Public Types | Public Member Functions | Private Attributes | List of all members
gtsam::Cal3_S2Stereo Class Reference

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

#include <Cal3_S2Stereo.h>

Inheritance diagram for gtsam::Cal3_S2Stereo:
Inheritance graph
[legend]

Public Types

enum  { dimension = 6 }
 
using shared_ptr = std::shared_ptr< Cal3_S2Stereo >
 
- Public Types inherited from gtsam::Cal3_S2
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 >
 

Public Member Functions

Point2 calibrate (const Point2 &p, OptionalJacobian< 2, 6 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
 
Vector3 calibrate (const Vector3 &p) const
 
Point2 uncalibrate (const Point2 &p, OptionalJacobian< 2, 6 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
 
- Public Member Functions inherited from gtsam::Cal3_S2
 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
 
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...
 
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...
 
- 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...
 

Private Attributes

double b_ = 1.0f
 Stereo baseline. More...
 

Standard Constructors

 Cal3_S2Stereo ()=default
 default calibration leaves coordinates unchanged More...
 
 Cal3_S2Stereo (double fx, double fy, double s, double u0, double v0, double b)
 constructor from doubles More...
 
 Cal3_S2Stereo (const Vector6 &d)
 constructor from vector More...
 
 Cal3_S2Stereo (double fov, int w, int h, double b)
 easy constructor; field-of-view in degrees, assumes zero skew More...
 

Testable

void print (const std::string &s="") const override
 print with optional string More...
 
bool equals (const Cal3_S2Stereo &other, double tol=10e-9) const
 Check if equal up to specified tolerance. More...
 
GTSAM_EXPORT friend std::ostream & operator<< (std::ostream &os, const Cal3_S2Stereo &cal)
 Output stream operator. More...
 

Standard Interface

const Cal3_S2calibration () const
 return calibration, same for left and right More...
 
Matrix3 K () const override
 return calibration matrix K, same for left and right More...
 
double baseline () const
 return baseline More...
 
Vector6 vector () const
 vectorized form (column-wise) More...
 

Manifold

size_t dim () const override
 return DOF, dimensionality of tangent space More...
 
Cal3_S2Stereo retract (const Vector &d) const
 Given 6-dim tangent vector, create new calibration. More...
 
Vector6 localCoordinates (const Cal3_S2Stereo &T2) const
 Unretraction for the calibration. More...
 
static size_t Dim ()
 return DOF, dimensionality of tangent space More...
 

Additional Inherited Members

- Static Public Member Functions inherited from gtsam::Cal3_S2
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

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

Definition at line 30 of file Cal3_S2Stereo.h.

Member Typedef Documentation

◆ shared_ptr

Definition at line 38 of file Cal3_S2Stereo.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
dimension 

Definition at line 35 of file Cal3_S2Stereo.h.

Constructor & Destructor Documentation

◆ Cal3_S2Stereo() [1/4]

gtsam::Cal3_S2Stereo::Cal3_S2Stereo ( )
default

default calibration leaves coordinates unchanged

◆ Cal3_S2Stereo() [2/4]

gtsam::Cal3_S2Stereo::Cal3_S2Stereo ( double  fx,
double  fy,
double  s,
double  u0,
double  v0,
double  b 
)
inline

constructor from doubles

Definition at line 47 of file Cal3_S2Stereo.h.

◆ Cal3_S2Stereo() [3/4]

gtsam::Cal3_S2Stereo::Cal3_S2Stereo ( const Vector6 &  d)
inline

constructor from vector

Definition at line 51 of file Cal3_S2Stereo.h.

◆ Cal3_S2Stereo() [4/4]

gtsam::Cal3_S2Stereo::Cal3_S2Stereo ( double  fov,
int  w,
int  h,
double  b 
)
inline

easy constructor; field-of-view in degrees, assumes zero skew

Definition at line 55 of file Cal3_S2Stereo.h.

Member Function Documentation

◆ baseline()

double gtsam::Cal3_S2Stereo::baseline ( ) const
inline

return baseline

Definition at line 111 of file Cal3_S2Stereo.h.

