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34 double k1_ = 0.0, k2_ = 0.0;
40 enum { dimension = 3 };
69 GTSAM_EXPORT
friend std::ostream&
operator<<(std::ostream&
os,
73 void print(
const std::string&
s =
"")
const override;
83 inline double k1()
const {
return k1_; }
86 inline double k2()
const {
return k2_; }
88 Matrix3
K()
const override;
102 OptionalJacobian<2, 2> Dp = {})
const;
111 Point2 calibrate(
const Point2& pi, OptionalJacobian<2, 3> Dcal = {},
112 OptionalJacobian<2, 2> Dp = {})
const;
115 Matrix2 D2d_intrinsic(
const Point2&
p)
const;
118 Matrix23 D2d_calibration(
const Point2&
p)
const;
121 Matrix25 D2d_intrinsic_calibration(
const Point2&
p)
const;
128 size_t dim()
const override {
return Dim(); }
131 inline static size_t Dim() {
return dimension; }
140 return T2.vector() - vector();
148 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
150 friend class boost::serialization::access;
151 template <
class Archive>
152 void serialize(Archive& ar,
const unsigned int ) {
153 ar& boost::serialization::make_nvp(
154 "Cal3Bundler", boost::serialization::base_object<Cal3>(*
this));
155 ar& BOOST_SERIALIZATION_NVP(k1_);
156 ar& BOOST_SERIALIZATION_NVP(k2_);
157 ar& BOOST_SERIALIZATION_NVP(tol_);
Cal3Bundler retract(const Vector &d) const
Update calibration with tangent space delta.
Array< double, 1, 3 > e(1./3., 0.5, 2.)
static const double d[K][N]
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
Calibration model with a single focal length and zero skew.
Vector3 localCoordinates(const Cal3Bundler &T2) const
Calculate local coordinates to another calibration.
Cal3Bundler(double f, double k1, double k2, double u0=0, double v0=0, double tol=1e-5)
Both ManifoldTraits and Testable.
ofstream os("timeSchurFactors.csv")
const Cal3_S2 cal(focalLength, focalLength, 0.0, principalPoint.x(), principalPoint.y())
size_t dim() const override
Return DOF, dimensionality of tangent space.
void print(const Matrix &A, const string &s, ostream &stream)
double k1() const
distortion parameter k1
Calibration used by Bundler.
Calibration model with a single focal length and zero skew.
static const Pose3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2)
Point2_ uncalibrate(const Expression< CALIBRATION > &K, const Point2_ &xy_hat)
double k2() const
distortion parameter k2
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
static size_t Dim()
Return DOF, dimensionality of tangent space.
std::shared_ptr< Cal3 > shared_ptr
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:01:56