Go to the documentation of this file.
53 enum { dimension = 10 };
65 double k2,
double p1 = 0.0,
double p2 = 0.0,
double xi = 0.0)
75 :
Base(
v(0),
v(1),
v(2),
v(3),
v(4),
v(5),
v(6),
v(7),
v(8)), xi_(
v(9)) {}
82 GTSAM_EXPORT
friend std::ostream&
operator<<(std::ostream&
os,
86 void print(
const std::string&
s =
"")
const override;
96 inline double xi()
const {
return xi_; }
99 Vector10 vector()
const;
110 OptionalJacobian<2, 2> Dp = {})
const;
113 Point2 calibrate(
const Point2&
p, OptionalJacobian<2, 10> Dcal = {},
114 OptionalJacobian<2, 2> Dp = {})
const;
130 Vector localCoordinates(
const Cal3Unified&
T2)
const;
133 size_t dim()
const override {
return Dim(); }
136 inline static size_t Dim() {
return dimension; }
141 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
143 friend class boost::serialization::access;
144 template <
class Archive>
145 void serialize(Archive& ar,
const unsigned int ) {
146 ar& boost::serialization::make_nvp(
147 "Cal3Unified", boost::serialization::base_object<Cal3DS2_Base>(*
this));
148 ar& BOOST_SERIALIZATION_NVP(xi_);
double xi() const
mirror parameter
Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double xi=0.0)
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 of a camera with radial distortion.
def retract(a, np.ndarray xi)
Both ManifoldTraits and Testable.
ofstream os("timeSchurFactors.csv")
Cal3Unified(const Vector10 &v)
void print(const Matrix &A, const string &s, ostream &stream)
size_t dim() const override
Return dimensions of calibration manifold object.
static const Pose3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2)
Point2_ uncalibrate(const Expression< CALIBRATION > &K, const Point2_ &xy_hat)
Calibration of a omni-directional camera with mirror + lens radial distortion.
Array< int, Dynamic, 1 > v
std::shared_ptr< Cal3 > shared_ptr
static size_t Dim()
Return dimensions of calibration manifold object.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:03