gtsam::Cal3Bundler Class Reference

Calibration used by Bundler. More...

#include <Cal3Bundler.h>

Inheritance diagram for gtsam::Cal3Bundler:

Collaboration diagram for gtsam::Cal3Bundler:

Public Types
enum	{ dimension = 3 }
using	shared_ptr = std::shared_ptr< Cal3Bundler >
enum	{ dimension = 5 }

Protected Attributes
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

Testable
bool	equals (const Cal3 &K, double tol=10e-9) const
	Check if equal up to specified tolerance.

Standard Interface
double	fx () const
	focal length x
double	fy () const
	focal length y
double	aspectRatio () const
	aspect ratio
double	skew () const
	skew
Point2	principalPoint () const
	return the principal point
Matrix3	inverse () const
	Return inverted calibration matrix inv(K)

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

Testable
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
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3Bundler &cal)
	Output stream operator.

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={}, OptionalJacobian< 2, 2 > Dp={}) const
	: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives More...
Point2	calibrate (const Point2 &pi, OptionalJacobian< 2, 3 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
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

Detailed Description

Calibration used by Bundler.

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 = {},
		OptionalJacobian< 2, 2 >	Dp = {}
	)		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

uncalibrate()

Point2 gtsam::Cal3Bundler::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 3 >	Dcal = {},
		OptionalJacobian< 2, 2 >	Dp = {}
	)		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 file:

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/Cal3Bundler.h