]

Public Types
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::Cal3
constexpr static auto	dimension = 5
	shared pointer to calibration object More...

Protected Attributes
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...

Standard Constructors
	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

Advanced Constructors
	Cal3DS2_Base (const Vector9 &v)

Testable
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...

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3DS2_Base &cal)
	Output stream operator. More...

Standard Interface
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...

static size_t	Dim ()
	return DOF, dimensionality of tangent space More...

Clone
virtual std::shared_ptr< Cal3DS2_Base >	clone () const

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...

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::Cal3
static size_t	Dim ()
	return DOF, dimensionality of tangent space More...

Detailed Description

Calibration of a camera with radial distortion.

Uses same distortionmodel as OpenCV, with http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html but using only k1,k2,p1, and p2 coefficients. K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ] r² = P.x² + P.y² P̂ = (1 + k1*r² + k2*r⁴) P + [ (2*p1 P.x P.y) + p2 (r² + 2 Pn.x²) p1 (r² + 2 Pn.y²) + (2*p2 Pn.x Pn.y) ] pi = K*P̂

Definition at line 42 of file Cal3DS2_Base.h.

Member Typedef Documentation

◆ shared_ptr

using gtsam::Cal3DS2_Base::shared_ptr = std::shared_ptr<Cal3DS2_Base>

Definition at line 52 of file Cal3DS2_Base.h.

Constructor & Destructor Documentation

◆ Cal3DS2_Base() [1/3]

gtsam::Cal3DS2_Base::Cal3DS2_Base ( )

default

Default Constructor with only unit focal length.

◆ Cal3DS2_Base() [2/3]

gtsam::Cal3DS2_Base::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`
	)

inline

Definition at line 60 of file Cal3DS2_Base.h.

◆ ~Cal3DS2_Base()

gtsam::Cal3DS2_Base::~Cal3DS2_Base ( )

inlineoverride

Definition at line 69 of file Cal3DS2_Base.h.

◆ Cal3DS2_Base() [3/3]

gtsam::Cal3DS2_Base::Cal3DS2_Base ( const Vector9 & v )

inline

Definition at line 75 of file Cal3DS2_Base.h.

Member Function Documentation

◆ calibrate()

Point2 gtsam::Cal3DS2_Base::calibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

Convert (distorted) image coordinates uv to intrinsic coordinates xy.

Definition at line 133 of file Cal3DS2_Base.cpp.

◆ clone()

virtual std::shared_ptr<Cal3DS2_Base> gtsam::Cal3DS2_Base::clone ( ) const

inlinevirtual

Returns: a deep copy of this object

Reimplemented in gtsam::Cal3DS2.

Definition at line 149 of file Cal3DS2_Base.h.

◆ D2d_calibration()

Matrix29 gtsam::Cal3DS2_Base::D2d_calibration ( const Point2 & p ) const

Derivative of uncalibrate wrpt the calibration parameters.

Definition at line 180 of file Cal3DS2_Base.cpp.

◆ D2d_intrinsic()

Matrix2 gtsam::Cal3DS2_Base::D2d_intrinsic ( const Point2 & p ) const

Derivative of uncalibrate wrpt intrinsic coordinates.

Definition at line 169 of file Cal3DS2_Base.cpp.

◆ Dim()

static size_t gtsam::Cal3DS2_Base::Dim ( )

inlinestatic

return DOF, dimensionality of tangent space

Definition at line 142 of file Cal3DS2_Base.h.

◆ dim()

size_t gtsam::Cal3DS2_Base::dim ( ) const

inlineoverridevirtual

return DOF, dimensionality of tangent space

Reimplemented from gtsam::Cal3.

Reimplemented in gtsam::Cal3Unified.

Definition at line 139 of file Cal3DS2_Base.h.

◆ equals()

bool gtsam::Cal3DS2_Base::equals	(	const Cal3DS2_Base &	K,
		double	tol = `1e-8`
	)		const

assert equality up to a tolerance

Definition at line 49 of file Cal3DS2_Base.cpp.

◆ k()

Vector4 gtsam::Cal3DS2_Base::k ( ) const

inline

return distortion parameter vector

Definition at line 113 of file Cal3DS2_Base.h.

◆ k1()

double gtsam::Cal3DS2_Base::k1 ( ) const

inline

First distortion coefficient.

Definition at line 101 of file Cal3DS2_Base.h.

◆ k2()

double gtsam::Cal3DS2_Base::k2 ( ) const

inline

Second distortion coefficient.

Definition at line 104 of file Cal3DS2_Base.h.

◆ p1()

double gtsam::Cal3DS2_Base::p1 ( ) const

inline

First tangential distortion coefficient.

Definition at line 107 of file Cal3DS2_Base.h.

◆ p2()

double gtsam::Cal3DS2_Base::p2 ( ) const

inline

Second tangential distortion coefficient.

Definition at line 110 of file Cal3DS2_Base.h.

◆ print()

void gtsam::Cal3DS2_Base::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Reimplemented in gtsam::Cal3Unified.

Definition at line 43 of file Cal3DS2_Base.cpp.

◆ uncalibrate()

Point2 gtsam::Cal3DS2_Base::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

convert intrinsic coordinates xy to (distorted) image coordinates uv

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*9 Jacobian wrpt Cal3DS2 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in (distorted) image coordinates

Definition at line 94 of file Cal3DS2_Base.cpp.

◆ vector()

Vector9 gtsam::Cal3DS2_Base::vector ( ) const

Return all parameters as a vector.

Definition at line 28 of file Cal3DS2_Base.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Cal3DS2_Base &	cal
	)

friend

Output stream operator.

Definition at line 35 of file Cal3DS2_Base.cpp.

Member Data Documentation

◆ dimension

constexpr static auto gtsam::Cal3DS2_Base::dimension = 9

inlinestaticconstexpr

shared pointer to stereo calibration object

Definition at line 49 of file Cal3DS2_Base.h.

◆ k1_

double gtsam::Cal3DS2_Base::k1_ = 0.0f

protected

Definition at line 44 of file Cal3DS2_Base.h.

◆ k2_

double gtsam::Cal3DS2_Base::k2_ = 0.0f

protected

radial 2nd-order and 4th-order

Definition at line 44 of file Cal3DS2_Base.h.

◆ p1_

double gtsam::Cal3DS2_Base::p1_ = 0.0f

protected

Definition at line 45 of file Cal3DS2_Base.h.

◆ p2_

double gtsam::Cal3DS2_Base::p2_ = 0.0f

protected

tangential distortion

Definition at line 45 of file Cal3DS2_Base.h.

◆ tol_

double gtsam::Cal3DS2_Base::tol_ = 1e-5

protected

tolerance value when calibrating

Definition at line 46 of file Cal3DS2_Base.h.

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

Public Types

Static Public Attributes

Protected Attributes

Standard Constructors

Advanced Constructors

Testable

Standard Interface

Clone

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Cal3DS2_Base() [1/3]

◆ Cal3DS2_Base() [2/3]

◆ ~Cal3DS2_Base()

◆ Cal3DS2_Base() [3/3]

Member Function Documentation

◆ calibrate()

◆ clone()

◆ D2d_calibration()

◆ D2d_intrinsic()

◆ Dim()

◆ dim()

◆ equals()

◆ k()

◆ k1()

◆ k2()

◆ p1()

◆ p2()

◆ print()

◆ uncalibrate()

◆ vector()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ dimension

◆ k1_

◆ k2_

◆ p1_

◆ p2_

◆ tol_