Calibration of a omni-directional camera with mirror + lens radial distortion. More...
#include <Cal3Unified.h>
Inheritance diagram for gtsam::Cal3Unified:
Collaboration diagram for gtsam::Cal3Unified:
Public Types | |
| enum | { dimension = 10 } |
| using | shared_ptr = std::shared_ptr< Cal3Unified > |
| enum | { dimension = 9 } |
| 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) | |
Testable | |
| bool | equals (const Cal3DS2_Base &K, double tol=1e-8) const |
| assert equality up to a tolerance | |
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 | |
| 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. | |
Clone | |
| virtual std::shared_ptr< Cal3DS2_Base > | clone () const |
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) | |
| ~Cal3Unified () override | |
Advanced Constructors | |
| Cal3Unified (const Vector10 &v) | |
Testable | |
| 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 | |
| GTSAM_EXPORT friend std::ostream & | operator<< (std::ostream &os, const Cal3Unified &cal) |
| Output stream operator. | |
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={}, OptionalJacobian< 2, 2 > Dp={}) const |
| Point2 | calibrate (const Point2 &p, OptionalJacobian< 2, 10 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) 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. | |
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 * {P.x² + P.y² + 1}), P.y / (1 + xi * {P.x² + P.y² + 1})] r² = Pn.x² + Pn.y² {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
Member Function Documentation
◆ clone()
|
inlinevirtualinherited |
- Returns
- a deep copy of this object
Reimplemented in gtsam::Cal3DS2.
◆ uncalibrate() [1/2]
| Point2 gtsam::Cal3Unified::uncalibrate | ( | const Point2 & | p, |
| OptionalJacobian< 2, 10 > | Dcal = {}, |
||
| OptionalJacobian< 2, 2 > | Dp = {} |
||
| ) | const |
convert intrinsic coordinates xy to image coordinates uv
- Parameters
-
p point in intrinsic coordinates Dcal optional 2*10 Jacobian wrpt Cal3Unified parameters Dp optional 2*2 Jacobian wrpt intrinsic coordinates
- Returns
- point in image coordinates
◆ uncalibrate() [2/2]
|
inherited |
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/Cal3Unified.h
