gtsam  4.1.0
gtsam
gtsam::Cal3Unified Class Reference
+ Inheritance diagram for gtsam::Cal3Unified:

Manifold

Cal3Unified retract (const Vector &d) const
 Given delta vector, update calibration.
 
Vector10 localCoordinates (const Cal3Unified &T2) const
 Given a different calibration, calculate update to obtain it.
 
virtual size_t dim () const
 Return dimensions of calibration manifold object.
 
Vector10 vector () const
 Return all parameters as a vector.
 
static size_t Dim ()
 Return dimensions of calibration manifold object.
 

Public Member Functions

Standard Constructors
 Cal3Unified ()
 Default Constructor with only unit focal length.
 
 Cal3Unified (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double xi=0.0)
 
virtual ~Cal3Unified ()
 
Advanced Constructors
 Cal3Unified (const Vector &v)
 
Testable
void print (const std::string &s="") const override
 print with optional string
 
bool equals (const Cal3Unified &K, double tol=10e-9) const
 assert equality up to a tolerance
 
Standard Interface
double xi () const
 mirror parameter
 
Point2 uncalibrate (const Point2 &p, OptionalJacobian< 2, 10 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
 convert intrinsic coordinates xy to image coordinates uv More...
 
Point2 calibrate (const Point2 &p, const double tol=1e-5) const
 Conver a pixel coordinate to ideal coordinate.
 
Point2 spaceToNPlane (const Point2 &p) const
 Convert a 3D point to normalized unit plane.
 
Point2 nPlaneToSpace (const Point2 &p) const
 Convert a normalized unit plane point to 3D space.
 
- 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.
 
virtual boost::shared_ptr< Cal3DS2_Baseclone () const
 

Public Types

enum  { dimension = 10 }
 

Friends

class boost::serialization::access
 Serialization function.
 

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

◆ uncalibrate()

Point2 gtsam::Cal3Unified::uncalibrate ( const Point2 p,
OptionalJacobian< 2, 10 >  Dcal = boost::none,
OptionalJacobian< 2, 2 >  Dp = boost::none 
) const

convert intrinsic coordinates xy to image coordinates uv

Parameters
ppoint in intrinsic coordinates
Dcaloptional 2*10 Jacobian wrpt Cal3Unified parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in image coordinates

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