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gtsam::Cal3f Class Reference
Detailed Description
Calibration model with a single focal length and zero skew.
Inheritance diagram for gtsam::Cal3f:
Constructors | |
| Cal3f ()=default | |
| Default constructor. | |
| Cal3f (double f, double u0, double v0) | |
| Constructor. | |
Testable | |
| void | print (const std::string &s="") const override |
| print with optional string | |
| bool | equals (const Cal3f &K, double tol=1e-9) const |
| assert equality up to a tolerance | |
| GTSAM_EXPORT friend std::ostream & | operator<< (std::ostream &os, const Cal3f &cal) |
| Output stream operator. | |
Standard Interface | |
| double | f () const |
| focal length | |
| Vector1 | vector () const |
| vectorized form (column-wise) | |
| Point2 | uncalibrate (const Point2 &p, OptionalJacobian< 2, 1 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const |
| : convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives | |
| Point2 | calibrate (const Point2 &pi, OptionalJacobian< 2, 1 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const |
| Convert a pixel coordinate to ideal coordinate xy. | |
Manifold | |
| size_t | dim () const |
| Return DOF, dimensionality of tangent space. | |
| Cal3f | retract (const Vector &d) const |
| Update calibration with tangent space delta. | |
| Vector1 | localCoordinates (const Cal3f &T2) const |
| Calculate local coordinates to another calibration. | |
| static size_t | Dim () |
| Return DOF, dimensionality of tangent space. | |
Static Public Attributes | |
| static constexpr auto | dimension = 1 |
Public Types | |
| using | shared_ptr = std::shared_ptr<Cal3f> |
| Public Types inherited from gtsam::Cal3 | |
| using | shared_ptr = std::shared_ptr<Cal3> |
| < shared pointer to calibration object | |
Additional Inherited Members | |
| 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. | |
| virtual | ~Cal3 () |
| Virtual destructor. | |
| Cal3 (const std::string &path) | |
| Load calibration parameters from calibration_info.txt file located in path directory. | |
| 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 | |
| Matrix3 | inverse () const |
| Return inverted calibration matrix inv(K). | |
| 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 | |
Constructor & Destructor Documentation
◆ Cal3f()
| gtsam::Cal3f::Cal3f | ( | double | f, |
| double | u0, | ||
| double | v0 ) |
Constructor.
- Parameters
-
f focal length u0 image center x-coordinate (considered a constant) v0 image center y-coordinate (considered a constant)
Member Function Documentation
◆ calibrate()
| Point2 gtsam::Cal3f::calibrate | ( | const Point2 & | pi, |
| OptionalJacobian< 2, 1 > | Dcal = {}, | ||
| OptionalJacobian< 2, 2 > | Dp = {} ) const |
Convert a pixel coordinate to ideal coordinate xy.
- Parameters
-
pi point in image coordinates Dcal optional 2*1 Jacobian wrpt focal length Dp optional 2*2 Jacobian wrpt intrinsic coordinates
- Returns
- point in intrinsic coordinates
◆ print()
|
overridevirtual |
print with optional string
Reimplemented from gtsam::Cal3.
◆ uncalibrate()
| Point2 gtsam::Cal3f::uncalibrate | ( | const Point2 & | p, |
| OptionalJacobian< 2, 1 > | Dcal = {}, | ||
| OptionalJacobian< 2, 2 > | Dp = {} ) const |
: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives
- Parameters
-
p point in intrinsic coordinates Dcal optional 2*1 Jacobian wrpt focal length Dp optional 2*2 Jacobian wrpt intrinsic coordinates
- Returns
- point in image coordinates
The documentation for this class was generated from the following files:
