Inheritance diagram for gtsam::Cal3Bundler0:

[legend]

Public Member Functions
	Cal3Bundler0 (double f=0, double k1=0, double k2=0, double u0=0, double v0=0)

Vector3	localCoordinates (const Cal3Bundler0 &T2) const

Cal3Bundler0	retract (const Vector &d) const

Public Member Functions inherited from gtsam::Cal3Bundler
	Cal3Bundler ()=default
	Default constructor. More...

	Cal3Bundler (double f, double k1, double k2, double u0=0, double v0=0, double tol=1e-5)

	~Cal3Bundler () override=default

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

bool	equals (const Cal3Bundler &K, double tol=1e-9) const
	assert equality up to a tolerance More...

double	k1 () const
	distortion parameter k1 More...

double	k2 () const
	distortion parameter k2 More...

Matrix3	K () const override
	Standard 3*3 calibration matrix. More...

Vector4	k () const
	Radial distortion parameters (4 of them, 2 0) More...

Vector3	vector () const

Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 3 > 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, 3 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const

Matrix2	D2d_intrinsic (const Point2 &p) const

Matrix23	D2d_calibration (const Point2 &p) const

Matrix25	D2d_intrinsic_calibration (const Point2 &p) const

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

Cal3Bundler	retract (const Vector &d) const
	Update calibration with tangent space delta. More...

Vector3	localCoordinates (const Cal3Bundler &T2) const
	Calculate local coordinates to another calibration. More...

Public Member Functions inherited from gtsam::Cal3f
	Cal3f ()=default
	Default constructor. More...

	Cal3f (double f, double u0, double v0)

	~Cal3f () override=default

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...

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

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...

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...

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

Additional Inherited Members
Public Types inherited from gtsam::Cal3Bundler
enum	{ dimension = 3 }

using	shared_ptr = std::shared_ptr< Cal3Bundler >

Public Types inherited from gtsam::Cal3f
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 >

Static Public Member Functions inherited from gtsam::Cal3Bundler
static size_t	Dim ()
	Return DOF, dimensionality of tangent space. More...

Static Public Member Functions inherited from gtsam::Cal3f
static size_t	Dim ()
	Return DOF, dimensionality of tangent space. 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

Definition at line 36 of file testAdaptAutoDiff.cpp.

Constructor & Destructor Documentation

◆ Cal3Bundler0()

gtsam::Cal3Bundler0::Cal3Bundler0	(	double	f = `0`,
		double	k1 = `0`,
		double	k2 = `0`,
		double	u0 = `0`,
		double	v0 = `0`
	)

inline

Definition at line 37 of file testAdaptAutoDiff.cpp.

Member Function Documentation

◆ localCoordinates()

Vector3 gtsam::Cal3Bundler0::localCoordinates ( const Cal3Bundler0 & T2 ) const

inline

Definition at line 43 of file testAdaptAutoDiff.cpp.

◆ retract()

Cal3Bundler0 gtsam::Cal3Bundler0::retract ( const Vector & d ) const

inline

Definition at line 40 of file testAdaptAutoDiff.cpp.

The documentation for this struct was generated from the following file:

testAdaptAutoDiff.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Cal3Bundler0()

Member Function Documentation

◆ localCoordinates()

◆ retract()