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gtsam::Cal3 Class Reference
Detailed Description
Common base class for all calibration models.
Inheritance diagram for gtsam::Cal3:
Advanced Interface | |
| class | boost::serialization::access |
| Serialization function. | |
Testable | |
| GTSAM_EXPORT friend std::ostream & | operator<< (std::ostream &os, const Cal3 &cal) |
| Output stream operator. | |
| virtual void | print (const std::string &s="") const |
| print with optional string | |
| bool | equals (const Cal3 &K, double tol=10e-9) const |
| Check if equal up to specified tolerance. | |
Standard Constructors | |
| 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. | |
| virtual | ~Cal3 () |
| Virtual destructor. | |
Advanced Constructors | |
| Cal3 (const std::string &path) | |
| Load calibration parameters from calibration_info.txt file located in path directory. | |
Standard Interface | |
| 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 | |
| Matrix3 | inverse () const |
| Return inverted calibration matrix inv(K). | |
| virtual size_t | dim () const |
| return DOF, dimensionality of tangent space | |
| static size_t | Dim () |
| return DOF, dimensionality of tangent space | |
Public Types | |
| enum | { dimension = 5 } |
| using | shared_ptr = boost::shared_ptr<Cal3> |
Protected Attributes | |
| 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() [1/2]
| gtsam::Cal3::Cal3 | ( | double | fov, |
| int | w, | ||
| int | h ) |
Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect.
- Parameters
-
fov field of view in degrees w image width h image height
◆ Cal3() [2/2]
| gtsam::Cal3::Cal3 | ( | const std::string & | path | ) |
Member Function Documentation
◆ dim()
|
inlinevirtual |
return DOF, dimensionality of tangent space
Reimplemented in gtsam::Cal3_S2Stereo, gtsam::Cal3Bundler, gtsam::Cal3DS2, gtsam::Cal3DS2_Base, gtsam::Cal3Fisheye, and gtsam::Cal3Unified.
◆ K()
|
inlinevirtual |
return calibration matrix K
Reimplemented in gtsam::Cal3_S2Stereo, and gtsam::Cal3Bundler.
◆ print()
|
virtual |
print with optional string
Reimplemented in gtsam::Cal3_S2, gtsam::Cal3_S2Stereo, gtsam::Cal3Bundler, gtsam::Cal3DS2, gtsam::Cal3DS2_Base, gtsam::Cal3Fisheye, and gtsam::Cal3Unified.
The documentation for this class was generated from the following files:
