Inheritance diagram for gtsam::Cal3DS2_Base:

Public Member Functions
Matrix	K () const

Eigen::Vector4d	k () const

Vector	vector () const

Standard Constructors
	Cal3DS2_Base ()
	Default Constructor with only unit focal length.

	Cal3DS2_Base (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0)

Advanced Constructors
	Cal3DS2_Base (const Vector &v)

Testable
void	print (const std::string &s="") const
	print with optional string

bool	equals (const Cal3DS2_Base &K, double tol=10e-9) const
	assert equality up to a tolerance

Standard Interface
double	fx () const
	focal length x

double	fy () const
	focal length x

double	skew () const
	skew

double	px () const
	image center in x

double	py () const
	image center in y

double	k1 () const
	First distortion coefficient.

double	k2 () const
	Second distortion coefficient.

double	p1 () const
	First tangential distortion coefficient.

double	p2 () const
	Second tangential distortion coefficient.

Point2	uncalibrate (const Point2 &p, boost::optional< Matrix & > Dcal=boost::none, boost::optional< Matrix & > Dp=boost::none) const
	convert intrinsic coordinates xy to (distorted) image coordinates uv More...

Point2	calibrate (const Point2 &p, const double tol=1e-5) const
	Convert (distorted) image coordinates uv to intrinsic coordinates xy.

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

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

Member Function Documentation

Point2 gtsam::Cal3DS2_Base::uncalibrate	(	const Point2 &	p,
		boost::optional< Matrix & >	Dcal = `boost::none`,
		boost::optional< Matrix & >	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

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

Advanced Interface