gtsam::Cal3Unified Class Reference
Inheritance diagram for gtsam::Cal3Unified:
Manifold | |
| Cal3Unified | retract (const Vector &d) const |
| Given delta vector, update calibration. | |
| Vector10 | localCoordinates (const Cal3Unified &T2) const |
| Given a different calibration, calculate update to obtain it. | |
| virtual size_t | dim () const |
| Return dimensions of calibration manifold object. | |
| Vector10 | vector () const |
| Return all parameters as a vector. | |
| static size_t | Dim () |
| Return dimensions of calibration manifold object. | |
Public Member Functions | |
Standard Constructors | |
| Cal3Unified () | |
| Default Constructor with only unit focal length. | |
| Cal3Unified (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double xi=0.0) | |
| virtual | ~Cal3Unified () |
Advanced Constructors | |
| Cal3Unified (const Vector &v) | |
Testable | |
| virtual void | print (const std::string &s="") const |
| print with optional string | |
| bool | equals (const Cal3Unified &K, double tol=10e-9) const |
| assert equality up to a tolerance | |
Standard Interface | |
| double | xi () const |
| mirror parameter | |
| Point2 | uncalibrate (const Point2 &p, OptionalJacobian< 2, 10 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const |
| convert intrinsic coordinates xy to image coordinates uv More... | |
| Point2 | calibrate (const Point2 &p, const double tol=1e-5) const |
| Conver a pixel coordinate to ideal coordinate. | |
| Point2 | spaceToNPlane (const Point2 &p) const |
| Convert a 3D point to normalized unit plane. | |
| Point2 | nPlaneToSpace (const Point2 &p) const |
| Convert a normalized unit plane point to 3D space. | |
| Public Member Functions inherited from gtsam::Cal3DS2_Base | |
| Cal3DS2_Base () | |
| Default Constructor with only unit focal length. | |
| Cal3DS2_Base (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0) | |
| virtual | ~Cal3DS2_Base () |
| Cal3DS2_Base (const Vector &v) | |
| bool | equals (const Cal3DS2_Base &K, double tol=10e-9) const |
| assert equality up to a tolerance | |
| 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 | |
| double | k1 () const |
| First distortion coefficient. | |
| double | k2 () const |
| Second distortion coefficient. | |
| double | p1 () const |
| First tangential distortion coefficient. | |
| double | p2 () const |
| Second tangential distortion coefficient. | |
| Matrix3 | K () const |
| return calibration matrix – not really applicable | |
| Vector4 | k () const |
| return distortion parameter vector | |
| Vector9 | vector () const |
| Return all parameters as a vector. | |
| Point2 | uncalibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const |
| convert intrinsic coordinates xy to (distorted) image coordinates uv More... | |
| Point2 | calibrate (const Point2 &p, const double tol=1e-5) const |
| Convert (distorted) image coordinates uv to intrinsic coordinates xy. | |
| Matrix2 | D2d_intrinsic (const Point2 &p) const |
| Derivative of uncalibrate wrpt intrinsic coordinates. | |
| Matrix29 | D2d_calibration (const Point2 &p) const |
| Derivative of uncalibrate wrpt the calibration parameters. | |
| virtual boost::shared_ptr< Cal3DS2_Base > | clone () const |
Public Types | |
| enum | { dimension = 10 } |
Friends | |
| class | boost::serialization::access |
| Serialization function. | |
Additional Inherited Members | |
| Protected Attributes inherited from gtsam::Cal3DS2_Base | |
| double | fx_ |
| double | fy_ |
| double | s_ |
| double | u0_ |
| double | v0_ |
| double | k1_ |
| double | k2_ |
| double | p1_ |
| double | p2_ |
Member Function Documentation
◆ uncalibrate()
| Point2 gtsam::Cal3Unified::uncalibrate | ( | const Point2 & | p, |
| OptionalJacobian< 2, 10 > | Dcal = boost::none, |
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| OptionalJacobian< 2, 2 > | Dp = boost::none |
||
| ) | const |
convert intrinsic coordinates xy to image coordinates uv
- Parameters
-
p point in intrinsic coordinates Dcal optional 2*10 Jacobian wrpt Cal3Unified parameters Dp optional 2*2 Jacobian wrpt intrinsic coordinates
- Returns
- point in image coordinates
The documentation for this class was generated from the following files:
- /Users/dellaert/git/gtsam/gtsam/geometry/Cal3Unified.h
- /Users/dellaert/git/gtsam/gtsam/geometry/Cal3Unified.cpp
