gtsam 4.2.0
gtsam
|
Common base class for all calibration models.
Advanced Interface | |
class | boost::serialization::access |
Serialization function. | |
Testable | |
GTSAM_EXPORT friend std::ostream & | operator<< (std::ostream &os, const Cal3 &cal) |
Output stream operator. | |
virtual void | print (const std::string &s="") const |
print with optional string More... | |
bool | equals (const Cal3 &K, double tol=10e-9) const |
Check if equal up to specified tolerance. | |
Standard Constructors | |
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. More... | |
virtual | ~Cal3 () |
Virtual destructor. | |
Advanced Constructors | |
Cal3 (const std::string &path) | |
Load calibration parameters from calibration_info.txt file located in path directory. More... | |
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 | |
Vector5 | vector () const |
vectorized form (column-wise) | |
virtual Matrix3 | K () const |
return calibration matrix K More... | |
Matrix3 | inverse () const |
Return inverted calibration matrix inv(K) | |
virtual size_t | dim () const |
return DOF, dimensionality of tangent space More... | |
static size_t | Dim () |
return DOF, dimensionality of tangent space | |
Public Types | |
enum | { dimension = 5 } |
using | shared_ptr = boost::shared_ptr< Cal3 > |
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 | |
gtsam::Cal3::Cal3 | ( | double | fov, |
int | w, | ||
int | h | ||
) |
Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect.
fov | field of view in degrees |
w | image width |
h | image height |
gtsam::Cal3::Cal3 | ( | const std::string & | path | ) |
Load calibration parameters from calibration_info.txt
file located in path
directory.
The contents of calibration file should be the 5 parameters in order: fx, fy, s, u0, v0
path | path to directory containing calibration_info.txt . |
|
inlinevirtual |
return DOF, dimensionality of tangent space
Reimplemented in gtsam::Cal3_S2Stereo, gtsam::Cal3Bundler, gtsam::Cal3DS2, gtsam::Cal3DS2_Base, gtsam::Cal3Fisheye, and gtsam::Cal3Unified.
|
inlinevirtual |
return calibration matrix K
Reimplemented in gtsam::Cal3_S2Stereo, and gtsam::Cal3Bundler.
|
virtual |
print with optional string
Reimplemented in gtsam::Cal3_S2Stereo, gtsam::Cal3Bundler, gtsam::Cal3DS2, gtsam::Cal3DS2_Base, gtsam::Cal3Fisheye, gtsam::Cal3Unified, and gtsam::Cal3_S2.