The most common 5DOF 3D->2D calibration.
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#include <Cal3_S2.h>
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| Cal3_S2 ()=default |
| Create a default calibration that leaves coordinates unchanged. More...
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| Cal3_S2 (double fx, double fy, double s, double u0, double v0) |
| constructor from doubles More...
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| Cal3_S2 (const Vector5 &d) |
| constructor from vector More...
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| Cal3_S2 (double fov, int w, int h) |
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Point2 | uncalibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const |
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Point2 | calibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const |
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Vector3 | calibrate (const Vector3 &p) const |
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The most common 5DOF 3D->2D calibration.
Definition at line 34 of file Cal3_S2.h.
◆ shared_ptr
◆ anonymous enum
◆ Cal3_S2() [1/4]
gtsam::Cal3_S2::Cal3_S2 |
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default |
Create a default calibration that leaves coordinates unchanged.
◆ Cal3_S2() [2/4]
gtsam::Cal3_S2::Cal3_S2 |
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double |
fx, |
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double |
fy, |
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double |
s, |
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double |
u0, |
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double |
v0 |
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inline |
constructor from doubles
Definition at line 48 of file Cal3_S2.h.
◆ Cal3_S2() [3/4]
gtsam::Cal3_S2::Cal3_S2 |
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const Vector5 & |
d | ) |
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inline |
constructor from vector
Definition at line 52 of file Cal3_S2.h.
◆ Cal3_S2() [4/4]
gtsam::Cal3_S2::Cal3_S2 |
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double |
fov, |
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int |
w, |
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int |
h |
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inline |
Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect
- Parameters
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fov | field of view in degrees |
w | image width |
h | image height |
Definition at line 60 of file Cal3_S2.h.
◆ between()
"Between", subtracts calibrations. between(p,q) == compose(inverse(p),q)
Definition at line 104 of file Cal3_S2.h.
◆ calibrate() [1/2]
Convert image coordinates uv to intrinsic coordinates xy
- Parameters
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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
Definition at line 53 of file Cal3_S2.cpp.
◆ calibrate() [2/2]
Convert homogeneous image coordinates to intrinsic coordinates
- Parameters
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p | point in image coordinates |
- Returns
- point in intrinsic coordinates
Definition at line 72 of file Cal3_S2.cpp.
◆ Dim()
static size_t gtsam::Cal3_S2::Dim |
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inlinestatic |
return DOF, dimensionality of tangent space
Definition at line 118 of file Cal3_S2.h.
◆ equals()
bool gtsam::Cal3_S2::equals |
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const Cal3_S2 & |
K, |
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double |
tol = 10e-9 |
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Check if equal up to specified tolerance.
Definition at line 39 of file Cal3_S2.cpp.
◆ localCoordinates()
Vector5 gtsam::Cal3_S2::localCoordinates |
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const Cal3_S2 & |
T2 | ) |
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inline |
Unretraction for the calibration.
Definition at line 126 of file Cal3_S2.h.
◆ print()
void gtsam::Cal3_S2::print |
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const std::string & |
s = "Cal3_S2" | ) |
const |
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overridevirtual |
◆ retract()
Given 5-dim tangent vector, create new calibration.
Definition at line 121 of file Cal3_S2.h.
◆ uncalibrate()
Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves
- Parameters
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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
Definition at line 44 of file Cal3_S2.cpp.
◆ operator<<
GTSAM_EXPORT friend std::ostream& operator<< |
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std::ostream & |
os, |
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const Cal3_S2 & |
cal |
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friend |
Output stream operator.
Definition at line 27 of file Cal3_S2.cpp.
The documentation for this class was generated from the following files: