gtsam::Cal3 Class Reference

Inheritance diagram for gtsam::Cal3:

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

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3 &cal)
	Output stream operator.
virtual void	print (const std::string &s="") const
	print with optional string More...
bool	equals (const Cal3 &K, double tol=10e-9) const
	Check if equal up to specified tolerance.

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)
virtual Matrix3	K () const
	return calibration matrix K More...
Matrix3	inverse () const
	Return inverted calibration matrix inv(K)
virtual size_t	dim () const
	return DOF, dimensionality of tangent space More...
static size_t	Dim ()
	return DOF, dimensionality of tangent space

Public Member Functions
Standard Constructors
	Cal3 ()=default
	Create a default calibration that leaves coordinates unchanged.
	Cal3 (double fx, double fy, double s, double u0, double v0)
	constructor from doubles
	Cal3 (const Vector5 &d)
	constructor from vector
	Cal3 (double fov, int w, int h)
	Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect. More...
virtual	~Cal3 ()
	Virtual destructor.
Advanced Constructors
	Cal3 (const std::string &path)
	Load calibration parameters from calibration_info.txt file located in path directory. More...

Public Types
enum	{ dimension = 5 }
using	shared_ptr = boost::shared_ptr< Cal3 >

Protected Attributes
double	fx_ = 1.0f
double	fy_ = 1.0f
	focal length
double	s_ = 0.0f
	skew
double	u0_ = 0.0f
double	v0_ = 0.0f
	principal point

Constructor & Destructor Documentation

Cal3() [1/2]

gtsam::Cal3::Cal3	(	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

Cal3() [2/2]

gtsam::Cal3::Cal3

(

const std::string &

path

)

Load calibration parameters from calibration_info.txt file located in path directory.

The contents of calibration file should be the 5 parameters in order: fx, fy, s, u0, v0

Parameters

path	path to directory containing calibration_info.txt.

Member Function Documentation

dim()

virtual size_t gtsam::Cal3::dim ( ) const

inlinevirtual

return DOF, dimensionality of tangent space

Reimplemented in gtsam::Cal3_S2Stereo, gtsam::Cal3Bundler, gtsam::Cal3DS2, gtsam::Cal3DS2_Base, gtsam::Cal3Fisheye, and gtsam::Cal3Unified.

K()

virtual Matrix3 gtsam::Cal3::K ( ) const

inlinevirtual

return calibration matrix K

Reimplemented in gtsam::Cal3_S2Stereo, and gtsam::Cal3Bundler.

print()

void gtsam::Cal3::print ( const std::string &  s = "" ) const

virtual

print with optional string

Reimplemented in gtsam::Cal3_S2Stereo, gtsam::Cal3Bundler, gtsam::Cal3DS2, gtsam::Cal3DS2_Base, gtsam::Cal3Fisheye, gtsam::Cal3Unified, and gtsam::Cal3_S2.

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

• /Users/dellaert/git/github/gtsam/geometry/Cal3.h
• /Users/dellaert/git/github/gtsam/geometry/Cal3.cpp