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

#include <Cal3_S2.h>

Inheritance diagram for gtsam::Cal3_S2:

Public Types
using	shared_ptr = std::shared_ptr< Cal3_S2 >

Public Types inherited from gtsam::Cal3
using	shared_ptr = std::shared_ptr< Cal3 >

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

Static Public Attributes inherited from gtsam::Cal3
constexpr static auto	dimension = 5
	shared pointer to calibration object More...

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.

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

fov	field of view in degrees
w	image width
h	image 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

p	point in image coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3 parameters
Dp	optional 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

p	point 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

p	point in intrinsic coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3 parameters
Dp	optional 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.

Member Data Documentation

◆ dimension

constexpr static auto gtsam::Cal3_S2::dimension = 5

inlinestaticconstexpr

shared pointer to calibration object

Definition at line 36 of file Cal3_S2.h.

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

Public Types

Static Public Attributes

Standard Constructors

Testable

Manifold

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Cal3_S2() [1/4]

◆ Cal3_S2() [2/4]

◆ Cal3_S2() [3/4]

◆ Cal3_S2() [4/4]

Member Function Documentation

◆ between()

◆ calibrate() [1/2]

◆ calibrate() [2/2]

◆ Dim()

◆ equals()

◆ localCoordinates()

◆ print()

◆ retract()

◆ uncalibrate()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ dimension