#include <Cal3DS2_Base.h>

Inheritance diagram for gtsam::Cal3DS2_Base:

Public Types
enum	{ dimension = 9 }

Public Types inherited from gtsam::Cal3
enum	{ dimension = 5 }

using	shared_ptr = boost::shared_ptr< Cal3 >

Public Member Functions
Standard Constructors
	Cal3DS2_Base ()=default
	Default Constructor with only unit focal length. More...

	Cal3DS2_Base (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double tol=1e-5)

	~Cal3DS2_Base () override

Advanced Constructors
	Cal3DS2_Base (const Vector9 &v)

Clone
virtual boost::shared_ptr< Cal3DS2_Base >	clone () const

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...

Protected Attributes
double	k1_ = 0.0f

double	k2_ = 0.0f
	radial 2nd-order and 4th-order More...

double	p1_ = 0.0f

double	p2_ = 0.0f
	tangential distortion More...

double	tol_ = 1e-5
	tolerance value when calibrating 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...

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3DS2_Base &cal)
	Output stream operator. More...

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

bool	equals (const Cal3DS2_Base &K, double tol=1e-8) const
	assert equality up to a tolerance More...

Standard Interface
double	k1 () const
	First distortion coefficient. More...

double	k2 () const
	Second distortion coefficient. More...

double	p1 () const
	First tangential distortion coefficient. More...

double	p2 () const
	Second tangential distortion coefficient. More...

Vector4	k () const
	return distortion parameter vector More...

Vector9	vector () const
	Return all parameters as a vector. More...

Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const

Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
	Convert (distorted) image coordinates uv to intrinsic coordinates xy. More...

Matrix2	D2d_intrinsic (const Point2 &p) const
	Derivative of uncalibrate wrpt intrinsic coordinates. More...

Matrix29	D2d_calibration (const Point2 &p) const
	Derivative of uncalibrate wrpt the calibration parameters. More...

size_t	dim () const override
	return DOF, dimensionality of tangent space More...

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

Advanced Interface
class	boost::serialization::access

template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Additional Inherited Members
Static Public Member Functions inherited from gtsam::Cal3
static size_t	Dim ()
	return DOF, dimensionality of tangent space More...

Detailed Description

Definition at line 41 of file Cal3DS2_Base.h.

Member Enumeration Documentation

anonymous enum

Enumerator
dimension

Definition at line 48 of file Cal3DS2_Base.h.

Constructor & Destructor Documentation

gtsam::Cal3DS2_Base::Cal3DS2_Base ( )

default

Default Constructor with only unit focal length.

gtsam::Cal3DS2_Base::Cal3DS2_Base	(	double	fx,
		double	fy,
		double	s,
		double	u0,
		double	v0,
		double	k1,
		double	k2,
		double	p1 = `0.0`,
		double	p2 = `0.0`,
		double	tol = `1e-5`
	)

inline

Definition at line 56 of file Cal3DS2_Base.h.

gtsam::Cal3DS2_Base::~Cal3DS2_Base ( )

inlineoverride

Definition at line 65 of file Cal3DS2_Base.h.

gtsam::Cal3DS2_Base::Cal3DS2_Base ( const Vector9 & v )

inline

Definition at line 71 of file Cal3DS2_Base.h.

Member Function Documentation

Point2 gtsam::Cal3DS2_Base::calibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		const

Convert (distorted) image coordinates uv to intrinsic coordinates xy.

Definition at line 133 of file Cal3DS2_Base.cpp.

virtual boost::shared_ptr<Cal3DS2_Base> gtsam::Cal3DS2_Base::clone ( ) const

inlinevirtual

Returns: a deep copy of this object

Reimplemented in gtsam::Cal3DS2.

Definition at line 145 of file Cal3DS2_Base.h.

Matrix29 gtsam::Cal3DS2_Base::D2d_calibration ( const Point2 & p ) const

Derivative of uncalibrate wrpt the calibration parameters.

Definition at line 180 of file Cal3DS2_Base.cpp.

Matrix2 gtsam::Cal3DS2_Base::D2d_intrinsic ( const Point2 & p ) const

Derivative of uncalibrate wrpt intrinsic coordinates.

Definition at line 169 of file Cal3DS2_Base.cpp.

size_t gtsam::Cal3DS2_Base::dim ( ) const

inlineoverridevirtual

return DOF, dimensionality of tangent space

Reimplemented from gtsam::Cal3.

Reimplemented in gtsam::Cal3Unified.

Definition at line 135 of file Cal3DS2_Base.h.

static size_t gtsam::Cal3DS2_Base::Dim ( )

inlinestatic

return DOF, dimensionality of tangent space

Definition at line 138 of file Cal3DS2_Base.h.

bool gtsam::Cal3DS2_Base::equals	(	const Cal3DS2_Base &	K,
		double	tol = `1e-8`
	)		const

assert equality up to a tolerance

Definition at line 49 of file Cal3DS2_Base.cpp.

Vector4 gtsam::Cal3DS2_Base::k ( ) const

inline

return distortion parameter vector

Definition at line 109 of file Cal3DS2_Base.h.

double gtsam::Cal3DS2_Base::k1 ( ) const

inline

First distortion coefficient.

Definition at line 97 of file Cal3DS2_Base.h.

double gtsam::Cal3DS2_Base::k2 ( ) const

inline

Second distortion coefficient.

Definition at line 100 of file Cal3DS2_Base.h.

double gtsam::Cal3DS2_Base::p1 ( ) const

inline

First tangential distortion coefficient.

Definition at line 103 of file Cal3DS2_Base.h.

double gtsam::Cal3DS2_Base::p2 ( ) const

inline

Second tangential distortion coefficient.

Definition at line 106 of file Cal3DS2_Base.h.

void gtsam::Cal3DS2_Base::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3.

Reimplemented in gtsam::Cal3Unified.

Definition at line 43 of file Cal3DS2_Base.cpp.

template<class Archive >

void gtsam::Cal3DS2_Base::serialize	(	Archive &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 158 of file Cal3DS2_Base.h.

Point2 gtsam::Cal3DS2_Base::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 9 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		const

convert intrinsic coordinates xy to (distorted) image coordinates uv

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*9 Jacobian wrpt Cal3DS2 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in (distorted) image coordinates

Definition at line 94 of file Cal3DS2_Base.cpp.

Vector9 gtsam::Cal3DS2_Base::vector ( ) const

Return all parameters as a vector.

Definition at line 28 of file Cal3DS2_Base.cpp.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 156 of file Cal3DS2_Base.h.

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Cal3DS2_Base &	cal
	)

friend

Output stream operator.

Definition at line 35 of file Cal3DS2_Base.cpp.

Member Data Documentation

double gtsam::Cal3DS2_Base::k1_ = 0.0f

protected

Definition at line 43 of file Cal3DS2_Base.h.

double gtsam::Cal3DS2_Base::k2_ = 0.0f

protected

radial 2nd-order and 4th-order

Definition at line 43 of file Cal3DS2_Base.h.

double gtsam::Cal3DS2_Base::p1_ = 0.0f

protected

Definition at line 44 of file Cal3DS2_Base.h.

double gtsam::Cal3DS2_Base::p2_ = 0.0f

protected

tangential distortion

Definition at line 44 of file Cal3DS2_Base.h.

double gtsam::Cal3DS2_Base::tol_ = 1e-5

protected

tolerance value when calibrating

Definition at line 45 of file Cal3DS2_Base.h.

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

Public Types

Public Member Functions

Protected Attributes

Testable

Standard Interface

Advanced Interface

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation