Calibration of a fisheye camera.
Uses same distortionmodel as OpenCV, with https://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html 3D point in camera frame p = (x, y, z) Intrinsic coordinates: [x_i;y_i] = [x/z; y/z] Distorted coordinates: r² = (x_i)² + (y_i)² th = atan(r) th_d = th(1 + k1*th² + k2*th⁴ + k3*th⁶ + k4*th⁸) [x_d; y_d] = (th_d / r)*[x_i; y_i] Pixel coordinates: K = [fx s u0; 0 fy v0 ;0 0 1] [u; v; 1] = K*[x_d; y_d; 1]
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class | boost::serialization::access |
| | Serialization function.
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GTSAM_EXPORT friend std::ostream & | operator<< (std::ostream &os, const Cal3Fisheye &cal) |
| | Output stream operator.
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| void | print (const std::string &s="") const override |
| | print with optional string
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bool | equals (const Cal3Fisheye &K, double tol=10e-9) const |
| | assert equality up to a tolerance
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| Cal3Fisheye ()=default |
| | Default Constructor with only unit focal length.
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| Cal3Fisheye (const double fx, const double fy, const double s, const double u0, const double v0, const double k1, const double k2, const double k3, const double k4, double tol=1e-5) |
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| Cal3Fisheye (const Vector9 &v) |
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double | k1 () const |
| | First distortion coefficient.
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double | k2 () const |
| | Second distortion coefficient.
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double | k3 () const |
| | First tangential distortion coefficient.
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double | k4 () const |
| | Second tangential distortion coefficient.
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Vector4 | k () const |
| | return distortion parameter vector
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Vector9 | vector () const |
| | Return all parameters as a vector.
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| Point2 | uncalibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const |
| | convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v]
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| Point2 | calibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const |
| | Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i, y_i].
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static double | Scaling (double r) |
| | Helper function that calculates atan(r)/r.
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| size_t | dim () const override |
| | Return dimensions of calibration manifold object.
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Cal3Fisheye | retract (const Vector &d) const |
| | Given delta vector, update calibration.
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Vector | localCoordinates (const Cal3Fisheye &T2) const |
| | Given a different calibration, calculate update to obtain it.
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static size_t | Dim () |
| | Return dimensions of calibration manifold object.
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| enum | { dimension = 9
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using | shared_ptr = boost::shared_ptr<Cal3Fisheye> |
| enum | { dimension = 5
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using | shared_ptr = boost::shared_ptr<Cal3> |
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bool | equals (const Cal3 &K, double tol=10e-9) const |
| | Check if equal up to specified tolerance.
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| Cal3 ()=default |
| | Create a default calibration that leaves coordinates unchanged.
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| Cal3 (double fx, double fy, double s, double u0, double v0) |
| | constructor from doubles
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| Cal3 (const Vector5 &d) |
| | constructor from vector
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| | Cal3 (double fov, int w, int h) |
| | Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect.
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virtual | ~Cal3 () |
| | Virtual destructor.
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| | Cal3 (const std::string &path) |
| | Load calibration parameters from calibration_info.txt file located in path directory.
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double | fx () const |
| | focal length x
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double | fy () const |
| | focal length y
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double | aspectRatio () const |
| | aspect ratio
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double | skew () const |
| | skew
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double | px () const |
| | image center in x
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double | py () const |
| | image center in y
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Point2 | principalPoint () const |
| | return the principal point
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Vector5 | vector () const |
| | vectorized form (column-wise)
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| virtual Matrix3 | K () const |
| | return calibration matrix K
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Matrix3 | inverse () const |
| | Return inverted calibration matrix inv(K).
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static size_t | Dim () |
| | return DOF, dimensionality of tangent space
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double | fx_ = 1.0f |
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double | fy_ = 1.0f |
| | focal length
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double | s_ = 0.0f |
| | skew
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double | u0_ = 0.0f |
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double | v0_ = 0.0f |
| | principal point
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◆ calibrate()
Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i, y_i].
- Parameters
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| p | point in image coordinates |
| Dcal | optional 2*9 Jacobian wrpt intrinsic parameters |
| Dp | optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi) |
- Returns
- point in intrinsic coordinates
◆ clone()
| virtual boost::shared_ptr< Cal3Fisheye > gtsam::Cal3Fisheye::clone |
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const |
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inlinevirtual |
- Returns
- a deep copy of this object
◆ dim()
| size_t gtsam::Cal3Fisheye::dim |
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const |
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inlineoverridevirtual |
Return dimensions of calibration manifold object.
Reimplemented from gtsam::Cal3.
◆ print()
| void gtsam::Cal3Fisheye::print |
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const std::string & | s = "" | ) |
const |
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overridevirtual |
print with optional string
Reimplemented from gtsam::Cal3.
◆ uncalibrate()
convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v]
- Parameters
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| p | point in intrinsic coordinates |
| Dcal | optional 2*9 Jacobian wrpt intrinsic parameters |
| Dp | optional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi) |
- Returns
- point in (distorted) image coordinates
The documentation for this class was generated from the following files:
