The most common 5DOF 3D->2D calibration, stereo version. More...
#include <Cal3_S2Stereo.h>
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_S2 & | calibration () 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... | |
The most common 5DOF 3D->2D calibration, stereo version.
Definition at line 30 of file Cal3_S2Stereo.h.
using gtsam::Cal3_S2Stereo::shared_ptr = std::shared_ptr<Cal3_S2Stereo> |
Definition at line 38 of file Cal3_S2Stereo.h.
anonymous enum |
Enumerator | |
---|---|
dimension |
Definition at line 35 of file Cal3_S2Stereo.h.
|
default |
default calibration leaves coordinates unchanged
|
inline |
constructor from doubles
Definition at line 47 of file Cal3_S2Stereo.h.
|
inline |
constructor from vector
Definition at line 51 of file Cal3_S2Stereo.h.
easy constructor; field-of-view in degrees, assumes zero skew
Definition at line 55 of file Cal3_S2Stereo.h.
|
inline |
return baseline
Definition at line 111 of file Cal3_S2Stereo.h.
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
p | point in image coordinates |
Dcal | optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters |
Dp | optional 2*2 Jacobian wrpt intrinsic coordinates |
Definition at line 55 of file Cal3_S2Stereo.cpp.
Convert homogeneous image coordinates to intrinsic coordinates
p | point in image coordinates |
Definition at line 85 of file Cal3_S2Stereo.h.
|
inline |
return calibration, same for left and right
Definition at line 105 of file Cal3_S2Stereo.h.
|
inlinestatic |
return DOF, dimensionality of tangent space
Definition at line 128 of file Cal3_S2Stereo.h.
|
inlineoverridevirtual |
return DOF, dimensionality of tangent space
Reimplemented from gtsam::Cal3.
Definition at line 125 of file Cal3_S2Stereo.h.
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.
|
inlineoverridevirtual |
return calibration matrix K, same for left and right
Reimplemented from gtsam::Cal3.
Definition at line 108 of file Cal3_S2Stereo.h.
|
inline |
Unretraction for the calibration.
Definition at line 137 of file Cal3_S2Stereo.h.
|
overridevirtual |
print with optional string
Reimplemented from gtsam::Cal3_S2.
Definition at line 32 of file Cal3_S2Stereo.cpp.
|
inline |
Given 6-dim tangent vector, create new calibration.
Definition at line 131 of file Cal3_S2Stereo.h.
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
p | point in intrinsic coordinates |
Dcal | optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters |
Dp | optional 2*2 Jacobian wrpt intrinsic coordinates |
Definition at line 46 of file Cal3_S2Stereo.cpp.
|
inline |
vectorized form (column-wise)
Definition at line 114 of file Cal3_S2Stereo.h.
|
friend |
Output stream operator.
Definition at line 25 of file Cal3_S2Stereo.cpp.
|
private |
Stereo baseline.
Definition at line 32 of file Cal3_S2Stereo.h.