#include <Cal3_S2Stereo.h>

Inheritance diagram for gtsam::Cal3_S2Stereo:

Public Types
enum	{ dimension = 6 }

using	shared_ptr = boost::shared_ptr< Cal3_S2Stereo >

Public Types inherited from gtsam::Cal3_S2
enum	{ dimension = 5 }

using	shared_ptr = boost::shared_ptr< Cal3_S2 >

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

using	shared_ptr = boost::shared_ptr< Cal3 >

Public Member Functions
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...

Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 6 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const

Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 6 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const

Vector3	calibrate (const Vector3 &p) const

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...

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=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const

Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 5 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) 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=boost::none, OptionalJacobian< 5, 5 > H2=boost::none) 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...

Testable
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3_S2Stereo &cal)
	Output stream operator. More...

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...

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...

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_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...

Detailed Description

Definition at line 30 of file Cal3_S2Stereo.h.

Member Typedef Documentation

using gtsam::Cal3_S2Stereo::shared_ptr = boost::shared_ptr<Cal3_S2Stereo>

Definition at line 38 of file Cal3_S2Stereo.h.

Member Enumeration Documentation

anonymous enum

Enumerator
dimension

Definition at line 35 of file Cal3_S2Stereo.h.

Constructor & Destructor Documentation

gtsam::Cal3_S2Stereo::Cal3_S2Stereo ( )

default

default calibration leaves coordinates unchanged

gtsam::Cal3_S2Stereo::Cal3_S2Stereo	(	double	fx,
		double	fy,
		double	s,
		double	u0,
		double	v0,
		double	b
	)

inline

constructor from doubles

Definition at line 47 of file Cal3_S2Stereo.h.

gtsam::Cal3_S2Stereo::Cal3_S2Stereo ( const Vector6 & d )

inline

constructor from vector

Definition at line 51 of file Cal3_S2Stereo.h.

gtsam::Cal3_S2Stereo::Cal3_S2Stereo	(	double	fov,
		int	w,
		int	h,
		double	b
	)

inline

easy constructor; field-of-view in degrees, assumes zero skew

Definition at line 55 of file Cal3_S2Stereo.h.

Member Function Documentation

double gtsam::Cal3_S2Stereo::baseline ( ) const

inline

return baseline

Definition at line 110 of file Cal3_S2Stereo.h.

Point2 gtsam::Cal3_S2Stereo::calibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 6 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		const

Convert image coordinates uv to intrinsic coordinates xy

Parameters

p	point in image coordinates
Dcal	optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in intrinsic coordinates

Definition at line 55 of file Cal3_S2Stereo.cpp.

Vector3 gtsam::Cal3_S2Stereo::calibrate ( const Vector3 & p ) const

inline

Convert homogeneous image coordinates to intrinsic coordinates

Parameters

p	point in image coordinates

Returns: point in intrinsic coordinates

Definition at line 83 of file Cal3_S2Stereo.h.

const Cal3_S2& gtsam::Cal3_S2Stereo::calibration ( ) const

inline

return calibration, same for left and right

Definition at line 104 of file Cal3_S2Stereo.h.

size_t gtsam::Cal3_S2Stereo::dim ( ) const

inlineoverridevirtual

return DOF, dimensionality of tangent space

Reimplemented from gtsam::Cal3.

Definition at line 124 of file Cal3_S2Stereo.h.

static size_t gtsam::Cal3_S2Stereo::Dim ( )

inlinestatic

return DOF, dimensionality of tangent space

Definition at line 127 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.

Matrix3 gtsam::Cal3_S2Stereo::K ( ) const

inlineoverridevirtual

return calibration matrix K, same for left and right

Reimplemented from gtsam::Cal3.

Definition at line 107 of file Cal3_S2Stereo.h.

Vector6 gtsam::Cal3_S2Stereo::localCoordinates ( const Cal3_S2Stereo & T2 ) const

inline

Unretraction for the calibration.

Definition at line 136 of file Cal3_S2Stereo.h.

void gtsam::Cal3_S2Stereo::print ( const std::string & s = "" ) const

overridevirtual

print with optional string

Reimplemented from gtsam::Cal3_S2.

Definition at line 32 of file Cal3_S2Stereo.cpp.

Cal3_S2Stereo gtsam::Cal3_S2Stereo::retract ( const Vector & d ) const

inline

Given 6-dim tangent vector, create new calibration.

Definition at line 130 of file Cal3_S2Stereo.h.

template<class Archive >

void gtsam::Cal3_S2Stereo::serialize	(	Archive &	ar,
		const unsigned	int
	)

inlineprivate

Definition at line 148 of file Cal3_S2Stereo.h.

Point2 gtsam::Cal3_S2Stereo::uncalibrate	(	const Point2 &	p,
		OptionalJacobian< 2, 6 >	Dcal = `boost::none`,
		OptionalJacobian< 2, 2 >	Dp = `boost::none`
	)		const

Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns: point in image coordinates

Definition at line 46 of file Cal3_S2Stereo.cpp.

Vector6 gtsam::Cal3_S2Stereo::vector ( ) const

inline

vectorized form (column-wise)

Definition at line 113 of file Cal3_S2Stereo.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Serialization function

Definition at line 146 of file Cal3_S2Stereo.h.

GTSAM_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Cal3_S2Stereo &	cal
	)

friend

Output stream operator.

Definition at line 25 of file Cal3_S2Stereo.cpp.

Member Data Documentation

double gtsam::Cal3_S2Stereo::b_ = 1.0f

private

Stereo baseline.

Definition at line 32 of file Cal3_S2Stereo.h.

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

Public Types

Public Member Functions

Private Attributes

Testable

Manifold

Advanced Interface

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation