Manifold
Cal3Bundler	retract (const Vector &d) const
	Update calibration with tangent space delta.

Vector3	localCoordinates (const Cal3Bundler &T2) const
	Calculate local coordinates to another calibration.

virtual size_t	dim () const
	dimensionality

static size_t	Dim ()
	dimensionality

Public Member Functions
Standard Constructors
	Cal3Bundler ()
	Default constructor.

	Cal3Bundler (double f, double k1, double k2, double u0=0, double v0=0)
	Constructor. More...

virtual	~Cal3Bundler ()

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

bool	equals (const Cal3Bundler &K, double tol=10e-9) const
	assert equality up to a tolerance

Standard Interface
Matrix3	K () const
	Standard 3*3 calibration matrix.

Vector4	k () const
	Radial distortion parameters (4 of them, 2 0)

Vector3	vector () const

double	fx () const
	focal length x

double	fy () const
	focal length y

double	k1 () const
	distorsion parameter k1

double	k2 () const
	distorsion parameter k2

double	u0 () const
	get parameter u0

double	v0 () const
	get parameter v0

Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 3 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives More...

Point2	calibrate (const Point2 &pi, const double tol=1e-5) const
	Conver a pixel coordinate to ideal coordinate.

Matrix2	D2d_intrinsic (const Point2 &p) const

Matrix23	D2d_calibration (const Point2 &p) const

Matrix25	D2d_intrinsic_calibration (const Point2 &p) const

Constructor & Destructor Documentation

◆ Cal3Bundler()

gtsam::Cal3Bundler::Cal3Bundler	(	double	f,
		double	k1,
		double	k2,
		double	u0 = `0`,
		double	v0 = `0`
	)

Constructor.

Parameters

f	focal length
k1	first radial distortion coefficient (quadratic)
k2	second radial distortion coefficient (quartic)
u0	optional image center (default 0), considered a constant
v0	optional image center (default 0), considered a constant

Matrix23 gtsam::Cal3Bundler::D2d_calibration ( const Point2 & p ) const

Matrix2 gtsam::Cal3Bundler::D2d_intrinsic ( const Point2 & p ) const

Matrix25 gtsam::Cal3Bundler::D2d_intrinsic_calibration ( const Point2 & p ) const

Point2 gtsam::Cal3Bundler::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 3 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		const

: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*3 Jacobian wrpt CalBundler parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

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