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Documentation and creation of Doxygen module "geometry"

release/4.3a0
Frank Dellaert 2011-09-07 05:02:36 +00:00
parent 56879579f5
commit 2caa56c0d5
17 changed files with 145 additions and 123 deletions
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14
gtsam/geometry/Cal3Bundler.h
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@ -9,11 +9,11 @@
* -------------------------------------------------------------------------- */
/*
* Cal3Bundler.h
*
* Created on: Sep 25, 2010
* Author: ydjian
/**
* @file Cal3Bundler.h
* @brief Calibration used by Bundler
* @date Sep 25, 2010
* @author ydjian
*/
#pragma once
@ -22,6 +22,10 @@
namespace gtsam {
/**
* @brief Calibration used by Bundler
* @ingroup geometry
*/
class Cal3Bundler: public Testable<Cal3Bundler> {
private:

16
gtsam/geometry/Cal3DS2.h
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@ -9,21 +9,23 @@
* -------------------------------------------------------------------------- */
/*
* Cal3DS2.h
*
* Created on: Feb 28, 2010
* Author: ydjian
/**
* @file Cal3DS2.h
* @brief Calibration of a camera with radial distortion
* @date Feb 28, 2010
* @author ydjian
*/
#pragma once
#include <gtsam/geometry/Point2.h>
namespace gtsam {
/** This class a camera with radial distortion */
/**
* @brief Calibration of a camera with radial distortion
* @ingroup geometry
*/
class Cal3DS2 : Testable<Cal3DS2> {
private:
double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point

93
gtsam/geometry/Cal3_S2.h
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@ -15,28 +15,31 @@
* @author Frank Dellaert
*/
/**
* @defgroup geometry
*/
#pragma once
#include <gtsam/geometry/Point2.h>
namespace gtsam {
/** The most common 5DOF 3D->2D calibration */
/**
* @brief The most common 5DOF 3D->2D calibration
* @ingroup geometry
*/
class Cal3_S2: Testable<Cal3_S2> {
private:
double fx_, fy_, s_, u0_, v0_;
public:
/**
* default calibration leaves coordinates unchanged
*/
/// Create a default calibration that leaves coordinates unchanged
Cal3_S2() :
fx_(1), fy_(1), s_(0), u0_(0), v0_(0) {
}
/**
* constructor from doubles
*/
/// constructor from doubles
Cal3_S2(double fx, double fy, double s, double u0, double v0) :
fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0) {
}
@ -53,42 +56,33 @@ namespace gtsam {
gtsam::print(matrix(), s);
}
/**
* Check if equal up to specified tolerance
*/
/// Check if equal up to specified tolerance
bool equals(const Cal3_S2& K, double tol = 10e-9) const;
/**
* load calibration from location (default name is calibration_info.txt)
*/
/// load calibration from location (default name is calibration_info.txt)
Cal3_S2(const std::string &path);
inline double fx() const {
return fx_;
}
inline double fy() const {
return fy_;
}
inline double skew() const {
return s_;
}
inline double px() const {
return u0_;
}
inline double py() const {
return v0_;
}
/// focal length x
inline double fx() const { return fx_;}
/**
* return the principal point
*/
/// focal length x
inline double fy() const { return fy_;}
/// skew
inline double skew() const { return s_;}
/// image center in x
inline double px() const { return u0_;}
/// image center in y
inline double py() const { return v0_;}
/// return the principal point
Point2 principalPoint() const {
return Point2(u0_, v0_);
}
/**
* return vectorized form (column-wise)
*/
/// vectorized form (column-wise)
Vector vector() const {
double r[] = { fx_, fy_, s_, u0_, v0_ };
Vector v(5);
@ -96,17 +90,12 @@ namespace gtsam {
return v;
}
/**
* return calibration matrix K
*/
/// return calibration matrix K
Matrix matrix() const {
return Matrix_(3, 3, fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0);
}
/**
* return calibration matrix inv(K)
*/
/// return inverted calibration matrix inv(K)
Matrix matrix_inverse() const {
const double fxy = fx_*fy_, sv0 = s_*v0_, fyu0 = fy_*u0_;
return Matrix_(3, 3,
@ -115,7 +104,6 @@ namespace gtsam {
0.0, 0.0, 1.0);
}
/**
* convert intrinsic coordinates xy to image coordinates uv
* with optional derivatives
@ -123,41 +111,36 @@ namespace gtsam {
Point2 uncalibrate(const Point2& p, boost::optional<Matrix&> H1 =
boost::none, boost::optional<Matrix&> H2 = boost::none) const;
/**
* convert image coordinates uv to intrinsic coordinates xy
*/
/// convert image coordinates uv to intrinsic coordinates xy
Point2 calibrate(const Point2& p) const {
const double u = p.x(), v = p.y();
return Point2((1 / fx_) * (u - u0_ - (s_ / fy_) * (v - v0_)), (1 / fy_)
* (v - v0_));
}
/**
* return DOF, dimensionality of tangent space
*/
/// return DOF, dimensionality of tangent space
inline size_t dim() const {
return 5;
}
/// return DOF, dimensionality of tangent space
static size_t Dim() {
return 5;
}
/**
* Given 5-dim tangent vector, create new calibration
*/
/// Given 5-dim tangent vector, create new calibration
inline Cal3_S2 expmap(const Vector& d) const {
return Cal3_S2(fx_ + d(0), fy_ + d(1), s_ + d(2), u0_ + d(3), v0_ + d(4));
}
/**
* logmap for the calibration
*/
/// logmap for the calibration
Vector logmap(const Cal3_S2& T2) const {
return vector() - T2.vector();
}
private:
/** Serialization function */
/// Serialization function
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {

