gtsam::Cal3_S2 Class Reference

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3_S2 &cal)
	Output stream operator.
void	print (const std::string &s="Cal3_S2") const
	print with optional string
bool	equals (const Cal3_S2 &K, double tol=10e-9) const
	Check if equal up to specified tolerance.

Manifold
size_t	dim () const
	return DOF, dimensionality of tangent space
Cal3_S2	retract (const Vector &d) const
	Given 5-dim tangent vector, create new calibration.
Vector5	localCoordinates (const Cal3_S2 &T2) const
	Unretraction for the calibration.
static size_t	Dim ()
	return DOF, dimensionality of tangent space

Advanced Interface
class	boost::serialization::access
	Serialization function.

Public Member Functions
Standard Constructors
	Cal3_S2 ()
	Create a default calibration that leaves coordinates unchanged.
	Cal3_S2 (double fx, double fy, double s, double u0, double v0)
	constructor from doubles
	Cal3_S2 (const Vector &d)
	constructor from vector
	Cal3_S2 (double fov, int w, int h)
	Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect. More...
Advanced Constructors
	Cal3_S2 (const std::string &path)
	load calibration from location (default name is calibration_info.txt)
Standard Interface
double	fx () const
	focal length x
double	fy () const
	focal length y
double	aspectRatio () const
	aspect ratio
double	skew () const
	skew
double	px () const
	image center in x
double	py () const
	image center in y
Point2	principalPoint () const
	return the principal point
Vector5	vector () const
	vectorized form (column-wise)
Matrix3	K () const
	return calibration matrix K
Matrix3	matrix () const
Matrix3	matrix_inverse () const
	return inverted calibration matrix inv(K)
Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves More...
Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	convert image coordinates uv to intrinsic coordinates xy More...
Vector3	calibrate (const Vector3 &p) const
	convert homogeneous image coordinates to intrinsic coordinates More...
Cal3_S2	between (const Cal3_S2 &q, OptionalJacobian< 5, 5 > H1=boost::none, OptionalJacobian< 5, 5 > H2=boost::none) const
	"Between", subtracts calibrations. between(p,q) == compose(inverse(p),q)

Public Types
enum	{ dimension = 5 }
typedef boost::shared_ptr< Cal3_S2 >	shared_ptr
	shared pointer to calibration object

Constructor & Destructor Documentation

Cal3_S2()

gtsam::Cal3_S2::Cal3_S2	(	double	fov,
		int	w,
		int	h
	)

Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect.

Parameters

fov	field of view in degrees
w	image width
h	image height

Member Function Documentation

calibrate() [1/2]

Point2 gtsam::Cal3_S2::calibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 5 >	Dcal = boost::none,
		OptionalJacobian< 2, 2 >	Dp = boost::none
	)		const

convert image coordinates uv to intrinsic coordinates xy

Parameters

p	point in image coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3_S2 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns

point in intrinsic coordinates

calibrate() [2/2]

Vector3 gtsam::Cal3_S2::calibrate

(

const Vector3 &

p

)

const

convert homogeneous image coordinates to intrinsic coordinates

Parameters

p	point in image coordinates

Returns

point in intrinsic coordinates

matrix()

Matrix3 gtsam::Cal3_S2::matrix ( ) const

inline

Deprecated:

The following function has been deprecated, use K above

uncalibrate()

Point2 gtsam::Cal3_S2::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 5 >	Dcal = boost::none,
		OptionalJacobian< 2, 2 >	Dp = boost::none
	)		const

convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3_S2 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns

point in image coordinates

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The documentation for this class was generated from the following files:

• /Users/dellaert/git/gtsam/gtsam/geometry/Cal3_S2.h
• /Users/dellaert/git/gtsam/gtsam/geometry/Cal3_S2.cpp