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35 enum { dimension = 6 };
68 OptionalJacobian<2, 2> Dp = {})
const;
77 Point2 calibrate(
const Point2&
p, OptionalJacobian<2, 6> Dcal = {},
78 OptionalJacobian<2, 2> Dp = {})
const;
91 GTSAM_EXPORT
friend std::ostream&
operator<<(std::ostream&
os,
95 void print(
const std::string&
s =
"")
const override;
125 inline size_t dim()
const override {
return Dim(); }
128 inline static size_t Dim() {
return dimension; }
133 py() +
d(4), b_ +
d(5));
138 return T2.vector() - vector();
146 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
148 friend class boost::serialization::access;
149 template <
class Archive>
150 void serialize(Archive& ar,
const unsigned int ) {
151 ar& boost::serialization::make_nvp(
152 "Cal3_S2", boost::serialization::base_object<Cal3_S2>(*
this));
153 ar& BOOST_SERIALIZATION_NVP(b_);
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)
Point2 calibrate(const Point2 &p, OptionalJacobian< 2, 5 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
The most common 5DOF 3D->2D calibration.
static size_t Dim()
return DOF, dimensionality of tangent space
Cal3_S2Stereo(const Vector6 &d)
constructor from vector
Both ManifoldTraits and Testable.
ofstream os("timeSchurFactors.csv")
Matrix3 K() const override
return calibration matrix K, same for left and right
Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b)
constructor from doubles
void print(const Matrix &A, const string &s, ostream &stream)
static const Pose3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2)
Vector3 calibrate(const Vector3 &p) const
virtual Matrix3 K() const
return calibration matrix K
Point2_ uncalibrate(const Expression< CALIBRATION > &K, const Point2_ &xy_hat)
Vector6 vector() const
vectorized form (column-wise)
The most common 5DOF 3D->2D calibration, stereo version.
Vector5 vector() const
vectorized form (column-wise)
double baseline() const
return baseline
Vector6 localCoordinates(const Cal3_S2Stereo &T2) const
Unretraction for the calibration.
Array< int, Dynamic, 1 > v
The most common 5DOF 3D->2D calibration.
Cal3_S2Stereo(double fov, int w, int h, double b)
easy constructor; field-of-view in degrees, assumes zero skew
int RealScalar int RealScalar * py
Cal3_S2Stereo retract(const Vector &d) const
Given 6-dim tangent vector, create new calibration.
std::shared_ptr< Cal3 > shared_ptr
const Cal3_S2 & calibration() const
return calibration, same for left and right
size_t dim() const override
return DOF, dimensionality of tangent space
RealScalar RealScalar * px
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:03