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Merged in thduynguyen/gtsam-duy/feature/wrap_cal3ds2 (pull request #306) 

Feature/wrap cal3ds2
release/4.3a0
Duy-Nguyen Ta 2018-02-20 19:56:26 +00:00 committed by Frank Dellaert
parent 05d973ac70 f9d6d2dbc1
commit cc25ece055
3 changed files with 9 additions and 13 deletions
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3
gtsam.h
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@ -745,6 +745,9 @@ virtual class Cal3DS2_Base {
double py() const; double py() const;
double k1() const; double k1() const;
double k2() const; double k2() const;
Matrix K() const;
Vector k() const;
Vector vector() const;
// Action on Point2 // Action on Point2
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;

13
gtsam/geometry/Cal3DS2.h
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@ -23,18 +23,11 @@
namespace gtsam { namespace gtsam {
/** /**
* @brief Calibration of a camera with radial distortion * @brief Calibration of a camera with radial distortion that also supports
* Lie-group behaviors for optimization.
* \sa Cal3DS2_Base
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*
* Uses same distortionmodel as OpenCV, with
* http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html
* but using only k1,k2,p1, and p2 coefficients.
* K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ]
* rr = Pn.x^2 + Pn.y^2
* \hat{pn} = (1 + k1*rr + k2*rr^2 ) pn + [ 2*k3 pn.x pn.y + k4 (rr + 2 Pn.x^2) ;
* k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y ]
* pi = K*pn
*/ */
class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base { class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {

6
gtsam/geometry/Cal3DS2_Base.h
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@ -32,9 +32,9 @@ namespace gtsam {
* but using only k1,k2,p1, and p2 coefficients. * but using only k1,k2,p1, and p2 coefficients.
* K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ] * K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ]
* rr = Pn.x^2 + Pn.y^2 * rr = Pn.x^2 + Pn.y^2
* \hat{pn} = (1 + k1*rr + k2*rr^2 ) pn + [ 2*k3 pn.x pn.y + k4 (rr + 2 Pn.x^2) ; * \hat{Pn} = (1 + k1*rr + k2*rr^2 ) Pn + [ 2*p1 Pn.x Pn.y + p2 (rr + 2 Pn.x^2) ;
* k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y ] * p1 (rr + 2 Pn.y^2) + 2*p2 Pn.x Pn.y ]
* pi = K*pn * pi = K*Pn
*/ */
class GTSAM_EXPORT Cal3DS2_Base { class GTSAM_EXPORT Cal3DS2_Base {