gtsam::Cal3DS2 Class Reference
Inheritance diagram for gtsam::Cal3DS2:
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. | |
| virtual size_t | dim () const |
| Return dimensions of calibration manifold object. | |
| static size_t | Dim () |
| Return dimensions of calibration manifold object. | |
Advanced Interface | |
| class | boost::serialization::access |
| Serialization function. | |
Public Member Functions | |
Standard Constructors | |
| Cal3DS2 () | |
| 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) | |
| virtual | ~Cal3DS2 () |
Advanced Constructors | |
| Cal3DS2 (const Vector &v) | |
Testable | |
| virtual void | print (const std::string &s="") const |
| print with optional string | |
| bool | equals (const Cal3DS2 &K, double tol=10e-9) const |
| assert equality up to a tolerance | |
Clone | |
| virtual boost::shared_ptr< Base > | clone () const |
| 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. | |
Public Types | |
| enum | { dimension = 9 } |
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
◆ clone()
|
inlinevirtual |
- Returns
- a deep copy of this object
Reimplemented from gtsam::Cal3DS2_Base.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/gtsam/gtsam/geometry/Cal3DS2.h
- /Users/dellaert/git/gtsam/gtsam/geometry/Cal3DS2.cpp
