Public Types | List of all members
gtsam::Cal3_S2 Class Reference

The most common 5DOF 3D->2D calibration. More...

#include <Cal3_S2.h>

Inheritance diagram for gtsam::Cal3_S2:
Inheritance graph
[legend]

Public Types

enum  { dimension = 5 }
 
using shared_ptr = std::shared_ptr< Cal3_S2 >
 
- Public Types inherited from gtsam::Cal3
enum  { dimension = 5 }
 
using shared_ptr = std::shared_ptr< Cal3 >
 

Standard Constructors

 Cal3_S2 ()=default
 Create a default calibration that leaves coordinates unchanged. More...
 
 Cal3_S2 (double fx, double fy, double s, double u0, double v0)
 constructor from doubles More...
 
 Cal3_S2 (const Vector5 &d)
 constructor from vector More...
 
 Cal3_S2 (double fov, int w, int h)
 
Point2 uncalibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
 
Point2 calibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
 
Vector3 calibrate (const Vector3 &p) const
 

Testable

void print (const std::string &s="Cal3_S2") const override
 print with optional string More...
 
bool equals (const Cal3_S2 &K, double tol=10e-9) const
 Check if equal up to specified tolerance. More...
 
Cal3_S2 between (const Cal3_S2 &q, OptionalJacobian< 5, 5 > H1={}, OptionalJacobian< 5, 5 > H2={}) const
 "Between", subtracts calibrations. between(p,q) == compose(inverse(p),q) More...
 
GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const Cal3_S2 &cal)
 Output stream operator. More...
 

Manifold

Cal3_S2 retract (const Vector &d) const
 Given 5-dim tangent vector, create new calibration. More...
 
Vector5 localCoordinates (const Cal3_S2 &T2) const
 Unretraction for the 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...
 
virtual size_t dim () const
 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

The most common 5DOF 3D->2D calibration.

Definition at line 34 of file Cal3_S2.h.

Member Typedef Documentation

◆ shared_ptr

using gtsam::Cal3_S2::shared_ptr = std::shared_ptr<Cal3_S2>

Definition at line 39 of file Cal3_S2.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
dimension 

Definition at line 36 of file Cal3_S2.h.

Constructor & Destructor Documentation

◆ Cal3_S2() [1/4]

gtsam::Cal3_S2::Cal3_S2 ( )
default

Create a default calibration that leaves coordinates unchanged.

◆ Cal3_S2() [2/4]

gtsam::Cal3_S2::Cal3_S2 ( double  fx,
double  fy,
double  s,
double  u0,
double  v0 
)
inline

constructor from doubles

Definition at line 48 of file Cal3_S2.h.

◆ Cal3_S2() [3/4]

gtsam::Cal3_S2::Cal3_S2 ( const Vector5 &  d)
inline

constructor from vector

Definition at line 52 of file Cal3_S2.h.

◆ Cal3_S2() [4/4]

gtsam::Cal3_S2::Cal3_S2 ( double  fov,
int  w,
int  h 
)
inline

Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect

Parameters
fovfield of view in degrees
wimage width
himage height

Definition at line 60 of file Cal3_S2.h.

Member Function Documentation

◆ between()

Cal3_S2 gtsam::Cal3_S2::between ( const Cal3_S2 q,
OptionalJacobian< 5, 5 >  H1 = {},
OptionalJacobian< 5, 5 >  H2 = {} 
) const
inline

"Between", subtracts calibrations. between(p,q) == compose(inverse(p),q)

Definition at line 104 of file Cal3_S2.h.

◆ calibrate() [1/2]

Point2 gtsam::Cal3_S2::calibrate ( const Point2 p,
OptionalJacobian< 2, 5 >  Dcal = {},
OptionalJacobian< 2, 2 >  Dp = {} 
) const

Convert image coordinates uv to intrinsic coordinates xy

Parameters
ppoint in image coordinates
Dcaloptional 2*5 Jacobian wrpt Cal3 parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in intrinsic coordinates

Definition at line 53 of file Cal3_S2.cpp.

◆ calibrate() [2/2]

Vector3 gtsam::Cal3_S2::calibrate ( const Vector3 p) const

Convert homogeneous image coordinates to intrinsic coordinates

Parameters
ppoint 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 ( )
inlinestatic

return DOF, dimensionality of tangent space

Definition at line 118 of file Cal3_S2.h.

◆ equals()

bool gtsam::Cal3_S2::equals ( const Cal3_S2 K,
double  tol = 10e-9 
) const

Check if equal up to specified tolerance.

Definition at line 39 of file Cal3_S2.cpp.

◆ localCoordinates()

Vector5 gtsam::Cal3_S2::localCoordinates ( const Cal3_S2 T2) const
inline

Unretraction for the calibration.

Definition at line 126 of file Cal3_S2.h.

◆ print()

void gtsam::Cal3_S2::print ( const std::string &  s = "Cal3_S2") const
overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Reimplemented in gtsam::Cal3_S2Stereo.

Definition at line 34 of file Cal3_S2.cpp.

◆ retract()

Cal3_S2 gtsam::Cal3_S2::retract ( const Vector d) const
inline

Given 5-dim tangent vector, create new calibration.

Definition at line 121 of file Cal3_S2.h.

◆ uncalibrate()

Point2 gtsam::Cal3_S2::uncalibrate ( const Point2 p,
OptionalJacobian< 2, 5 >  Dcal = {},
OptionalJacobian< 2, 2 >  Dp = {} 
) const

Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves

Parameters
ppoint in intrinsic coordinates
Dcaloptional 2*5 Jacobian wrpt Cal3 parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in image coordinates

Definition at line 44 of file Cal3_S2.cpp.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const Cal3_S2 cal 
)
friend

Output stream operator.

Definition at line 27 of file Cal3_S2.cpp.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:15