◆ calibrate() [1/2]

Point2 gtsam::Cal3_S2Stereo::calibrate ( const Point2 p,
OptionalJacobian< 2, 6 >  Dcal = {},
OptionalJacobian< 2, 2 >  Dp = {} 
) const

Convert image coordinates uv to intrinsic coordinates xy

Parameters
ppoint in image coordinates
Dcaloptional 2*6 Jacobian wrpt Cal3_S2Stereo parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in intrinsic coordinates

Definition at line 55 of file Cal3_S2Stereo.cpp.

◆ calibrate() [2/2]

Vector3 gtsam::Cal3_S2Stereo::calibrate ( const Vector3 p) const
inline

Convert homogeneous image coordinates to intrinsic coordinates

Parameters
ppoint in image coordinates
Returns
point in intrinsic coordinates

Definition at line 85 of file Cal3_S2Stereo.h.

◆ calibration()

const Cal3_S2& gtsam::Cal3_S2Stereo::calibration ( ) const
inline

return calibration, same for left and right

Definition at line 105 of file Cal3_S2Stereo.h.

◆ dim()

size_t gtsam::Cal3_S2Stereo::dim ( ) const
inlineoverridevirtual

return DOF, dimensionality of tangent space

Reimplemented from gtsam::Cal3.

Definition at line 125 of file Cal3_S2Stereo.h.

◆ Dim()

static size_t gtsam::Cal3_S2Stereo::Dim ( )
inlinestatic

return DOF, dimensionality of tangent space

Definition at line 128 of file Cal3_S2Stereo.h.

◆ equals()

bool gtsam::Cal3_S2Stereo::equals ( const Cal3_S2Stereo other,
double  tol = 10e-9 
) const

Check if equal up to specified tolerance.

Definition at line 39 of file Cal3_S2Stereo.cpp.

◆ K()

Matrix3 gtsam::Cal3_S2Stereo::K ( ) const
inlineoverridevirtual

return calibration matrix K, same for left and right

Reimplemented from gtsam::Cal3.

Definition at line 108 of file Cal3_S2Stereo.h.

◆ localCoordinates()

Vector6 gtsam::Cal3_S2Stereo::localCoordinates ( const Cal3_S2Stereo T2) const
inline

Unretraction for the calibration.

Definition at line 137 of file Cal3_S2Stereo.h.

◆ print()

void gtsam::Cal3_S2Stereo::print ( const std::string &  s = "") const
overridevirtual

print with optional string

Reimplemented from gtsam::Cal3_S2.

Definition at line 32 of file Cal3_S2Stereo.cpp.

◆ retract()

Cal3_S2Stereo gtsam::Cal3_S2Stereo::retract ( const Vector d) const
inline

Given 6-dim tangent vector, create new calibration.

Definition at line 131 of file Cal3_S2Stereo.h.

◆ uncalibrate()

Point2 gtsam::Cal3_S2Stereo::uncalibrate ( const Point2 p,
OptionalJacobian< 2, 6 >  Dcal = {},
OptionalJacobian< 2, 2 >  Dp = {} 
) const

Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves

Parameters
ppoint in intrinsic coordinates
Dcaloptional 2*6 Jacobian wrpt Cal3_S2Stereo parameters
Dpoptional 2*2 Jacobian wrpt intrinsic coordinates
Returns
point in image coordinates

Definition at line 46 of file Cal3_S2Stereo.cpp.

◆ vector()

Vector6 gtsam::Cal3_S2Stereo::vector ( ) const
inline

vectorized form (column-wise)

Definition at line 114 of file Cal3_S2Stereo.h.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const Cal3_S2Stereo cal 
)
friend

Output stream operator.

Definition at line 25 of file Cal3_S2Stereo.cpp.

Member Data Documentation

◆ b_

double gtsam::Cal3_S2Stereo::b_ = 1.0f
private

Stereo baseline.

Definition at line 32 of file Cal3_S2Stereo.h.


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


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