Detailed Description

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]

Inheritance diagram for gtsam::Cal3Fisheye:

Advanced Interface
class	boost::serialization::access
	Serialization function.

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3Fisheye &cal)
	Output stream operator.

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

bool	equals (const Cal3Fisheye &K, double tol=10e-9) const
	assert equality up to a tolerance

Standard Constructors
	Cal3Fisheye ()=default
	Default Constructor with only unit focal length.

	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)

	~Cal3Fisheye () override

Advanced Constructors
	Cal3Fisheye (const Vector9 &v)

Standard Interface
double	k1 () const
	First distortion coefficient.

double	k2 () const
	Second distortion coefficient.

double	k3 () const
	First tangential distortion coefficient.

double	k4 () 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 [x_i; y_i] to (distorted) image coordinates [u; v] More...

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]. More...

static double	Scaling (double r)
	Helper function that calculates atan(r)/r.

Manifold
size_t	dim () const override
	Return dimensions of calibration manifold object. More...

Cal3Fisheye	retract (const Vector &d) const
	Given delta vector, update calibration.

Vector	localCoordinates (const Cal3Fisheye &T2) const
	Given a different calibration, calculate update to obtain it.

static size_t	Dim ()
	Return dimensions of calibration manifold object.

Clone
virtual boost::shared_ptr< Cal3Fisheye >	clone () const

Public Types
enum	{ dimension = 9 }

using	shared_ptr = boost::shared_ptr< Cal3Fisheye >

Public Types inherited from gtsam::Cal3
enum	{ dimension = 5 }

using	shared_ptr = boost::shared_ptr< Cal3 >

Additional Inherited Members
Public Member Functions inherited from gtsam::Cal3
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. More...

virtual	~Cal3 ()
	Virtual destructor.

	Cal3 (const std::string &path)
	Load calibration parameters from `calibration_info.txt` file located in `path` directory. More...

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 More...

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

Static Public Member Functions inherited from gtsam::Cal3
static size_t	Dim ()
	return DOF, dimensionality of tangent space

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

◆ calibrate()

Point2 gtsam::Cal3Fisheye::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].

Parameters

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 ( ) const

inlinevirtual

Returns: a deep copy of this object

◆ dim()

size_t gtsam::Cal3Fisheye::dim ( ) const

inlineoverridevirtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3.

◆ print()

void gtsam::Cal3Fisheye::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

◆ uncalibrate()

Point2 gtsam::Cal3Fisheye::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]

Parameters

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:

/build/gtsam-upFCh0/gtsam-4.2~9+dfsg/gtsam/geometry/Cal3Fisheye.h
/build/gtsam-upFCh0/gtsam-4.2~9+dfsg/gtsam/geometry/Cal3Fisheye.cpp

Detailed Description

Advanced Interface

Testable

Standard Constructors

Advanced Constructors

Standard Interface

Manifold

Clone