gtsam::Cal3Bundler Class Reference

Inheritance diagram for gtsam::Cal3Bundler:

Manifold
Cal3Bundler	retract (const Vector &d) const
	Update calibration with tangent space delta.
Vector	localCoordinates (const Cal3Bundler &T2) const
	Calculate local coordinates to another calibration.
virtual size_t	dim () const
	dimensionality
static size_t	Dim ()
	dimensionality

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

Public Member Functions
Standard Constructors
	Cal3Bundler ()
	Default constructor.
	Cal3Bundler (double f, double k1, double k2, double u0=0, double v0=0)
	Constructor. More...
virtual	~Cal3Bundler ()
Testable
void	print (const std::string &s="") const
	print with optional string
bool	equals (const Cal3Bundler &K, double tol=10e-9) const
	assert equality up to a tolerance
Standard Interface
Matrix	K () const
	Standard 3*3 calibration matrix.
Vector	k () const
	Radial distortion parameters (4 of them, 2 0)
Vector	vector () const
double	fx () const
	focal length x
double	fy () const
	focal length y
double	k1 () const
	distorsion parameter k1
double	k2 () const
	distorsion parameter k2
double	u0 () const
	get parameter u0
double	v0 () const
	get parameter v0
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 &pi, const double tol=1e-5) const
	Conver a pixel coordinate to ideal coordinate.
Matrix	D2d_intrinsic (const Point2 &p) const
Matrix	D2d_calibration (const Point2 &p) const
Matrix	D2d_intrinsic_calibration (const Point2 &p) const
Public Member Functions inherited from gtsam::DerivedValue< Cal3Bundler >
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 Cal3Bundler & () const
	Conversion to the derived class.
	operator Cal3Bundler & ()
	Conversion to the derived class.
Public Member Functions inherited from gtsam::Value
virtual	~Value ()
	Virutal destructor.

Additional Inherited Members
Protected Member Functions inherited from gtsam::DerivedValue< Cal3Bundler >
DerivedValue< Cal3Bundler > &	operator= (const DerivedValue< Cal3Bundler > &rhs)
	Assignment operator, protected because only the Value or DERIVED assignment operators should be used. More...

Constructor & Destructor Documentation

gtsam::Cal3Bundler::Cal3Bundler	(	double	f,
		double	k1,
		double	k2,
		double	u0 = 0,
		double	v0 = 0
	)

Constructor.

Parameters

f	focal length
k1	first radial distortion coefficient (quadratic)
k2	second radial distortion coefficient (quartic)
u0	optional image center (default 0), considered a constant
v0	optional image center (default 0), considered a constant

Member Function Documentation

Matrix gtsam::Cal3Bundler::D2d_calibration

(

const Point2 &

p

)

const

Deprecated:

might be removed in next release, use uncalibrate

Matrix gtsam::Cal3Bundler::D2d_intrinsic

(

const Point2 &

p

)

const

Deprecated:

might be removed in next release, use uncalibrate

Matrix gtsam::Cal3Bundler::D2d_intrinsic_calibration

(

const Point2 &

p

)

const

Deprecated:

might be removed in next release, use uncalibrate

Point2 gtsam::Cal3Bundler::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*3 Jacobian wrpt CalBundler 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/Cal3Bundler.h
• /home/cbeall3/git/gtsam/gtsam/geometry/Cal3Bundler.cpp