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gtsam::Cal3DS2 Class Reference
Geometry

## Detailed Description

Calibration of a camera with radial distortion that also supports Lie-group behaviors for optimization.

See also
  Cal3DS2_Base

Inheritance diagram for gtsam::Cal3DS2:

## Advanced Interface

class | boost::serialization::access
| Serialization function.

## Testable

GTSAM_EXPORT friend std::ostream & | operator<< (std::ostream &os, const Cal3DS2 &cal)
| Output stream operator.
void | print (const std::string &s="") const override
| print with optional string
bool | equals (const Cal3DS2 &K, double tol=10e-9) const
| assert equality up to a tolerance

## Standard Constructors

| Cal3DS2 ()=default
| Default Constructor with only unit focal length.
| Cal3DS2 (double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double tol=1e-5)

## Advanced Constructors

| Cal3DS2 (const Vector9 &v)

## Manifold

Cal3DS2 | retract (const Vector &d) const
| Given delta vector, update calibration.
Vector | localCoordinates (const Cal3DS2 &T2) const
| Given a different calibration, calculate update to obtain it.
size_t | dim () const override
| Return dimensions of calibration manifold object.
static size_t | Dim ()
| Return dimensions of calibration manifold object.

## Clone

boost::shared_ptr< Base > | clone () const override

## Public Types

enum | { dimension = 9 }
using | shared_ptr = boost::shared_ptr<Cal3DS2>
Public Types inherited from gtsam::Cal3DS2_Base
enum | { dimension = 9 }
using | shared_ptr = boost::shared_ptr<Cal3DS2_Base>
Public Types inherited from gtsam::Cal3
enum | { dimension = 5 }
using | shared_ptr = boost::shared_ptr<Cal3>

## Additional Inherited Members

void | print (const std::string &s="") const override
| print with optional string
bool | equals (const Cal3DS2_Base &K, double tol=1e-8) const
| assert equality up to a tolerance
| Cal3DS2_Base ()=default
| 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, double tol=1e-5)
| Cal3DS2_Base (const Vector9 &v)
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.
Vector4 | k () const
| return distortion parameter vector
Vector9 | vector () const
| Return all parameters as a vector.
Point2 | uncalibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
| convert intrinsic coordinates xy to (distorted) image coordinates uv
Point2 | calibrate (const Point2 &p, OptionalJacobian< 2, 9 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
| Convert (distorted) image coordinates uv to intrinsic coordinates xy.
Matrix2 | D2d_intrinsic (const Point2 &p) const
| Derivative of uncalibrate wrpt intrinsic coordinates.
Matrix29 | D2d_calibration (const Point2 &p) const
| Derivative of uncalibrate wrpt the calibration parameters.
size_t | dim () const override
| return DOF, dimensionality of tangent space
bool | equals (const Cal3 &K, double tol=10e-9) const
| Check if equal up to specified tolerance.
| Cal3 ()=default
| Create a default calibration that leaves coordinates unchanged.
| Cal3 (double fx, double fy, double s, double u0, double v0)
| constructor from doubles
| Cal3 (const Vector5 &d)
| constructor from vector
| Cal3 (double fov, int w, int h)
| Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect.
virtual | ~Cal3 ()
| Virtual destructor.
| Cal3 (const std::string &path)
| Load calibration parameters from calibration_info.txt file located in path directory.
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
Vector5 | vector () const
| vectorized form (column-wise)
virtual Matrix3 | K () const
| return calibration matrix K
Matrix3 | inverse () const
| Return inverted calibration matrix inv(K).
static size_t | Dim ()
| return DOF, dimensionality of tangent space
static size_t | Dim ()
| return DOF, dimensionality of tangent space
Protected Attributes inherited from gtsam::Cal3DS2_Base
double | k1_ = 0.0f
double | k2_ = 0.0f
| radial 2nd-order and 4th-order
double | p1_ = 0.0f
double | p2_ = 0.0f
| tangential distortion
double | tol_ = 1e-5
| tolerance value when calibrating
Protected Attributes inherited from gtsam::Cal3
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

## Member Function Documentation

## clone()

boost::shared_ptr< Base > gtsam::Cal3DS2::clone | ( |  | ) | const

inline override virtual

Returns
  a deep copy of this object

Reimplemented from gtsam::Cal3DS2_Base.

## dim()

size_t gtsam::Cal3DS2::dim | ( |  | ) | const

inline override virtual

Return dimensions of calibration manifold object.

Reimplemented from gtsam::Cal3.

## print()

void gtsam::Cal3DS2::print | ( | const std::string & | s = "" | ) | const

override virtual

print with optional string

Reimplemented from gtsam::Cal3.

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

- /build/gtsam-gchP9J/gtsam-4.2.2+dfsg/gtsam/geometry/Cal3DS2.h
- /build/gtsam-gchP9J/gtsam-4.2.2+dfsg/gtsam/geometry/Cal3DS2.cpp