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Minor Cal3DS2 optimizations and default 3rd and 4th distortion coeffecients

release/4.3a0
Richard Roberts 2012-08-06 18:42:56 +00:00
parent 7c1f7d3d21
commit 900f30547f
2 changed files with 5 additions and 14 deletions
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12
gtsam/geometry/Cal3DS2.cpp
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@ -23,13 +23,6 @@
namespace gtsam { namespace gtsam {
/* ************************************************************************* */
Cal3DS2::Cal3DS2():fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0){}
/* ************************************************************************* */
Cal3DS2::Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double k3, double k4) :
fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0), k1_(k1), k2_(k2), k3_(k3), k4_(k4) {}
/* ************************************************************************* */ /* ************************************************************************* */
Cal3DS2::Cal3DS2(const Vector &v): Cal3DS2::Cal3DS2(const Vector &v):
fx_(v[0]), fy_(v[1]), s_(v[2]), u0_(v[3]), v0_(v[4]), k1_(v[5]), k2_(v[6]), k3_(v[7]), k4_(v[8]){} fx_(v[0]), fy_(v[1]), s_(v[2]), u0_(v[3]), v0_(v[4]), k1_(v[5]), k2_(v[6]), k3_(v[7]), k4_(v[8]){}
@ -37,14 +30,11 @@ Cal3DS2::Cal3DS2(const Vector &v):
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Cal3DS2::K() const { return Matrix_(3,3, fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0); } Matrix Cal3DS2::K() const { return Matrix_(3,3, fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0); }
/* ************************************************************************* */
Vector Cal3DS2::k() const { return Vector_(4, k1_, k2_, k3_, k4_); }
/* ************************************************************************* */ /* ************************************************************************* */
Vector Cal3DS2::vector() const { return Vector_(9, fx_, fy_, s_, u0_, v0_, k1_, k2_, k3_, k4_) ; } Vector Cal3DS2::vector() const { return Vector_(9, fx_, fy_, s_, u0_, v0_, k1_, k2_, k3_, k4_) ; }
/* ************************************************************************* */ /* ************************************************************************* */
void Cal3DS2::print(const std::string& s) const { gtsam::print(K(), s + ".K") ; gtsam::print(k(), s + ".k") ; } void Cal3DS2::print(const std::string& s) const { gtsam::print(K(), s + ".K") ; gtsam::print(Vector(k()), s + ".k") ; }
/* ************************************************************************* */ /* ************************************************************************* */
bool Cal3DS2::equals(const Cal3DS2& K, double tol) const { bool Cal3DS2::equals(const Cal3DS2& K, double tol) const {

7
gtsam/geometry/Cal3DS2.h
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@ -44,17 +44,18 @@ private:
public: public:
Matrix K() const ; Matrix K() const ;
Vector k() const ; Eigen::Vector4d k() const { return Eigen::Vector4d(k1_, k2_, k3_, k4_); }
Vector vector() const ; Vector vector() const ;
/// @name Standard Constructors /// @name Standard Constructors
/// @{ /// @{
/// Default Constructor with only unit focal length /// Default Constructor with only unit focal length
Cal3DS2(); Cal3DS2() : fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), k3_(0), k4_(0) {}
Cal3DS2(double fx, double fy, double s, double u0, double v0, Cal3DS2(double fx, double fy, double s, double u0, double v0,
double k1, double k2, double k3, double k4) ; double k1, double k2, double k3 = 0.0, double k4 = 0.0) :
fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0), k1_(k1), k2_(k2), k3_(k3), k4_(k4) {}
/// @} /// @}
/// @name Advanced Constructors /// @name Advanced Constructors