Public Member Functions | List of all members
gtsam::Cal3Bundler0 Struct Reference
Inheritance diagram for gtsam::Cal3Bundler0:
Inheritance graph
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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
 
void print (const std::string &s="") const override
 print with optional string More...
 
bool equals (const Cal3Bundler &K, double tol=10e-9) const
 assert equality up to a tolerance More...
 
double k1 () const
 distorsion parameter k1 More...
 
double k2 () const
 distorsion parameter k2 More...
 
double px () const
 image center in x More...
 
double py () const
 image center in y 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::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::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::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:


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