5
gtsam/geometry/Cal3_S2Stereo.h
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@ -21,7 +21,10 @@
namespace gtsam {
/** The most common 5DOF 3D->2D calibration */
/**
* @brief The most common 5DOF 3D->2D calibration, stereo version
* @ingroup geometry
*/
class Cal3_S2Stereo: public Cal3_S2 {
private:
double b_;

12
gtsam/geometry/CalibratedCamera.cpp
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@ -9,14 +9,14 @@
* -------------------------------------------------------------------------- */
/*
* CalibratedCamera.cpp
*
* Created on: Aug 17, 2009
* Author: dellaert
/**
* @file CalibratedCamera.cpp
* @brief Calibrated camera for which only pose is unknown
* @date Aug 17, 2009
* @author Frank Dellaert
*/
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/CalibratedCamera.h>
namespace gtsam {

45
gtsam/geometry/CalibratedCamera.h
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@ -9,58 +9,70 @@
* -------------------------------------------------------------------------- */
/*
* CalibratedCamera.h
*
* Created on: Aug 17, 2009
* Author: dellaert
/**
* @file CalibratedCamera.h
* @brief Calibrated camera for which only pose is unknown
* @date Aug 17, 2009
* @author Frank Dellaert
*/
#ifndef CalibratedCAMERA_H_
#define CalibratedCAMERA_H_
#pragma once
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
namespace gtsam {
class Point2;
/**
* A Calibrated camera class [R|-R't], calibration K=I.
* If calibration is known, it is more computationally efficient
* to calibrate the measurements rather than try to predict in pixels.
* @ingroup geometry
*/
class CalibratedCamera {
private:
Pose3 pose_; // 6DOF pose
public:
CalibratedCamera();
CalibratedCamera(const Pose3& pose);
CalibratedCamera(const Vector &v) ;
virtual ~CalibratedCamera();
CalibratedCamera(); ///< default constructor
CalibratedCamera(const Pose3& pose); ///< construct with pose
CalibratedCamera(const Vector &v) ; ///< construct from vector
virtual ~CalibratedCamera(); ///< destructor
/// return pose
inline const Pose3& pose() const { return pose_; }
/// check equality to another camera
bool equals (const CalibratedCamera &camera, double tol = 1e-9) const {
return pose_.equals(camera.pose(), tol) ;
}
/// compose the poses
inline const CalibratedCamera compose(const CalibratedCamera &c) const {
return CalibratedCamera( pose_ * c.pose() ) ;
}
/// invert the camera's pose
inline const CalibratedCamera inverse() const {
return CalibratedCamera( pose_.inverse() ) ;
}
/// move a cameras pose according to d
CalibratedCamera expmap(const Vector& d) const;
Vector logmap(const CalibratedCamera& T2) const;
/// Return canonical coordinate
Vector logmap(const CalibratedCamera& T2) const;
/// move a cameras pose according to d
static CalibratedCamera Expmap(const Vector& v);
static Vector Logmap(const CalibratedCamera& p);
/// Return canonical coordinate
static Vector Logmap(const CalibratedCamera& p);
/// Lie group dimensionality
inline size_t dim() const { return 6 ; }
/// Lie group dimensionality
inline static size_t Dim() { return 6 ; }
/**
@ -99,14 +111,13 @@ namespace gtsam {
static Point3 backproject_from_camera(const Point2& p, const double scale);
private:
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(pose_);
}
};
}
#endif /* CalibratedCAMERA_H_ */

14
gtsam/geometry/CalibratedCameraT.h
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@ -1,8 +1,8 @@
/*
* CalibratedCameraT.h
*
* Created on: Mar 5, 2011
* Author: Yong-Dian Jian
/**
* @file CalibratedCameraT.h
* @date Mar 5, 2011
* @author Yong-Dian Jian
* @brief calibrated camera template
*/
#pragma once
@ -12,13 +12,13 @@
#include <gtsam/geometry/Pose3.h>
namespace gtsam {
class Point2;
/**
* A Calibrated camera class [R|-R't], calibration K.
* If calibration is known, it is more computationally efficient
* to calibrate the measurements rather than try to predict in pixels.
* @ingroup geometry
*/
template <typename Calibration>
class CalibratedCameraT {
private:

