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| | Cal3Bundler0 (double f=0, double k1=0, double k2=0, double u0=0, double v0=0) |
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| Vector3 | localCoordinates (const Cal3Bundler0 &T2) const |
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| Cal3Bundler0 | retract (const Vector &d) const |
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| | Cal3Bundler ()=default |
| | Default constructor. More...
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| | Cal3Bundler (double f, double k1, double k2, double u0=0, double v0=0, double tol=1e-5) |
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| | ~Cal3Bundler () override |
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| void | print (const std::string &s="") const override |
| | print with optional string More...
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| bool | equals (const Cal3Bundler &K, double tol=10e-9) const |
| | assert equality up to a tolerance More...
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| double | k1 () const |
| | distorsion parameter k1 More...
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| double | k2 () const |
| | distorsion parameter k2 More...
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| double | px () const |
| | image center in x More...
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| double | py () const |
| | image center in y More...
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| Matrix3 | K () const override |
| | Standard 3*3 calibration matrix. More...
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| Vector4 | k () const |
| | Radial distortion parameters (4 of them, 2 0) More...
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| Vector3 | vector () const |
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| 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...
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| Point2 | calibrate (const Point2 &pi, OptionalJacobian< 2, 3 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const |
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| Matrix2 | D2d_intrinsic (const Point2 &p) const |
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| Matrix23 | D2d_calibration (const Point2 &p) const |
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| Matrix25 | D2d_intrinsic_calibration (const Point2 &p) const |
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| size_t | dim () const override |
| | return DOF, dimensionality of tangent space More...
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| Cal3Bundler | retract (const Vector &d) const |
| | Update calibration with tangent space delta. More...
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| Vector3 | localCoordinates (const Cal3Bundler &T2) const |
| | Calculate local coordinates to another calibration. More...
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| | Cal3 ()=default |
| | Create a default calibration that leaves coordinates unchanged. More...
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| | Cal3 (double fx, double fy, double s, double u0, double v0) |
| | constructor from doubles More...
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| | Cal3 (const Vector5 &d) |
| | constructor from vector More...
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| | Cal3 (double fov, int w, int h) |
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| virtual | ~Cal3 () |
| | Virtual destructor. More...
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| | Cal3 (const std::string &path) |
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| bool | equals (const Cal3 &K, double tol=10e-9) const |
| | Check if equal up to specified tolerance. More...
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| double | fx () const |
| | focal length x More...
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| double | fy () const |
| | focal length y More...
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| double | aspectRatio () const |
| | aspect ratio More...
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| double | skew () const |
| | skew More...
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| double | px () const |
| | image center in x More...
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| double | py () const |
| | image center in y More...
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| Point2 | principalPoint () const |
| | return the principal point More...
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| Vector5 | vector () const |
| | vectorized form (column-wise) More...
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| Matrix3 | inverse () const |
| | Return inverted calibration matrix inv(K) More...
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Definition at line 36 of file testAdaptAutoDiff.cpp.
Public Member Functions inherited from gtsam::Cal3Bundler