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small doc improvement

release/4.3a0
Duy-Nguyen Ta 2018-01-23 10:15:19 -05:00
parent 5e5e3fffb2
commit d9937ea07f
2 changed files with 6 additions and 13 deletions
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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 {