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Added comments, some more methods

release/4.3a0
Frank Dellaert 2012-06-14 05:05:15 +00:00
parent c3901f6784
commit 5a5d246b30
1 changed files with 23 additions and 8 deletions
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31
gtsam/geometry/Cal3DS2.h
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@ -34,7 +34,7 @@ private:
double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point
double k1_, k2_ ; // radial 2nd-order and 4th-order double k1_, k2_ ; // radial 2nd-order and 4th-order
double k3_, k4_ ; // tagential distortion double k3_, k4_ ; // tangential distortion
// K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ] // K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ]
// r = Pn.x^2 + Pn.y^2 // r = Pn.x^2 + Pn.y^2
@ -76,31 +76,46 @@ public:
/// @name Standard Interface /// @name Standard Interface
/// @{ /// @{
///TODO: comment /// focal length x
inline double fx() const { return fx_;}
/// 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_;}
/// Convert ideal point p (in intrinsic coordinates) into pixel coordinates
Point2 uncalibrate(const Point2& p, Point2 uncalibrate(const Point2& p,
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H1 = boost::none,
boost::optional<Matrix&> H2 = boost::none) const ; boost::optional<Matrix&> H2 = boost::none) const ;
///TODO: comment /// Derivative of uncalibrate wrpt intrinsic coordinates
Matrix D2d_intrinsic(const Point2& p) const ; Matrix D2d_intrinsic(const Point2& p) const ;
///TODO: comment /// Derivative of uncalibrate wrpt the calibration parameters
Matrix D2d_calibration(const Point2& p) const ; Matrix D2d_calibration(const Point2& p) const ;
/// @} /// @}
/// @name Manifold /// @name Manifold
/// @{ /// @{
///TODO: comment /// Given delta vector, update calibration
Cal3DS2 retract(const Vector& d) const ; Cal3DS2 retract(const Vector& d) const ;
///TODO: comment /// Given a different calibration, calculate update to obtain it
Vector localCoordinates(const Cal3DS2& T2) const ; Vector localCoordinates(const Cal3DS2& T2) const ;
///TODO: comment /// Return dimensions of calibration manifold object
virtual size_t dim() const { return 9 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2) virtual size_t dim() const { return 9 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2)
///TODO: comment /// Return dimensions of calibration manifold object
static size_t Dim() { return 9; } //TODO: make a final dimension variable static size_t Dim() { return 9; } //TODO: make a final dimension variable
private: private: