Go to the documentation of this file.
38 os <<
", xi: " <<
cal.xi();
63 const double xi =
xi_;
66 const double xs =
p.x(), ys =
p.y();
67 const double sqrt_nx =
sqrt(xs * xs + ys * ys + 1.0);
68 const double xi_sqrt_nx = 1.0 / (1 +
xi * sqrt_nx);
69 const double xi_sqrt_nx2 = xi_sqrt_nx * xi_sqrt_nx;
70 const double x = xs * xi_sqrt_nx,
y = ys * xi_sqrt_nx;
82 DU << -xs * sqrt_nx * xi_sqrt_nx2,
83 -ys * sqrt_nx * xi_sqrt_nx2;
84 *Dcal << H1base, H2base * DU;
90 const double denom = 1.0 * xi_sqrt_nx2 / sqrt_nx;
91 const double mid = -(
xi * xs * ys) * denom;
93 DU << (sqrt_nx +
xi * (ys * ys + 1)) * denom, mid,
94 mid, (sqrt_nx +
xi * (xs * xs + 1)) * denom;
111 calibrateJacobians<Cal3Unified, dimension>(*
this, pn, Dcal, Dp);
117 const double x =
p.x(),
y =
p.y();
118 const double xy2 =
x *
x +
y *
y;
119 const double sq_xy = (
xi_ +
sqrt(1 + (1 -
xi_ *
xi_) * xy2)) / (xy2 + 1);
121 return Point2((sq_xy *
x / (sq_xy -
xi_)), (sq_xy *
y / (sq_xy -
xi_)));
126 const double x =
p.x(),
y =
p.y();
127 const double sq_xy = 1 +
xi_ *
sqrt(
x *
x +
y *
y + 1);
129 return Point2((
x / sq_xy), (
y / sq_xy));
bool equals(const Cal3DS2_Base &K, double tol=1e-8) const
assert equality up to a tolerance
double xi() const
mirror parameter
Point2 uncalibrate(const Point2 &p, OptionalJacobian< 2, 10 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
Annotation indicating that a class derives from another given type.
typedef and functions to augment Eigen's VectorXd
static const double d[K][N]
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
Calibration of a camera with radial distortion.
typedef and functions to augment Eigen's MatrixXd
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
bool equals(const Cal3Unified &K, double tol=10e-9) const
assert equality up to a tolerance
Cal3Unified()=default
Default Constructor with only unit focal length.
void print(const std::string &s="") const override
print with optional string
ofstream os("timeSchurFactors.csv")
void print(const std::string &s="") const override
print with optional string
void print(const Matrix &A, const string &s, ostream &stream)
Vector10 vector() const
Return all parameters as a vector.
Vector9 vector() const
Return all parameters as a vector.
Point2 nPlaneToSpace(const Point2 &p) const
Convert a normalized unit plane point to 3D space.
Point2 calibrate(const Point2 &p, OptionalJacobian< 2, 10 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
Conver a pixel coordinate to ideal coordinate.
static const Pose3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2)
virtual Matrix3 K() const
return calibration matrix K
Point2 spaceToNPlane(const Point2 &p) const
Convert a 3D point to normalized unit plane.
Unified Calibration Model, see Mei07icra for details.
Vector localCoordinates(const Cal3Unified &T2) const
Given a different calibration, calculate update to obtain it.
Calibration of a omni-directional camera with mirror + lens radial distortion.
Point2 calibrate(const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
Convert (distorted) image coordinates uv to intrinsic coordinates xy.
Array< int, Dynamic, 1 > v
Jet< T, N > sqrt(const Jet< T, N > &f)
Point2 uncalibrate(const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
double xi_
mirror parameter
Cal3Unified retract(const Vector &d) const
Given delta vector, update calibration.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:03