gtsam  4.1.0
gtsam
gtsam::Cal3Bundler Class Reference

Manifold

Cal3Bundler retract (const Vector &d) const
 Update calibration with tangent space delta.
 
Vector3 localCoordinates (const Cal3Bundler &T2) const
 Calculate local coordinates to another calibration.
 
virtual size_t dim () const
 dimensionality
 
static size_t Dim ()
 dimensionality
 

Advanced Interface

class boost::serialization::access
 Serialization function.
 

Public Member Functions

Standard Constructors
 Cal3Bundler ()
 Default constructor.
 
 Cal3Bundler (double f, double k1, double k2, double u0=0, double v0=0, double tol=1e-5)
 Constructor. More...
 
virtual ~Cal3Bundler ()
 
Testable
void print (const std::string &s="") const
 print with optional string
 
bool equals (const Cal3Bundler &K, double tol=10e-9) const
 assert equality up to a tolerance
 
Standard Interface
Matrix3 K () const
 Standard 3*3 calibration matrix.
 
Vector4 k () const
 Radial distortion parameters (4 of them, 2 0)
 
Vector3 vector () const
 
double fx () const
 focal length x
 
double fy () const
 focal length y
 
double k1 () const
 distorsion parameter k1
 
double k2 () const
 distorsion parameter k2
 
double px () const
 image center in x
 
double py () const
 image center in y
 
Point2 uncalibrate (const Point2 &p, OptionalJacobian< 2, 3 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
 : convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives More...
 
Point2 calibrate (const Point2 &pi, OptionalJacobian< 2, 3 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
 Convert a pixel coordinate to ideal coordinate xy. More...
 
Matrix2 D2d_intrinsic (const Point2 &p) const
 
Matrix23 D2d_calibration (const Point2 &p) const
 
Matrix25 D2d_intrinsic_calibration (const Point2 &p) const
 

Public Types

enum  { dimension = 3 }
 

Constructor & Destructor Documentation

◆ Cal3Bundler()

gtsam::Cal3Bundler::Cal3Bundler ( double  f,
double  k1,
double  k2,
double  u0 = 0,
double  v0 = 0,
double  tol = 1e-5 
)

Constructor.

Parameters
ffocal length
k1first radial distortion coefficient (quadratic)
k2second radial distortion coefficient (quartic)
u0optional image center (default 0), considered a constant
v0optional image center (default 0), considered a constant
toloptional calibration tolerance value

Member Function Documentation

◆ calibrate()

Point2 gtsam::Cal3Bundler::calibrate ( const Point2 pi,
OptionalJacobian< 2, 3 >  Dcal = boost::none,
OptionalJacobian< 2, 2 >  Dp = boost::none 
) const

Convert a pixel coordinate to ideal coordinate xy.

Parameters
ppoint in image coordinates
toloptional tolerance threshold value for iterative minimization
Dcaloptional 2*3 Jacobian wrpt Cal3Bundler parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in intrinsic coordinates

◆ D2d_calibration()

Matrix23 gtsam::Cal3Bundler::D2d_calibration ( const Point2 p) const
Deprecated:
might be removed in next release, use uncalibrate

◆ D2d_intrinsic()

Matrix2 gtsam::Cal3Bundler::D2d_intrinsic ( const Point2 p) const
Deprecated:
might be removed in next release, use uncalibrate

◆ D2d_intrinsic_calibration()

Matrix25 gtsam::Cal3Bundler::D2d_intrinsic_calibration ( const Point2 p) const
Deprecated:
might be removed in next release, use uncalibrate

◆ uncalibrate()

Point2 gtsam::Cal3Bundler::uncalibrate ( const Point2 p,
OptionalJacobian< 2, 3 >  Dcal = boost::none,
OptionalJacobian< 2, 2 >  Dp = boost::none 
) const

: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives

Parameters
ppoint in intrinsic coordinates
Dcaloptional 2*3 Jacobian wrpt CalBundler parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in image coordinates

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