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

#include <Cal3_S2Stereo.h>

Inheritance diagram for gtsam::Cal3_S2Stereo:

Public Types
using	shared_ptr = std::shared_ptr< Cal3_S2Stereo >

Public Types inherited from gtsam::Cal3_S2
using	shared_ptr = std::shared_ptr< Cal3_S2 >

Public Types inherited from gtsam::Cal3
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...

Static Public Attributes
constexpr static auto	dimension = 6
	shared pointer to stereo calibration object More...

Static Public Attributes inherited from gtsam::Cal3_S2
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...

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...

Detailed Description

The most common 5DOF 3D->2D calibration, stereo version.

Definition at line 30 of file Cal3_S2Stereo.h.

Member Typedef Documentation

◆ shared_ptr

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

Definition at line 38 of file Cal3_S2Stereo.h.

Constructor & Destructor Documentation

◆ Cal3_S2Stereo() [1/4]

gtsam::Cal3_S2Stereo::Cal3_S2Stereo ( )

default

default calibration leaves coordinates unchanged

◆ Cal3_S2Stereo() [2/4]

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.

◆ Cal3_S2Stereo() [3/4]

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

inline

constructor from vector

Definition at line 51 of file Cal3_S2Stereo.h.

◆ Cal3_S2Stereo() [4/4]

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

◆ baseline()

double gtsam::Cal3_S2Stereo::baseline ( ) const

inline

return baseline

Definition at line 111 of file Cal3_S2Stereo.h.

◆ calibrate() [1/2]

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

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.

◆ calibrate() [2/2]

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 85 of file Cal3_S2Stereo.h.

◆ calibration()

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

inline

return calibration, same for left and right

Definition at line 105 of file Cal3_S2Stereo.h.

◆ Dim()

static size_t gtsam::Cal3_S2Stereo::Dim ( )

inlinestatic

return DOF, dimensionality of tangent space

Definition at line 128 of file Cal3_S2Stereo.h.

◆ dim()

size_t gtsam::Cal3_S2Stereo::dim ( ) const

inlineoverridevirtual

return DOF, dimensionality of tangent space

Reimplemented from gtsam::Cal3.

Definition at line 125 of file Cal3_S2Stereo.h.

◆ equals()

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.

◆ K()

Matrix3 gtsam::Cal3_S2Stereo::K ( ) const

inlineoverridevirtual

return calibration matrix K, same for left and right

Reimplemented from gtsam::Cal3.

Definition at line 108 of file Cal3_S2Stereo.h.

◆ localCoordinates()

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

inline

Unretraction for the calibration.

Definition at line 137 of file Cal3_S2Stereo.h.

◆ print()

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.

◆ retract()

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

inline

Given 6-dim tangent vector, create new calibration.

Definition at line 131 of file Cal3_S2Stereo.h.

◆ uncalibrate()

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

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.

◆ vector()

Vector6 gtsam::Cal3_S2Stereo::vector ( ) const

inline

vectorized form (column-wise)

Definition at line 114 of file Cal3_S2Stereo.h.

Friends And Related Function Documentation

◆ operator<<

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

◆ b_

double gtsam::Cal3_S2Stereo::b_ = 1.0f

private

Stereo baseline.

Definition at line 32 of file Cal3_S2Stereo.h.

◆ dimension

constexpr static auto gtsam::Cal3_S2Stereo::dimension = 6

inlinestaticconstexpr

shared pointer to stereo calibration object

Definition at line 35 of file Cal3_S2Stereo.h.

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

Public Types

Public Member Functions

Static Public Attributes

Private Attributes

Standard Constructors

Testable

Standard Interface

Manifold

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ shared_ptr

Constructor & Destructor Documentation

◆ Cal3_S2Stereo() [1/4]

◆ Cal3_S2Stereo() [2/4]

◆ Cal3_S2Stereo() [3/4]

◆ Cal3_S2Stereo() [4/4]

Member Function Documentation

◆ baseline()

◆ calibrate() [1/2]

◆ calibrate() [2/2]

◆ calibration()

◆ Dim()

◆ dim()

◆ equals()

◆ K()

◆ localCoordinates()

◆ print()

◆ retract()

◆ uncalibrate()

◆ vector()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ b_

◆ dimension