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46 const double x =
p.x(),
y =
p.y();
47 if (Dcal) *Dcal <<
x, 0.0,
y, 1.0, 0.0, 0.0,
y, 0.0, 0.0, 1.0;
55 const double u =
p.x(),
v =
p.y();
56 double delta_u = u -
u0_, delta_v =
v -
v0_;
57 double inv_fx = 1 /
fx_, inv_fy = 1 /
fy_;
58 double inv_fy_delta_v = inv_fy * delta_v;
59 double inv_fx_s_inv_fy = inv_fx *
s_ * inv_fy;
61 Point2 point(inv_fx * (delta_u -
s_ * inv_fy_delta_v), inv_fy_delta_v);
63 *Dcal << -inv_fx *
point.x(), inv_fx *
s_ * inv_fy * inv_fy_delta_v,
64 -inv_fx *
point.y(), -inv_fx, inv_fx_s_inv_fy, 0, -inv_fy *
point.y(),
67 if (Dp) *Dp << inv_fx, -inv_fx_s_inv_fy, 0, inv_fy;
std::ostream & operator<<(std::ostream &os, const Dih6 &m)
Point2 calibrate(const Point2 &p, OptionalJacobian< 2, 5 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
Point2 uncalibrate(const Point2 &p, OptionalJacobian< 2, 5 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
Matrix3 inverse() const
Return inverted calibration matrix inv(K)
The most common 5DOF 3D->2D calibration.
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bool equals(const Cal3_S2 &K, double tol=10e-9) const
Check if equal up to specified tolerance.
ofstream os("timeSchurFactors.csv")
void print(const Matrix &A, const string &s, ostream &stream)
Common base class for all calibration models.
virtual Matrix3 K() const
return calibration matrix K
bool equals(const Cal3 &K, double tol=10e-9) const
Check if equal up to specified tolerance.
Array< int, Dynamic, 1 > v
The most common 5DOF 3D->2D calibration.
void print(const std::string &s="Cal3_S2") const override
print with optional string
double v0_
principal point
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:03