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28 : s_(0), u0_((double)
w / 2.0), v0_((double)
h / 2.0) {
36 const auto buffer =
path + std::string(
"/calibration_info.txt");
37 std::ifstream infile(
buffer, std::ios::in);
39 if (infile && !infile.eof()) {
42 throw std::runtime_error(
"Cal3: Unable to load the calibration");
50 os <<
"fx: " <<
cal.fx() <<
", fy: " <<
cal.fy() <<
", s: " <<
cal.skew()
51 <<
", px: " <<
cal.px() <<
", py: " <<
cal.py();
68 K_inverse << 1.0 /
fx_, -
s_ / fxy, (sv0 - fyu0) / fxy, 0.0, 1.0 /
fy_,
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
Matrix3 inverse() const
Return inverted calibration matrix inv(K)
Common code for all Calibration models.
virtual void print(const std::string &s="") const
print with optional string
ofstream os("timeSchurFactors.csv")
void print(const Matrix &A, const string &s, ostream &stream)
Cal3()=default
Create a default calibration that leaves coordinates unchanged.
Common base class for all calibration models.
virtual Matrix3 K() const
return calibration matrix K
const EIGEN_DEVICE_FUNC TanReturnType tan() const
bool equals(const Cal3 &K, double tol=10e-9) const
Check if equal up to specified tolerance.
double v0_
principal point
gtsam
Author(s):
autogenerated on Thu Jun 13 2024 03:01:50