gtsam  4.1.0
gtsam::Cal3Fisheye Class Reference

Standard Interface

double fx () const
 focal length x
double fy () const
 focal length x
double skew () const
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 k3 () const
 First tangential distortion coefficient.
double k4 () const
 Second tangential distortion coefficient.
Matrix3 K () const
 return calibration matrix
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 [x_i; y_i] to (distorted) image coordinates [u; v] More...
Point2 calibrate (const Point2 &p, const double tol=1e-5) const
 Convert (distorted) image coordinates [u;v] to intrinsic coordinates [x_i, y_i].
static double Scaling (double r)
 Helper function that calculates atan(r)/r.


Cal3Fisheye retract (const Vector &d) const
 Given delta vector, update calibration.
Vector localCoordinates (const Cal3Fisheye &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
 Cal3Fisheye ()
 Default Constructor with only unit focal length.
 Cal3Fisheye (const double fx, const double fy, const double s, const double u0, const double v0, const double k1, const double k2, const double k3, const double k4)
virtual ~Cal3Fisheye ()
Advanced Constructors
 Cal3Fisheye (const Vector9 &v)
virtual void print (const std::string &s="") const
 print with optional string
bool equals (const Cal3Fisheye &K, double tol=10e-9) const
 assert equality up to a tolerance
virtual boost::shared_ptr< Cal3Fisheyeclone () const

Public Types

enum  { dimension = 9 }
typedef boost::shared_ptr< Cal3Fisheyeshared_ptr
 shared pointer to fisheye calibration object

Member Function Documentation

◆ clone()

virtual boost::shared_ptr<Cal3Fisheye> gtsam::Cal3Fisheye::clone ( ) const
a deep copy of this object

◆ uncalibrate()

Point2 gtsam::Cal3Fisheye::uncalibrate ( const Point2 p,
OptionalJacobian< 2, 9 >  Dcal = boost::none,
OptionalJacobian< 2, 2 >  Dp = boost::none 
) const

convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v]

ppoint in intrinsic coordinates
Dcaloptional 2*9 Jacobian wrpt intrinsic parameters (fx, fy, ..., k4)
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates (xi, yi)
point in (distorted) image coordinates

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