gtsam 4.1.1
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gtsam::Cal3DS2 Class Reference
+ Inheritance diagram for gtsam::Cal3DS2:

Advanced Interface

class boost::serialization::access
 Serialization function.
 

Testable

GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const Cal3DS2 &cal)
 Output stream operator.
 
void print (const std::string &s="") const override
 print with optional string More...
 
bool equals (const Cal3DS2 &K, double tol=10e-9) const
 assert equality up to a tolerance
 

Manifold

Cal3DS2 retract (const Vector &d) const
 Given delta vector, update calibration.
 
Vector localCoordinates (const Cal3DS2 &T2) const
 Given a different calibration, calculate update to obtain it.
 
size_t dim () const override
 Return dimensions of calibration manifold object. More...
 
static size_t Dim ()
 Return dimensions of calibration manifold object.
 

Public Member Functions

Standard Constructors
 Cal3DS2 ()=default
 Default Constructor with only unit focal length.
 
 Cal3DS2 (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double tol=1e-5)
 
 ~Cal3DS2 () override
 
Advanced Constructors
 Cal3DS2 (const Vector9 &v)
 
Clone
boost::shared_ptr< Base > clone () const override
 
- Public Member Functions inherited from gtsam::Cal3DS2_Base
 Cal3DS2_Base ()=default
 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, double tol=1e-5)
 
 ~Cal3DS2_Base () override
 
 Cal3DS2_Base (const Vector9 &v)
 
void print (const std::string &s="") const override
 print with optional string More...
 
bool equals (const Cal3DS2_Base &K, double tol=1e-8) const
 assert equality up to a tolerance
 
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.
 
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, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) 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.
 
size_t dim () const override
 return DOF, dimensionality of tangent space More...
 
- Public Member Functions inherited from gtsam::Cal3
 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.
 
 Cal3 (const std::string &path)
 Load calibration parameters from calibration_info.txt file located in path directory. More...
 
bool equals (const Cal3 &K, double tol=10e-9) const
 Check if equal up to specified tolerance.
 
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)
 

Public Types

enum  { dimension = 9 }
 
- Public Types inherited from gtsam::Cal3DS2_Base
enum  { dimension = 9 }
 
- Public Types inherited from gtsam::Cal3
enum  { dimension = 5 }
 
using shared_ptr = boost::shared_ptr< Cal3 >
 

Additional Inherited Members

- Static Public Member Functions inherited from gtsam::Cal3DS2_Base
static size_t Dim ()
 return DOF, dimensionality of tangent space
 
- Static Public Member Functions inherited from gtsam::Cal3
static size_t Dim ()
 return DOF, dimensionality of tangent space
 
- Protected Attributes inherited from gtsam::Cal3DS2_Base
double k1_ = 0.0f
 
double k2_ = 0.0f
 radial 2nd-order and 4th-order
 
double p1_ = 0.0f
 
double p2_ = 0.0f
 tangential distortion
 
double tol_ = 1e-5
 tolerance value when calibrating
 
- Protected Attributes inherited from gtsam::Cal3
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
 

Member Function Documentation

◆ clone()

boost::shared_ptr< Base > gtsam::Cal3DS2::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this object

Reimplemented from gtsam::Cal3DS2_Base.

◆ dim()

size_t gtsam::Cal3DS2::dim ( ) const
inlineoverridevirtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3.

◆ print()

void gtsam::Cal3DS2::print ( const std::string &  s = "") const
overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

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