Calibration of a omni-directional camera with mirror + lens radial distortion. More...

#include <Cal3Unified.h>

Inheritance diagram for gtsam::Cal3Unified:

Public Types
using	shared_ptr = std::shared_ptr< Cal3Unified >

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 = 10
	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

using	This = Cal3Unified

Private Attributes
double	xi_ = 0.0f
	mirror parameter More...

Standard Constructors
	Cal3Unified ()=default
	Default Constructor with only unit focal length. More...

	Cal3Unified (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double xi=0.0)

	~Cal3Unified () override

Advanced Constructors
	Cal3Unified (const Vector10 &v)

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

bool	equals (const Cal3Unified &K, double tol=10e-9) const
	assert equality up to a tolerance More...

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3Unified &cal)
	Output stream operator. More...

Standard Interface
double	xi () const
	mirror parameter More...

Vector10	vector () const
	Return all parameters as a vector. More...

Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 10 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const

Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 10 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
	Conver a pixel coordinate to ideal coordinate. More...

Point2	spaceToNPlane (const Point2 &p) const
	Convert a 3D point to normalized unit plane. More...

Point2	nPlaneToSpace (const Point2 &p) const
	Convert a normalized unit plane point to 3D space. More...

Manifold
Cal3Unified	retract (const Vector &d) const
	Given delta vector, update calibration. More...

Vector	localCoordinates (const Cal3Unified &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...

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)

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...

virtual std::shared_ptr< Cal3DS2_Base >	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...

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 omni-directional camera with mirror + lens radial distortion.

Similar to Cal3DS2, does distortion but has additional mirror parameter xi K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ] Pn = [ P.x / (1 + xi * \sqrt{P.x² + P.y² + 1}), P.y / (1 + xi * \sqrt{P.x² + P.y² + 1})] r² = Pn.x² + Pn.y² \hat{pn} = (1 + k1*r² + k2*r⁴ ) pn + [ 2*k3 pn.x pn.y + k4 (r² + 2 Pn.x²) ; k3 (rr + 2 Pn.y²) + 2*k4 pn.x pn.y ] pi = K*pn

Definition at line 45 of file Cal3Unified.h.

Member Typedef Documentation

◆ Base

using gtsam::Cal3Unified::Base = Cal3DS2_Base

private

Definition at line 47 of file Cal3Unified.h.

◆ shared_ptr

using gtsam::Cal3Unified::shared_ptr = std::shared_ptr<Cal3Unified>

Definition at line 56 of file Cal3Unified.h.

◆ This

using gtsam::Cal3Unified::This = Cal3Unified

private

Definition at line 46 of file Cal3Unified.h.

Constructor & Destructor Documentation

◆ Cal3Unified() [1/3]

gtsam::Cal3Unified::Cal3Unified ( )

default

Default Constructor with only unit focal length.

◆ Cal3Unified() [2/3]

gtsam::Cal3Unified::Cal3Unified	(	double	fx,
		double	fy,
		double	s,
		double	u0,
		double	v0,
		double	k1,
		double	k2,
		double	p1 = `0.0`,
		double	p2 = `0.0`,
		double	xi = `0.0`
	)

inline

Definition at line 64 of file Cal3Unified.h.

◆ ~Cal3Unified()

gtsam::Cal3Unified::~Cal3Unified ( )

inlineoverride

Definition at line 68 of file Cal3Unified.h.

◆ Cal3Unified() [3/3]

gtsam::Cal3Unified::Cal3Unified ( const Vector10 & v )

inline

Definition at line 74 of file Cal3Unified.h.

Member Function Documentation

◆ calibrate()

Point2 gtsam::Cal3Unified::calibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 10 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

Conver a pixel coordinate to ideal coordinate.

Definition at line 103 of file Cal3Unified.cpp.

◆ Dim()

static size_t gtsam::Cal3Unified::Dim ( )

inlinestatic

Return dimensions of calibration manifold object.

Definition at line 136 of file Cal3Unified.h.

◆ dim()

size_t gtsam::Cal3Unified::dim ( ) const

inlineoverridevirtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3DS2_Base.

Definition at line 133 of file Cal3Unified.h.

◆ equals()

bool gtsam::Cal3Unified::equals	(	const Cal3Unified &	K,
		double	tol = `10e-9`
	)		const

assert equality up to a tolerance

Definition at line 49 of file Cal3Unified.cpp.

◆ localCoordinates()

Vector gtsam::Cal3Unified::localCoordinates ( const Cal3Unified & T2 ) const

Given a different calibration, calculate update to obtain it.

Definition at line 138 of file Cal3Unified.cpp.

◆ nPlaneToSpace()

Point2 gtsam::Cal3Unified::nPlaneToSpace ( const Point2 & p ) const

Convert a normalized unit plane point to 3D space.

Definition at line 116 of file Cal3Unified.cpp.

◆ print()

void gtsam::Cal3Unified::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3DS2_Base.

Definition at line 43 of file Cal3Unified.cpp.

◆ retract()

Cal3Unified gtsam::Cal3Unified::retract ( const Vector & d ) const

Given delta vector, update calibration.

Definition at line 133 of file Cal3Unified.cpp.

◆ spaceToNPlane()

Point2 gtsam::Cal3Unified::spaceToNPlane ( const Point2 & p ) const

Convert a 3D point to normalized unit plane.

Definition at line 125 of file Cal3Unified.cpp.

◆ uncalibrate()

Point2 gtsam::Cal3Unified::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 10 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

convert intrinsic coordinates xy to image coordinates uv

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*10 Jacobian wrpt Cal3Unified parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in image coordinates

Definition at line 56 of file Cal3Unified.cpp.

◆ vector()

Vector10 gtsam::Cal3Unified::vector ( ) const

Return all parameters as a vector.

Definition at line 29 of file Cal3Unified.cpp.

◆ xi()

double gtsam::Cal3Unified::xi ( ) const

inline

mirror parameter

Definition at line 96 of file Cal3Unified.h.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Cal3Unified &	cal
	)

friend

Output stream operator.

Definition at line 36 of file Cal3Unified.cpp.

Member Data Documentation

◆ dimension

constexpr static auto gtsam::Cal3Unified::dimension = 10

inlinestaticconstexpr

shared pointer to stereo calibration object

Definition at line 53 of file Cal3Unified.h.

◆ xi_

double gtsam::Cal3Unified::xi_ = 0.0f

private

mirror parameter

Definition at line 50 of file Cal3Unified.h.

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

Public Types

Static Public Attributes

Private Types

Private Attributes

Standard Constructors

Advanced Constructors

Testable

Standard Interface

Manifold

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ shared_ptr

◆ This

Constructor & Destructor Documentation

◆ Cal3Unified() [1/3]

◆ Cal3Unified() [2/3]

◆ ~Cal3Unified()

◆ Cal3Unified() [3/3]

Member Function Documentation

◆ calibrate()

◆ Dim()

◆ dim()

◆ equals()

◆ localCoordinates()

◆ nPlaneToSpace()

◆ print()

◆ retract()

◆ spaceToNPlane()

◆ uncalibrate()

◆ vector()

◆ xi()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ dimension

◆ xi_