Inheritance diagram for gtsam::Cal3Unified:

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3Unified &cal)
	Output stream operator.

void	print (const std::string &s="") const override
	print with optional string More...

bool	equals (const Cal3Unified &K, double tol=10e-9) const
	assert equality up to a tolerance

Manifold
Cal3Unified	retract (const Vector &d) const
	Given delta vector, update calibration.

Vector	localCoordinates (const Cal3Unified &T2) const
	Given a different calibration, calculate update to obtain it.

size_t	dim () const override
	Return dimensions of calibration manifold object. More...

static size_t	Dim ()
	Return dimensions of calibration manifold object.

Public Member Functions
Standard Constructors
	Cal3Unified ()=default
	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)

	~Cal3Unified () override

Advanced Constructors
	Cal3Unified (const Vector10 &v)

Standard Interface
double	xi () const
	mirror parameter

Vector10	vector () const
	Return all parameters as a vector.

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, OptionalJacobian< 2, 10 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) 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
	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, double tol=1e-5)

	~Cal3DS2_Base () override

	Cal3DS2_Base (const Vector9 &v)

virtual boost::shared_ptr< Cal3DS2_Base >	clone () const

bool	equals (const Cal3DS2_Base &K, double tol=1e-8) const
	assert equality up to a tolerance

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.

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, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) 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 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)

Public Types
enum	{ dimension = 10 }

Public Types inherited from gtsam::Cal3DS2_Base
enum	{ dimension = 9 }

Public Types inherited from gtsam::Cal3
enum	{ dimension = 5 }

using	shared_ptr = boost::shared_ptr< Cal3 >

Friends
class	boost::serialization::access
	Serialization function.

Additional Inherited Members
Static Public Member Functions inherited from gtsam::Cal3DS2_Base
static size_t	Dim ()
	return DOF, dimensionality of tangent space

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

Protected Attributes inherited from gtsam::Cal3DS2_Base
double	k1_ = 0.0f

double	k2_ = 0.0f
	radial 2nd-order and 4th-order

double	p1_ = 0.0f

double	p2_ = 0.0f
	tangential distortion

double	tol_ = 1e-5
	tolerance value when calibrating

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

Member Function Documentation

◆ dim()

size_t gtsam::Cal3Unified::dim ( ) const

inlineoverridevirtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3DS2_Base.

◆ print()

void gtsam::Cal3Unified::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3DS2_Base.

◆ 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

p	point in intrinsic coordinates
Dcal	optional 2*10 Jacobian wrpt Cal3Unified parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in image coordinates

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

/Users/dellaert/git/github/gtsam/geometry/Cal3Unified.h
/Users/dellaert/git/github/gtsam/geometry/Cal3Unified.cpp

Testable

Manifold

Public Member Functions

Public Types

Friends

Additional Inherited Members

Member Function Documentation

◆ dim()

◆ print()

◆ uncalibrate()