Common base class for all calibration models. More...

#include <Cal3.h>

Inheritance diagram for gtsam::Cal3:

[legend]

Public Types
using	shared_ptr = std::shared_ptr< Cal3 >

Static Public Attributes
constexpr static auto	dimension = 5
	shared pointer to calibration object More...

Protected Attributes
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...

Standard Constructors
	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...

Advanced Constructors
	Cal3 (const std::string &path)

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

bool	equals (const Cal3 &K, double tol=10e-9) const
	Check if equal up to specified tolerance. More...

GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3 &cal)
	Output stream operator. More...

Standard Interface
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 size_t	Dim ()
	return DOF, dimensionality of tangent space More...

Detailed Description

Common base class for all calibration models.

Definition at line 69 of file Cal3.h.

Member Typedef Documentation

◆ shared_ptr

using gtsam::Cal3::shared_ptr = std::shared_ptr<Cal3>

Definition at line 78 of file Cal3.h.

Constructor & Destructor Documentation

◆ Cal3() [1/5]

gtsam::Cal3::Cal3 ( )

default

Create a default calibration that leaves coordinates unchanged.

◆ Cal3() [2/5]

gtsam::Cal3::Cal3	(	double	fx,
		double	fy,
		double	s,
		double	u0,
		double	v0
	)

inline

constructor from doubles

Definition at line 87 of file Cal3.h.

◆ Cal3() [3/5]

gtsam::Cal3::Cal3 ( const Vector5 & d )

inline

constructor from vector

Definition at line 91 of file Cal3.h.

◆ Cal3() [4/5]

gtsam::Cal3::Cal3	(	double	fov,
		int	w,
		int	h
	)

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

Parameters

fov	field of view in degrees
w	image width
h	image height

Definition at line 27 of file Cal3.cpp.

◆ ~Cal3()

virtual gtsam::Cal3::~Cal3 ( )

inlinevirtual

Virtual destructor.

Definition at line 103 of file Cal3.h.

◆ Cal3() [5/5]

gtsam::Cal3::Cal3 ( const std::string & path )

Load calibration parameters from calibration_info.txt file located in path directory.

The contents of calibration file should be the 5 parameters in order: fx, fy, s, u0, v0

Parameters

path	path to directory containing `calibration_info.txt`.

Definition at line 35 of file Cal3.cpp.

Member Function Documentation

◆ aspectRatio()

double gtsam::Cal3::aspectRatio ( ) const

inline

aspect ratio

Definition at line 145 of file Cal3.h.

◆ Dim()

static size_t gtsam::Cal3::Dim ( )

inlinestatic

return DOF, dimensionality of tangent space

Definition at line 180 of file Cal3.h.

◆ dim()

virtual size_t gtsam::Cal3::dim ( ) const

inlinevirtual

return DOF, dimensionality of tangent space

Reimplemented in gtsam::Cal3Fisheye, gtsam::Cal3DS2_Base, gtsam::Cal3Unified, gtsam::Cal3Bundler, gtsam::Cal3_S2Stereo, gtsam::Cal3f, and gtsam::Cal3DS2.

Definition at line 177 of file Cal3.h.

◆ equals()

bool gtsam::Cal3::equals	(	const Cal3 &	K,
		double	tol = `10e-9`
	)		const

Check if equal up to specified tolerance.

Definition at line 59 of file Cal3.cpp.

◆ fx()

double gtsam::Cal3::fx ( ) const

inline

focal length x

Definition at line 139 of file Cal3.h.

◆ fy()

double gtsam::Cal3::fy ( ) const

inline

focal length y

Definition at line 142 of file Cal3.h.

◆ inverse()

Matrix3 gtsam::Cal3::inverse ( ) const

Return inverted calibration matrix inv(K)

Definition at line 65 of file Cal3.cpp.

◆ K()

virtual Matrix3 gtsam::Cal3::K ( ) const

inlinevirtual

return calibration matrix K

Reimplemented in gtsam::Cal3_S2Stereo, and gtsam::Cal3Bundler.

Definition at line 167 of file Cal3.h.

◆ principalPoint()

Point2 gtsam::Cal3::principalPoint ( ) const

inline

return the principal point

Definition at line 157 of file Cal3.h.

◆ print()

void gtsam::Cal3::print ( const std::string & s = "" ) const

virtual

print with optional string

Reimplemented in gtsam::Cal3_S2, gtsam::Cal3Fisheye, gtsam::Cal3_S2Stereo, gtsam::Cal3DS2_Base, gtsam::Cal3Unified, gtsam::Cal3Bundler, gtsam::Cal3DS2, and gtsam::Cal3f.

Definition at line 56 of file Cal3.cpp.

◆ px()

double gtsam::Cal3::px ( ) const

inline

image center in x

Definition at line 151 of file Cal3.h.

◆ py()

double gtsam::Cal3::py ( ) const

inline

image center in y

Definition at line 154 of file Cal3.h.

◆ skew()

double gtsam::Cal3::skew ( ) const

inline

skew

Definition at line 148 of file Cal3.h.

◆ vector()

Vector5 gtsam::Cal3::vector ( ) const

inline

vectorized form (column-wise)

Definition at line 160 of file Cal3.h.

Friends And Related Function Documentation

◆ operator<<

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Cal3 &	cal
	)

friend

Output stream operator.

Definition at line 49 of file Cal3.cpp.

Member Data Documentation

◆ dimension

constexpr static auto gtsam::Cal3::dimension = 5

inlinestaticconstexpr

shared pointer to calibration object

Definition at line 76 of file Cal3.h.

◆ fx_

double gtsam::Cal3::fx_ = 1.0f

protected

Definition at line 71 of file Cal3.h.

◆ fy_

double gtsam::Cal3::fy_ = 1.0f

protected

focal length

Definition at line 71 of file Cal3.h.

◆ s_

double gtsam::Cal3::s_ = 0.0f

protected

skew

Definition at line 72 of file Cal3.h.

◆ u0_

double gtsam::Cal3::u0_ = 0.0f

protected

Definition at line 73 of file Cal3.h.

◆ v0_

double gtsam::Cal3::v0_ = 0.0f

protected

principal point

Definition at line 73 of file Cal3.h.

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

Public Types

Static Public Attributes

Protected Attributes

Standard Constructors

Advanced Constructors

Testable

Standard Interface

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Cal3() [1/5]

◆ Cal3() [2/5]

◆ Cal3() [3/5]

◆ Cal3() [4/5]

◆ ~Cal3()

◆ Cal3() [5/5]

Member Function Documentation

◆ aspectRatio()

◆ Dim()

◆ dim()

◆ equals()

◆ fx()

◆ fy()

◆ inverse()

◆ K()

◆ principalPoint()

◆ print()

◆ px()

◆ py()

◆ skew()

◆ vector()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ dimension

◆ fx_

◆ fy_

◆ s_

◆ u0_

◆ v0_