Cal3DS2.h
Go to the documentation of this file.
1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
21 #pragma once
22 
24 #include <memory>
25 
26 namespace gtsam {
27 
35 class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
36  using Base = Cal3DS2_Base;
37 
38  public:
39  enum { dimension = 9 };
40 
42  using shared_ptr = std::shared_ptr<Cal3DS2>;
43 
46 
48  Cal3DS2() = default;
49 
50  Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
51  double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5)
52  : Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {}
53 
54  ~Cal3DS2() override {}
55 
59 
60  Cal3DS2(const Vector9& v) : Base(v) {}
61 
65 
67  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
68  const Cal3DS2& cal);
69 
71  void print(const std::string& s = "") const override;
72 
74  bool equals(const Cal3DS2& K, double tol = 10e-9) const;
75 
79 
81  Cal3DS2 retract(const Vector& d) const;
82 
84  Vector localCoordinates(const Cal3DS2& T2) const;
85 
87  size_t dim() const override { return Dim(); }
88 
90  inline static size_t Dim() { return dimension; }
91 
95 
97  std::shared_ptr<Base> clone() const override {
98  return std::shared_ptr<Base>(new Cal3DS2(*this));
99  }
100 
102 
103  private:
106 
107 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
108 
109  friend class boost::serialization::access;
110  template <class Archive>
111  void serialize(Archive& ar, const unsigned int /*version*/) {
112  ar& boost::serialization::make_nvp(
113  "Cal3DS2", boost::serialization::base_object<Cal3DS2_Base>(*this));
114  }
115 #endif
116 
118 };
119 
120 template <>
121 struct traits<Cal3DS2> : public internal::Manifold<Cal3DS2> {};
122 
123 template <>
124 struct traits<const Cal3DS2> : public internal::Manifold<Cal3DS2> {};
125 }
gtsam::Cal3DS2::clone
std::shared_ptr< Base > clone() const override
Definition: Cal3DS2.h:97
s
RealScalar s
Definition: level1_cplx_impl.h:126
e
Array< double, 1, 3 > e(1./3., 0.5, 2.)
d
static const double d[K][N]
Definition: igam.h:11
gtsam::operator<<
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
Definition: testGroup.cpp:109
v0
static const double v0
Definition: testCal3DFisheye.cpp:31
gtsam::Cal3DS2
Calibration of a camera with radial distortion that also supports Lie-group behaviors for optimizatio...
Definition: Cal3DS2.h:35
fx
const double fx
Definition: testSmartStereoFactor_iSAM2.cpp:47
gtsam::Cal3DS2_Base
Calibration of a camera with radial distortion.
Definition: Cal3DS2_Base.h:42
gtsam::Cal3DS2::~Cal3DS2
~Cal3DS2() override
Definition: Cal3DS2.h:54
gtsam::utils.numerical_derivative.retract
def retract(a, np.ndarray xi)
Definition: numerical_derivative.py:44
gtsam::internal::Manifold
Both ManifoldTraits and Testable.
Definition: Manifold.h:117
os
ofstream os("timeSchurFactors.csv")
gtsam::Vector
Eigen::VectorXd Vector
Definition: Vector.h:38
fixture::cal
const Cal3_S2 cal(focalLength, focalLength, 0.0, principalPoint.x(), principalPoint.y())
gtsam::Cal3DS2::Dim
static size_t Dim()
Return dimensions of calibration manifold object.
Definition: Cal3DS2.h:90
simple::p2
static Point3 p2
Definition: testInitializePose3.cpp:51
gtsam::print
void print(const Matrix &A, const string &s, ostream &stream)
Definition: Matrix.cpp:155
k1
double k1(double x)
Definition: k1.c:133
gtsam::Cal3DS2::Cal3DS2
Cal3DS2(const Vector9 &v)
Definition: Cal3DS2.h:60
T2
static const Pose3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2)
gtsam::Cal3DS2::Cal3DS2
Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double p1=0.0, double p2=0.0, double tol=1e-5)
Definition: Cal3DS2.h:50
p1
Vector3f p1
Definition: MatrixBase_all.cpp:2
gtsam::equals
Definition: Testable.h:112
u0
static const double u0
Definition: testCal3DFisheye.cpp:31
gtsam
traits
Definition: SFMdata.h:40
gtsam::traits
Definition: Group.h:36
K
#define K
Definition: igam.h:8
v
Array< int, Dynamic, 1 > v
Definition: Array_initializer_list_vector_cxx11.cpp:1
gtsam::tol
const G double tol
Definition: Group.h:79
gtsam::Cal3::shared_ptr
std::shared_ptr< Cal3 > shared_ptr
Definition: Cal3.h:78
Cal3DS2_Base.h
fy
const double fy
Definition: testSmartStereoFactor_iSAM2.cpp:48
gtsam::Cal3DS2::dim
size_t dim() const override
Return dimensions of calibration manifold object.
Definition: Cal3DS2.h:87


gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:01:56