Calibration model with a single focal length and zero skew. More...

#include <Cal3f.h>

Inheritance diagram for gtsam::Cal3f:

[legend]

Public Types
enum	{ dimension = 1 }

using	shared_ptr = std::shared_ptr< Cal3f >

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

using	shared_ptr = std::shared_ptr< Cal3 >

Constructors
	Cal3f ()=default
	Default constructor. More...

	Cal3f (double f, double u0, double v0)

	~Cal3f () override=default

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

bool	equals (const Cal3f &K, double tol=1e-9) const
	assert equality up to a tolerance More...

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3f &cal)
	Output stream operator. More...

Standard Interface
double	f () const
	focal length More...

Vector1	vector () const
	vectorized form (column-wise) More...

Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 1 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
	: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives More...

Point2	calibrate (const Point2 &pi, OptionalJacobian< 2, 1 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const

Manifold
size_t	dim () const override
	Return DOF, dimensionality of tangent space. More...

Cal3f	retract (const Vector &d) const
	Update calibration with tangent space delta. More...

Vector1	localCoordinates (const Cal3f &T2) const
	Calculate local coordinates to another calibration. More...

static size_t	Dim ()
	Return DOF, dimensionality of tangent space. More...

Additional Inherited Members
Public Member Functions inherited from gtsam::Cal3
	Cal3 ()=default
	Create a default calibration that leaves coordinates unchanged. More...

	Cal3 (double fx, double fy, double s, double u0, double v0)
	constructor from doubles More...

	Cal3 (const Vector5 &d)
	constructor from vector More...

	Cal3 (double fov, int w, int h)

virtual	~Cal3 ()
	Virtual destructor. More...

	Cal3 (const std::string &path)

bool	equals (const Cal3 &K, double tol=10e-9) const
	Check if equal up to specified tolerance. More...

double	fx () const
	focal length x More...

double	fy () const
	focal length y More...

double	aspectRatio () const
	aspect ratio More...

double	skew () const
	skew More...

double	px () const
	image center in x More...

double	py () const
	image center in y More...

Point2	principalPoint () const
	return the principal point More...

Vector5	vector () const
	vectorized form (column-wise) More...

virtual Matrix3	K () const
	return calibration matrix K More...

Matrix3	inverse () const
	Return inverted calibration matrix inv(K) More...

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

Protected Attributes inherited from gtsam::Cal3
double	fx_ = 1.0f

double	fy_ = 1.0f
	focal length More...

double	s_ = 0.0f
	skew More...

double	u0_ = 0.0f

double	v0_ = 0.0f
	principal point More...

Detailed Description

Calibration model with a single focal length and zero skew.

Definition at line 35 of file Cal3f.h.

Member Typedef Documentation

◆ shared_ptr

using gtsam::Cal3f::shared_ptr = std::shared_ptr<Cal3f>

Definition at line 38 of file Cal3f.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
dimension

Definition at line 37 of file Cal3f.h.

Constructor & Destructor Documentation

◆ Cal3f() [1/2]

gtsam::Cal3f::Cal3f ( )

default

Default constructor.

◆ Cal3f() [2/2]

gtsam::Cal3f::Cal3f	(	double	f,
		double	u0,
		double	v0
	)

Constructor

Parameters

f	focal length
u0	image center x-coordinate (considered a constant)
v0	image center y-coordinate (considered a constant)

Definition at line 35 of file Cal3f.cpp.

◆ ~Cal3f()

gtsam::Cal3f::~Cal3f ( )

overridedefault

Member Function Documentation

◆ calibrate()

Point2 gtsam::Cal3f::calibrate	(	const Point2 &	pi,
		OptionalJacobian< 2, 1 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

Convert a pixel coordinate to ideal coordinate xy

Parameters

pi	point in image coordinates
Dcal	optional 2*1 Jacobian wrpt focal length
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in intrinsic coordinates

Definition at line 84 of file Cal3f.cpp.

◆ Dim()

static size_t gtsam::Cal3f::Dim ( )

inlinestatic

Return DOF, dimensionality of tangent space.

Definition at line 108 of file Cal3f.h.

◆ dim()

size_t gtsam::Cal3f::dim ( ) const

inlineoverridevirtual

Return DOF, dimensionality of tangent space.

Reimplemented from gtsam::Cal3.

Definition at line 105 of file Cal3f.h.

◆ equals()

bool gtsam::Cal3f::equals	(	const Cal3f &	K,
		double	tol = `1e-9`
	)		const

assert equality up to a tolerance

Definition at line 50 of file Cal3f.cpp.

◆ f()

double gtsam::Cal3f::f ( ) const

inline

focal length

Definition at line 74 of file Cal3f.h.

◆ localCoordinates()

Vector1 gtsam::Cal3f::localCoordinates ( const Cal3f & T2 ) const

inline

Calculate local coordinates to another calibration.

Definition at line 114 of file Cal3f.h.

◆ print()

void gtsam::Cal3f::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Definition at line 44 of file Cal3f.cpp.

◆ retract()

Cal3f gtsam::Cal3f::retract ( const Vector & d ) const

inline

Update calibration with tangent space delta.

Definition at line 111 of file Cal3f.h.

◆ uncalibrate()

Point2 gtsam::Cal3f::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 1 >	Dcal = `{}`,
		OptionalJacobian< 2, 2 >	Dp = `{}`
	)		const

: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*1 Jacobian wrpt focal length
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in image coordinates

Definition at line 62 of file Cal3f.cpp.

◆ vector()

Vector1 gtsam::Cal3f::vector ( ) const

vectorized form (column-wise)

Definition at line 55 of file Cal3f.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Cal3f &	cal
	)

friend

Output stream operator.

Definition at line 38 of file Cal3f.cpp.

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

Public Types

Constructors

Testable

Standard Interface

Manifold

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Cal3f() [1/2]

◆ Cal3f() [2/2]

◆ ~Cal3f()

Member Function Documentation

◆ calibrate()

◆ Dim()

◆ dim()

◆ equals()

◆ f()

◆ localCoordinates()

◆ print()

◆ retract()

◆ uncalibrate()

◆ vector()

Friends And Related Function Documentation

◆ operator<<