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46 os <<
"f: " <<
cal.fx() <<
", k1: " <<
cal.k1() <<
", k2: " <<
cal.k2()
47 <<
", px: " <<
cal.px() <<
", py: " <<
cal.py();
71 const double x =
p.x(),
y =
p.y();
72 const double r =
x *
x +
y *
y;
73 const double g = 1. + (
k1_ +
k2_ * r) * r;
74 const double u =
g *
x,
v =
g *
y;
76 const double f_ =
fx_;
80 double rx = r *
x, ry = r *
y;
81 *Dcal << u, f_ * rx, f_ * r * rx,
v, f_ * ry, f_ * r * ry;
85 const double a = 2. * (
k1_ + 2. *
k2_ * r);
86 const double axx =
a *
x *
x, axy =
a *
x *
y, ayy =
a *
y *
y;
87 *Dp <<
g + axx, axy, axy,
g + ayy;
104 const int maxIterations = 10;
108 const double rr = (
px *
px) + (
py *
py);
109 const double g = (1 +
k1_ * rr +
k2_ * rr * rr);
120 }
while (iteration < maxIterations);
122 if (iteration >= maxIterations)
123 throw std::runtime_error(
124 "Cal3Bundler::calibrate fails to converge. need a better "
127 calibrateJacobians<Cal3Bundler, dimension>(*
this, pn, Dcal, Dp);
Matrix23 D2d_calibration(const Point2 &p) const
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set set xzeroaxis lt lw set x2zeroaxis lt lw set yzeroaxis lt lw set y2zeroaxis lt lw set tics in set ticslevel set tics set mxtics default set mytics default set mx2tics default set my2tics default set xtics border mirror norotate autofreq set ytics border mirror norotate autofreq set ztics border nomirror norotate autofreq set nox2tics set noy2tics set timestamp bottom norotate set rrange[*:*] noreverse nowriteback set trange[*:*] noreverse nowriteback set urange[*:*] noreverse nowriteback set vrange[*:*] noreverse nowriteback set xlabel matrix size set x2label set timefmt d m y n H
Vector4 k() const
Radial distortion parameters (4 of them, 2 0)
Annotation indicating that a class derives from another given type.
typedef and functions to augment Eigen's VectorXd
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
double distance2(const Point2 &p, const Point2 &q, OptionalJacobian< 1, 2 > H1, OptionalJacobian< 1, 2 > H2)
distance between two points
typedef and functions to augment Eigen's MatrixXd
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
double tol_
tolerance value when calibrating
Matrix2 D2d_intrinsic(const Point2 &p) const
void print(const std::string &s="") const override
print with optional string
ofstream os("timeSchurFactors.csv")
Matrix25 D2d_intrinsic_calibration(const Point2 &p) const
void print(const Matrix &A, const string &s, ostream &stream)
Point2 uncalibrate(const Point2 &p, OptionalJacobian< 2, 3 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
: convert intrinsic coordinates xy to image coordinates uv Version of uncalibrate with derivatives
Common base class for all calibration models.
Calibration used by Bundler.
void g(const string &key, int i)
bool equals(const Cal3 &K, double tol=10e-9) const
Check if equal up to specified tolerance.
double px() const
image center in x
double k2_
radial distortion
bool equals(const Cal3Bundler &K, double tol=10e-9) const
assert equality up to a tolerance
Matrix3 K() const override
Standard 3*3 calibration matrix.
Array< int, Dynamic, 1 > v
Point2 calibrate(const Point2 &pi, OptionalJacobian< 2, 3 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
Calibration used by Bundler.
double v0_
principal point
gtsam
Author(s):
autogenerated on Thu Jun 13 2024 03:01:50