gtsam 4.2
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gtsam::Cal3Unified Class Reference
Geometry

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

Inheritance diagram for gtsam::Cal3Unified:

Testable

GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const Cal3Unified &cal)
 Output stream operator.
void print (const std::string &s="") const override
 print with optional string
bool equals (const Cal3Unified &K, double tol=10e-9) const
 assert equality up to a tolerance

Standard Constructors

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

Advanced Constructors

 Cal3Unified (const Vector10 &v)

Standard Interface

double xi () const
 mirror parameter
Vector10 vector () const
 Return all parameters as a vector.
Point2 uncalibrate (const Point2 &p, OptionalJacobian< 2, 10 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
 convert intrinsic coordinates xy to image coordinates uv
Point2 calibrate (const Point2 &p, OptionalJacobian< 2, 10 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
 Conver a pixel coordinate to ideal coordinate.
Point2 spaceToNPlane (const Point2 &p) const
 Convert a 3D point to normalized unit plane.
Point2 nPlaneToSpace (const Point2 &p) const
 Convert a normalized unit plane point to 3D space.

Manifold

Cal3Unified retract (const Vector &d) const
 Given delta vector, update calibration.
Vector localCoordinates (const Cal3Unified &T2) const
 Given a different calibration, calculate update to obtain it.
size_t dim () const override
 Return dimensions of calibration manifold object.
static size_t Dim ()
 Return dimensions of calibration manifold object.

Public Types

enum  { dimension = 10 }
using shared_ptr = boost::shared_ptr<Cal3Unified>
Public Types inherited from gtsam::Cal3DS2_Base
enum  { dimension = 9 }
using shared_ptr = boost::shared_ptr<Cal3DS2_Base>
Public Types inherited from gtsam::Cal3
enum  { dimension = 5 }
using shared_ptr = boost::shared_ptr<Cal3>

Friends

class boost::serialization::access
 Serialization function.

Additional Inherited Members

bool equals (const Cal3DS2_Base &K, double tol=1e-8) const
 assert equality up to a tolerance
 Cal3DS2_Base ()=default
 Default Constructor with only unit focal length.
 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 (const Vector9 &v)
double k1 () const
 First distortion coefficient.
double k2 () const
 Second distortion coefficient.
double p1 () const
 First tangential distortion coefficient.
double p2 () const
 Second tangential distortion coefficient.
Vector4 k () const
 return distortion parameter vector
Vector9 vector () const
 Return all parameters as a vector.
Point2 uncalibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
 convert intrinsic coordinates xy to (distorted) image coordinates uv
Point2 calibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
 Convert (distorted) image coordinates uv to intrinsic coordinates xy.
Matrix2 D2d_intrinsic (const Point2 &p) const
 Derivative of uncalibrate wrpt intrinsic coordinates.
Matrix29 D2d_calibration (const Point2 &p) const
 Derivative of uncalibrate wrpt the calibration parameters.
virtual boost::shared_ptr< Cal3DS2_Base > clone () const
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)
virtual Matrix3 K () const
 return calibration matrix K
Matrix3 inverse () const
 Return inverted calibration matrix inv(K).
static size_t Dim ()
 return DOF, dimensionality of tangent space
static size_t Dim ()
 return DOF, dimensionality of tangent space
Protected Attributes inherited from gtsam::Cal3DS2_Base
double k1_ = 0.0f
double k2_ = 0.0f
 radial 2nd-order and 4th-order
double p1_ = 0.0f
double p2_ = 0.0f
 tangential distortion
double tol_ = 1e-5
 tolerance value when calibrating
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

Member Function Documentation

◆ dim()

size_t gtsam::Cal3Unified::dim ( ) const
inlineoverridevirtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3DS2_Base.

◆ print()

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

print with optional string

Reimplemented from gtsam::Cal3DS2_Base.

◆ uncalibrate()

Point2 gtsam::Cal3Unified::uncalibrate ( const Point2 & p,
OptionalJacobian< 2, 10 > Dcal = boost::none,
OptionalJacobian< 2, 2 > Dp = boost::none ) const

convert intrinsic coordinates xy to image coordinates uv

Parameters
ppoint in intrinsic coordinates
Dcaloptional 2*10 Jacobian wrpt Cal3Unified parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in image coordinates
The documentation for this class was generated from the following files: