gtsam::Cal3Bundler Class Reference

Detailed Description

Calibration used by Bundler.

Inheritance diagram for gtsam::Cal3Bundler:

Advanced Interface
class	boost::serialization::access
	Serialization function.

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3Bundler &cal)
	Output stream operator.
void	print (const std::string &s="") const override
	print with optional string
bool	equals (const Cal3Bundler &K, double tol=10e-9) const
	assert equality up to a tolerance

Standard Constructors
	Cal3Bundler ()=default
	Default constructor.
	Cal3Bundler (double f, double k1, double k2, double u0=0, double v0=0, double tol=1e-5)
	Constructor.

Standard Interface
double	k1 () const
	distorsion parameter k1
double	k2 () const
	distorsion parameter k2
double	px () const
	image center in x
double	py () const
	image center in y
Matrix3	K () const override
	Standard 3*3 calibration matrix.
Vector4	k () const
	Radial distortion parameters (4 of them, 2 0).
Vector3	vector () const
Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 3 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives
Point2	calibrate (const Point2 &pi, OptionalJacobian< 2, 3 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	Convert a pixel coordinate to ideal coordinate xy.
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
Cal3Bundler	retract (const Vector &d) const
	Update calibration with tangent space delta.
Vector3	localCoordinates (const Cal3Bundler &T2) const
	Calculate local coordinates to another calibration.
static size_t	Dim ()
	return DOF, dimensionality of tangent space

Public Types
enum	{ dimension = 3 }
using	shared_ptr = boost::shared_ptr<Cal3Bundler>
Public Types inherited from gtsam::Cal3
enum	{ dimension = 5 }
using	shared_ptr = boost::shared_ptr<Cal3>

Additional Inherited Members
bool	equals (const Cal3 &K, double tol=10e-9) const
	Check if equal up to specified tolerance.
	Cal3 ()=default
	Create a default calibration that leaves coordinates unchanged.
	Cal3 (double fx, double fy, double s, double u0, double v0)
	constructor from doubles
	Cal3 (const Vector5 &d)
	constructor from vector
	Cal3 (double fov, int w, int h)
	Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect.
virtual	~Cal3 ()
	Virtual destructor.
	Cal3 (const std::string &path)
	Load calibration parameters from calibration_info.txt file located in path directory.
double	fx () const
	focal length x
double	fy () const
	focal length y
double	aspectRatio () const
	aspect ratio
double	skew () const
	skew
double	px () const
	image center in x
double	py () const
	image center in y
Point2	principalPoint () const
	return the principal point
Vector5	vector () const
	vectorized form (column-wise)
Matrix3	inverse () const
	Return inverted calibration matrix inv(K).
static size_t	Dim ()
	return DOF, dimensionality of tangent space
Protected Attributes inherited from gtsam::Cal3
double	fx_ = 1.0f
double	fy_ = 1.0f
	focal length
double	s_ = 0.0f
	skew
double	u0_ = 0.0f
double	v0_ = 0.0f
	principal point

Constructor & Destructor Documentation

Cal3Bundler()

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

Member Function Documentation

calibrate()

Point2 gtsam::Cal3Bundler::calibrate	(	const Point2 &	pi,
		OptionalJacobian< 2, 3 >	Dcal = boost::none,
		OptionalJacobian< 2, 2 >	Dp = boost::none ) const

Convert a pixel coordinate to ideal coordinate xy.

Parameters

p	point in image coordinates
tol	optional tolerance threshold value for iterative minimization
Dcal	optional 2*3 Jacobian wrpt Cal3Bundler parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns

point in intrinsic coordinates

D2d_calibration()

Matrix23 gtsam::Cal3Bundler::D2d_calibration

(

const Point2 &

p

)

const

Deprecated

might be removed in next release, use uncalibrate

D2d_intrinsic()

Matrix2 gtsam::Cal3Bundler::D2d_intrinsic

(

const Point2 &

p

)

const

Deprecated

might be removed in next release, use uncalibrate

D2d_intrinsic_calibration()

Matrix25 gtsam::Cal3Bundler::D2d_intrinsic_calibration

(

const Point2 &

p

)

const

Deprecated

might be removed in next release, use uncalibrate

dim()

size_t gtsam::Cal3Bundler::dim ( ) const

inlineoverridevirtual

return DOF, dimensionality of tangent space

Reimplemented from gtsam::Cal3.

K()

Matrix3 gtsam::Cal3Bundler::K ( ) const

overridevirtual

Standard 3*3 calibration matrix.

Reimplemented from gtsam::Cal3.

print()

void gtsam::Cal3Bundler::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

uncalibrate()

Point2 gtsam::Cal3Bundler::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 3 >	Dcal = boost::none,
		OptionalJacobian< 2, 2 >	Dp = boost::none ) 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

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/Cal3Bundler.h
• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/Cal3Bundler.cpp