Calibration of a camera with radial distortion. More...

#include <Cal3DS2_Base.h>

Inheritance diagram for gtsam::Cal3DS2_Base:

Collaboration diagram for gtsam::Cal3DS2_Base:

Public Types
enum	{ dimension = 9 }

using	shared_ptr = std::shared_ptr< Cal3DS2_Base >

enum	{ dimension = 5 }

Protected Attributes
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

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

double	px () const
	image center in x

double	py () const
	image center in y

Point2	principalPoint () const
	return the principal point

virtual Matrix3	K () const
	return calibration matrix K

Matrix3	inverse () const
	Return inverted calibration matrix inv(K)

Standard Constructors
	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 () override

Advanced Constructors
	Cal3DS2_Base (const Vector9 &v)

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

bool	equals (const Cal3DS2_Base &K, double tol=1e-8) const
	assert equality up to a tolerance

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3DS2_Base &cal)
	Output stream operator.

Standard Interface
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={}, 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.

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.

size_t	dim () const override
	return DOF, dimensionality of tangent space

static size_t	Dim ()
	return DOF, dimensionality of tangent space

Clone
virtual std::shared_ptr< Cal3DS2_Base >	clone () const

Detailed Description

Calibration of a camera with radial distortion.

Uses same distortionmodel as OpenCV, with http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html but using only k1,k2,p1, and p2 coefficients. K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ] r² = P.x² + P.y² P̂ = (1 + k1*r² + k2*r⁴) P + [ (2*p1 P.x P.y) + p2 (r² + 2 Pn.x²) p1 (r² + 2 Pn.y²) + (2*p2 Pn.x Pn.y) ] pi = K*P̂

Member Function Documentation

◆ clone()

virtual std::shared_ptr<Cal3DS2_Base> gtsam::Cal3DS2_Base::clone ( ) const

inlinevirtual

Returns: a deep copy of this object

Reimplemented in gtsam::Cal3DS2.

◆ uncalibrate()

Point2 gtsam::Cal3DS2_Base::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

convert intrinsic coordinates xy to (distorted) image coordinates uv

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*9 Jacobian wrpt Cal3DS2 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in (distorted) image coordinates

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/Cal3DS2_Base.h

Public Types

Protected Attributes

Testable

Standard Interface

Standard Constructors