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39 enum { dimension = 9 };
51 double k2,
double p1 = 0.0,
double p2 = 0.0,
double tol = 1
e-5)
67 GTSAM_EXPORT
friend std::ostream&
operator<<(std::ostream&
os,
71 void print(
const std::string&
s =
"")
const override;
87 size_t dim()
const override {
return Dim(); }
90 inline static size_t Dim() {
return dimension; }
97 std::shared_ptr<Base>
clone()
const override {
98 return std::shared_ptr<Base>(
new Cal3DS2(*
this));
107 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
109 friend class boost::serialization::access;
110 template <
class Archive>
111 void serialize(Archive& ar,
const unsigned int ) {
112 ar& boost::serialization::make_nvp(
113 "Cal3DS2", boost::serialization::base_object<Cal3DS2_Base>(*
this));
std::shared_ptr< Base > clone() const override
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 that also supports Lie-group behaviors for optimizatio...
Calibration of a camera with radial distortion.
def retract(a, np.ndarray xi)
Both ManifoldTraits and Testable.
ofstream os("timeSchurFactors.csv")
const Cal3_S2 cal(focalLength, focalLength, 0.0, principalPoint.x(), principalPoint.y())
static size_t Dim()
Return dimensions of calibration manifold object.
void print(const Matrix &A, const string &s, ostream &stream)
Cal3DS2(const Vector9 &v)
static const Pose3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2)
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)
Array< int, Dynamic, 1 > v
std::shared_ptr< Cal3 > shared_ptr
size_t dim() const override
Return dimensions of calibration manifold object.
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:01:56