14
gtsam/geometry/GeneralCameraT.h
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@ -9,11 +9,11 @@
* -------------------------------------------------------------------------- */
/*
* DistortedCameraT.h
*
* Created on: Mar 1, 2010
* Author: ydjian
/**
* @file GeneralCameraT.h
* @brief General camera template
* @date Mar 1, 2010
* @author Yong-Dian Jian
*/
#pragma once
@ -25,6 +25,10 @@
namespace gtsam {
/**
* General camera template
* @ingroup geometry
*/
template <typename Camera, typename Calibration>
class GeneralCameraT {

1
gtsam/geometry/Point2.h
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@ -28,6 +28,7 @@ namespace gtsam {
* A 2D point
* Derived from testable so has standard print and equals, and assert_equals works
* Functional, so no set functions: once created, a point is constant.
* @ingroup geometry
*/
class Point2: Testable<Point2>, public Lie<Point2> {
public:

5
gtsam/geometry/Point3.h
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@ -29,7 +29,10 @@
namespace gtsam {
/** A 3D point */
/**
* A 3D point
* @ingroup geometry
*/
class Point3: Testable<Point3>, public Lie<Point3> {
public:
/// dimension of the variable - used to autodetect sizes

1
gtsam/geometry/Pose2.h
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@ -29,6 +29,7 @@ namespace gtsam {
/**
* A 2D pose (Point2,Rot2)
* @ingroup geometry
*/
class Pose2: Testable<Pose2>, public Lie<Pose2> {

5
gtsam/geometry/Pose3.h
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@ -23,7 +23,10 @@
namespace gtsam {
/** A 3D pose (R,t) : (Rot3,Point3) */
/**
* A 3D pose (R,t) : (Rot3,Point3)
* @ingroup geometry
*/
class Pose3 : Testable<Pose3>, public Lie<Pose3> {
public:
static const size_t dimension = 6;

14
gtsam/geometry/Rot2.h
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@ -9,11 +9,11 @@
* -------------------------------------------------------------------------- */
/*
* Rot2.h
*
* Created on: Dec 9, 2009
* Author: Frank Dellaert
/**
* @file Rot2.h
* @brief 2D rotation
* @date Dec 9, 2009
* @author Frank Dellaert
*/
#pragma once
@ -23,8 +23,10 @@
namespace gtsam {
/** Rotation matrix
/**
* Rotation matrix
* NOTE: the angle theta is in radians unless explicitly stated
* @ingroup geometry
*/
class Rot2: Testable<Rot2>, public Lie<Rot2> {

7
gtsam/geometry/Rot3.h
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@ -11,7 +11,7 @@
/**
* @file Rot3.h
* @brief Rotation
* @brief 3D Rotation represented as 3*3 matrix
* @author Alireza Fathi
* @author Christian Potthast
* @author Frank Dellaert
@ -25,7 +25,10 @@
namespace gtsam {
/* 3D Rotations in GTSAM are represented as rotation matrices */
/**
* @brief 3D Rotations represented as rotation matrices
* @ingroup geometry
*/
class Rot3: Testable<Rot3>, public Lie<Rot3> {
public:
static const size_t dimension = 3;

10
gtsam/geometry/SimpleCamera.h
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@ -9,11 +9,11 @@
* -------------------------------------------------------------------------- */
/*
* SimpleCamera.h
*
* Created on: Aug 16, 2009
* Author: dellaert
/**
* @file SimpleCamera.h
* @brief A simple camera class with a Cal3_S2 calibration
* @date Aug 16, 2009
* @author Frank Dellaert
*/
#ifndef SIMPLECAMERA_H_

3
gtsam/geometry/StereoCamera.h
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@ -25,7 +25,8 @@
namespace gtsam {
/**
* A stereo camera class
* A stereo camera class, parameterize by left camera pose and stereo calibration
* @ingroup geometry
*/
class StereoCamera {

9
gtsam/geometry/StereoPoint2.h
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@ -10,10 +10,10 @@
* -------------------------------------------------------------------------- */
/**
* StereoPoint2.h
*
* Created on: Jan 26, 2010
* Author: dellaert
* @file StereoPoint2.h
* @brief A 2D stereo point (uL,uR,v)
* @date Jan 26, 2010
* @author Frank Dellaert
*/
#pragma once
@ -24,6 +24,7 @@ namespace gtsam {
/**
* A 2D stereo point, v will be same for rectified images
* @ingroup geometry
*/
class StereoPoint2: Testable<StereoPoint2>, Lie<StereoPoint2> {
public: