Manifold
size_t	dim () const
	return DOF, dimensionality of tangent space

Cal3_S2Stereo	retract (const Vector &d) const
	Given 6-dim tangent vector, create new calibration.

Vector6	localCoordinates (const Cal3_S2Stereo &T2) const
	Unretraction for the calibration.

static size_t	Dim ()
	return DOF, dimensionality of tangent space

Public Member Functions
Standard Constructors
@
	Cal3_S2Stereo ()
	default calibration leaves coordinates unchanged

	Cal3_S2Stereo (double fx, double fy, double s, double u0, double v0, double b)
	constructor from doubles

	Cal3_S2Stereo (const Vector &d)
	constructor from vector

	Cal3_S2Stereo (double fov, int w, int h, double b)
	easy constructor; field-of-view in degrees, assumes zero skew

Testable
void	print (const std::string &s="") const

bool	equals (const Cal3_S2Stereo &other, double tol=10e-9) const
	Check if equal up to specified tolerance.

Standard Interface
const Cal3_S2 &	calibration () const
	return calibration, same for left and right

Matrix	matrix () const
	return calibration matrix K, same for left and right

double	fx () const
	focal length x

double	fy () const
	focal length x

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

double	baseline () const
	return baseline

Vector6	vector () const
	vectorized form (column-wise)

Public Types
enum	{ dimension = 6 }

typedef boost::shared_ptr< Cal3_S2Stereo >	shared_ptr
	shared pointer to stereo calibration object

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

Manifold

Advanced Interface