91 lines
2.3 KiB
C++
91 lines
2.3 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Cal3DS2.h
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* @brief Calibration of a camera with radial distortion
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* @date Feb 28, 2010
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* @author ydjian
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*/
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#pragma once
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#include <gtsam/geometry/Point2.h>
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namespace gtsam {
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/**
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* @brief Calibration of a camera with radial distortion
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* @ingroup geometry
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*/
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class Cal3DS2 {
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private:
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double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point
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double k1_, k2_ ; // radial 2nd-order and 4th-order
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double k3_, k4_ ; // tagential distortion
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// K = [ fx s u0 ; 0 fy v0 ; 0 0 1 ]
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// r = Pn.x^2 + Pn.y^2
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// \hat{pn} = (1 + k1*r + k2*r^2 ) pn + [ 2*k3 pn.x pn.y + k4 (r + 2 Pn.x^2) ;
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// k3 (r + 2 Pn.y^2) + 2*k4 pn.x pn.y ]
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// pi = K*pn
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public:
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// Default Constructor with only unit focal length
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Cal3DS2();
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// Construction
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Cal3DS2(double fx, double fy, double s, double u0, double v0,
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double k1, double k2, double k3, double k4) ;
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Cal3DS2(const Vector &v) ;
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Matrix K() const ;
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Vector k() const ;
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Vector vector() const ;
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void print(const std::string& s = "") const ;
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bool equals(const Cal3DS2& K, double tol = 10e-9) const;
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Point2 uncalibrate(const Point2& p,
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boost::optional<Matrix&> H1 = boost::none,
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boost::optional<Matrix&> H2 = boost::none) const ;
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Matrix D2d_intrinsic(const Point2& p) const ;
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Matrix D2d_calibration(const Point2& p) const ;
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Cal3DS2 retract(const Vector& d) const ;
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Vector localCoordinates(const Cal3DS2& T2) const ;
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int dim() const { return 9 ; }
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static size_t Dim() { return 9; }
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version)
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{
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ar & BOOST_SERIALIZATION_NVP(fx_);
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ar & BOOST_SERIALIZATION_NVP(fy_);
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ar & BOOST_SERIALIZATION_NVP(s_);
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ar & BOOST_SERIALIZATION_NVP(u0_);
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ar & BOOST_SERIALIZATION_NVP(v0_);
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ar & BOOST_SERIALIZATION_NVP(k1_);
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ar & BOOST_SERIALIZATION_NVP(k2_);
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ar & BOOST_SERIALIZATION_NVP(k3_);
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ar & BOOST_SERIALIZATION_NVP(k4_);
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}
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};
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}
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