gtsam::Cal3_S2Stereo Class Reference

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

#include <Cal3_S2Stereo.h>

Inheritance diagram for gtsam::Cal3_S2Stereo:

Collaboration diagram for gtsam::Cal3_S2Stereo:

Public Types
enum	{ dimension = 6 }
using	shared_ptr = std::shared_ptr< Cal3_S2Stereo >
enum	{ dimension = 5 }
enum	{ dimension = 5 }

Public Member Functions
Point2	uncalibrate (const Point2 &p, OptionalJacobian< 2, 6 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
Point2	calibrate (const Point2 &p, OptionalJacobian< 2, 6 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
Vector3	calibrate (const Vector3 &p) const

Protected Attributes
double	fx_ = 1.0f
double	fy_ = 1.0f
	focal length
double	s_ = 0.0f
	skew
double	u0_ = 0.0f
double	v0_ = 0.0f
	principal point

Testable
bool	equals (const Cal3 &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	aspectRatio () const
	aspect ratio
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
Matrix3	inverse () const
	Return inverted calibration matrix inv(K)

Standard Constructors
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

Testable
bool	equals (const Cal3_S2 &K, double tol=10e-9) const
	Check if equal up to specified tolerance.
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)

Manifold
Vector5	localCoordinates (const Cal3_S2 &T2) const
	Unretraction for the calibration.

Standard Constructors
	Cal3_S2Stereo ()=default
	default calibration leaves coordinates unchanged
	Cal3_S2Stereo (double fx, double fy, double s, double u0, double v0, double b)
	constructor from doubles
	Cal3_S2Stereo (const Vector6 &d)
	constructor from vector
	Cal3_S2Stereo (double fov, int w, int h, double b)
	easy constructor; field-of-view in degrees, assumes zero skew

Testable
void	print (const std::string &s="") const override
	print with optional string
bool	equals (const Cal3_S2Stereo &other, double tol=10e-9) const
	Check if equal up to specified tolerance.
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Cal3_S2Stereo &cal)
	Output stream operator.

Standard Interface
const Cal3_S2 &	calibration () const
	return calibration, same for left and right
Matrix3	K () const override
	return calibration matrix K, same for left and right
double	baseline () const
	return baseline
Vector6	vector () const
	vectorized form (column-wise)

Manifold
size_t	dim () const override
	return DOF, dimensionality of tangent space
Cal3_S2Stereo	retract (const Vector &d) const
	Given 6-dim tangent vector, create new calibration.
Vector6	localCoordinates (const Cal3_S2Stereo &T2) const
	Unretraction for the calibration.
static size_t	Dim ()
	return DOF, dimensionality of tangent space

Detailed Description

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

Member Function Documentation

calibrate() [1/3]

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

calibrate() [2/3]

Point2 gtsam::Cal3_S2::calibrate ( const Point2 &  p, OptionalJacobian< 2, 5 >  Dcal = {}, OptionalJacobian< 2, 2 >  Dp = {}  ) const

inherited

Convert image coordinates uv to intrinsic coordinates xy

Parameters

p	point in image coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3 parameters
Dp	optional 2*2 Jacobian wrpt intrinsic coordinates

Returns

point in intrinsic coordinates

calibrate() [3/3]

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

uncalibrate() [1/2]

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

uncalibrate() [2/2]

Point2 gtsam::Cal3_S2::uncalibrate ( const Point2 &  p, OptionalJacobian< 2, 5 >  Dcal = {}, OptionalJacobian< 2, 2 >  Dp = {}  ) const

inherited

Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves

Parameters

p	point in intrinsic coordinates
Dcal	optional 2*5 Jacobian wrpt Cal3 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 file:

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/geometry/Cal3_S2Stereo.h