gtsam::Cal3_S2 Class Reference

Inheritance diagram for gtsam::Cal3_S2:

Manifold
size_t	dim () const
	return DOF, dimensionality of tangent space
Cal3_S2	retract (const Vector &d) const
	Given 5-dim tangent vector, create new calibration.
Vector	localCoordinates (const Cal3_S2 &T2) const
	Unretraction for the calibration.
static size_t	Dim ()
	return DOF, dimensionality of tangent space

Advanced Interface
class	boost::serialization::access
	Serialization function.

Public Member Functions
Standard Constructors
	Cal3_S2 ()
	Create a default calibration that leaves coordinates unchanged.
	Cal3_S2 (double fx, double fy, double s, double u0, double v0)
	constructor from doubles
	Cal3_S2 (const Vector &d)
	constructor from vector
	Cal3_S2 (double fov, int w, int h)
	Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect. More...
Advanced Constructors
	Cal3_S2 (const std::string &path)
	load calibration from location (default name is calibration_info.txt)
Testable
void	print (const std::string &s="Cal3_S2") const
	print with optional string
bool	equals (const Cal3_S2 &K, double tol=10e-9) const
	Check if equal up to specified tolerance.
Standard Interface
double	fx () const
	focal length x
double	fy () const
	focal length y
double	skew () const
	skew
double	px () const
	image center in x
double	py () const
	image center in y
Point2	principalPoint () const
	return the principal point
Vector	vector () const
	vectorized form (column-wise)
Matrix	K () const
	return calibration matrix K
Matrix	matrix () const
Matrix	matrix_inverse () const
	return inverted calibration matrix inv(K)
Point2	uncalibrate (const Point2 &p, boost::optional< Matrix & > Dcal=boost::none, boost::optional< Matrix & > Dp=boost::none) const
	convert intrinsic coordinates xy to image coordinates uv More...
Point2	calibrate (const Point2 &p) const
	convert image coordinates uv to intrinsic coordinates xy More...
Vector3	calibrate (const Vector3 &p) const
	convert homogeneous image coordinates to intrinsic coordinates More...
Cal3_S2	between (const Cal3_S2 &q, boost::optional< Matrix & > H1=boost::none, boost::optional< Matrix & > H2=boost::none) const
	"Between", subtracts calibrations. between(p,q) == compose(inverse(p),q)
Public Member Functions inherited from gtsam::DerivedValue< Cal3_S2 >
virtual Value *	clone_ () const
	Create a duplicate object returned as a pointer to the generic Value interface. More...
virtual void	deallocate_ () const
	Destroy and deallocate this object, only if it was originally allocated using clone_().
virtual boost::shared_ptr< Value >	clone () const
	Clone this value (normal clone on the heap, delete with 'delete' operator)
virtual bool	equals_ (const Value &p, double tol=1e-9) const
	equals implementing generic Value interface
virtual Value *	retract_ (const Vector &delta) const
	Generic Value interface version of retract.
virtual Vector	localCoordinates_ (const Value &value2) const
	Generic Value interface version of localCoordinates.
virtual Value &	operator= (const Value &rhs)
	Assignment operator.
	operator const Cal3_S2 & () const
	Conversion to the derived class.
	operator Cal3_S2 & ()
	Conversion to the derived class.
Public Member Functions inherited from gtsam::Value
virtual	~Value ()
	Virutal destructor.

Public Types
typedef boost::shared_ptr < Cal3_S2 >	shared_ptr
	shared pointer to calibration object

Additional Inherited Members
Protected Member Functions inherited from gtsam::DerivedValue< Cal3_S2 >
DerivedValue< Cal3_S2 > &	operator= (const DerivedValue< Cal3_S2 > &rhs)
	Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...

Constructor & Destructor Documentation

gtsam::Cal3_S2::Cal3_S2	(	double	fov,
		int	w,
		int	h
	)

Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect.

Parameters

fov	field of view in degrees
w	image width
h	image height

Member Function Documentation

Point2 gtsam::Cal3_S2::calibrate

(

const Point2 &

p

)

const

convert image coordinates uv to intrinsic coordinates xy

Parameters

p	point in image coordinates

Returns

point in intrinsic coordinates

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

Matrix gtsam::Cal3_S2::matrix ( ) const

inline

Deprecated:

The following function has been deprecated, use K above

Point2 gtsam::Cal3_S2::uncalibrate	(	const Point2 &	p,
		boost::optional< Matrix & >	Dcal = boost::none,
		boost::optional< Matrix & >	Dp = boost::none
	)		const

convert intrinsic coordinates xy to image coordinates uv

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3_S2 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns

point in image coordinates

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

• /home/cbeall3/git/gtsam/gtsam/geometry/Cal3_S2.h
• /home/cbeall3/git/gtsam/gtsam/geometry/Cal3_S2.cpp