gtsam::Cal3_S2 Class Reference

Inheritance diagram for gtsam::Cal3_S2:

Advanced Interface
class	boost::serialization::access
	Serialization function.

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3_S2 &cal)
	Output stream operator.
void	print (const std::string &s="Cal3_S2") const override
	print with optional string More...
bool	equals (const Cal3_S2 &K, double tol=10e-9) const
	Check if equal up to specified tolerance.
Cal3_S2	between (const Cal3_S2 &q, OptionalJacobian< 5, 5 > H1=boost::none, OptionalJacobian< 5, 5 > H2=boost::none) const
	"Between", subtracts calibrations. between(p,q) == compose(inverse(p),q)

Manifold
Cal3_S2	retract (const Vector &d) const
	Given 5-dim tangent vector, create new calibration.
Vector5	localCoordinates (const Cal3_S2 &T2) const
	Unretraction for the calibration.
static size_t	Dim ()
	return DOF, dimensionality of tangent space

Public Member Functions
Standard Constructors
	Cal3_S2 ()=default
	Create a default calibration that leaves coordinates unchanged.
	Cal3_S2 (double fx, double fy, double s, double u0, double v0)
	constructor from doubles
	Cal3_S2 (const Vector5 &d)
	constructor from vector
	Cal3_S2 (double fov, int w, int h)
	Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect. More...
Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves. More...
Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	Convert image coordinates uv to intrinsic coordinates xy. More...
Vector3	calibrate (const Vector3 &p) const
	Convert homogeneous image coordinates to intrinsic coordinates. More...
Public Member Functions inherited from gtsam::Cal3
	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. More...
virtual	~Cal3 ()
	Virtual destructor.
	Cal3 (const std::string &path)
	Load calibration parameters from calibration_info.txt file located in path directory. More...
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 More...
Matrix3	inverse () const
	Return inverted calibration matrix inv(K)
virtual size_t	dim () const
	return DOF, dimensionality of tangent space More...

Public Types
enum	{ dimension = 5 }
using	shared_ptr = boost::shared_ptr< Cal3_S2 >
Public Types inherited from gtsam::Cal3
enum	{ dimension = 5 }
using	shared_ptr = boost::shared_ptr< Cal3 >

Additional Inherited Members
Static Public Member Functions inherited from gtsam::Cal3
static size_t	Dim ()
	return DOF, dimensionality of tangent space
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

Cal3_S2()

gtsam::Cal3_S2::Cal3_S2 ( double  fov, int  w, int  h  )

inline

Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect.

Parameters

fov	field of view in degrees
w	image width
h	image height

Member Function Documentation

calibrate() [1/2]

Point2 gtsam::Cal3_S2::calibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 5 >	Dcal = boost::none,
		OptionalJacobian< 2, 2 >	Dp = boost::none
	)		const

Convert image coordinates uv to intrinsic coordinates xy.

Parameters

p	point in image coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns

point in intrinsic coordinates

calibrate() [2/2]

Vector3 gtsam::Cal3_S2::calibrate

(

const Vector3 &

p

)

const

Convert homogeneous image coordinates to intrinsic coordinates.

Parameters

p	point in image coordinates

Returns

point in intrinsic coordinates

print()

void gtsam::Cal3_S2::print ( const std::string &  s = "Cal3_S2" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Reimplemented in gtsam::Cal3_S2Stereo.

uncalibrate()

Point2 gtsam::Cal3_S2::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 5 >	Dcal = boost::none,
		OptionalJacobian< 2, 2 >	Dp = boost::none
	)		const

Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves.

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns

point in image coordinates

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

• /Users/dellaert/git/github/gtsam/geometry/Cal3_S2.h
• /Users/dellaert/git/github/gtsam/geometry/Cal3_S2.cpp