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26 using namespace gtsam;
31 static const
double fx = 250,
fy = 260,
s = 0.1,
u0 = 320,
v0 = 240;
33 0.020727425669427896, -0.012786476702685545,
34 0.0025242267320687625);
50 d << 1, 2, 3, 4, 5, 6, 7, 8, 9;
60 const double r =
sqrt(
xi *
xi + yi * yi);
61 const double t =
atan(r);
62 const double tt =
t *
t, t4 = tt * tt, t6 = tt * t4, t8 = t4 * t4;
64 t * (1 +
K.
k1() * tt +
K.
k2() * t4 +
K.
k3() * t6 +
K.
k4() * t8);
184 Point2 uv(457.82638130304935, 408.18905848512986);
208 std::stringstream
os;
209 os <<
"fx: " <<
cal.fx() <<
", fy: " <<
cal.fy() <<
", s: " <<
cal.skew()
210 <<
", px: " <<
cal.px() <<
", py: " <<
cal.py() <<
", k1: " <<
cal.k1()
211 <<
", k2: " <<
cal.k2() <<
", k3: " <<
cal.k3() <<
", k4: " <<
cal.k4();
double fy() const
focal length y
static int runAllTests(TestResult &result)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
const EIGEN_DEVICE_FUNC AtanReturnType atan() const
static const double d[K][N]
#define GTSAM_CONCEPT_TESTABLE_INST(T)
#define EXPECT_LONGS_EQUAL(expected, actual)
Concept check for values that can be used in unit tests.
#define EXPECT(condition)
Point2 calibrate(const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
double py() const
image center in y
internal::FixedSizeMatrix< Y, X2 >::type numericalDerivative22(std::function< Y(const X1 &, const X2 &)> h, const X1 &x1, const X2 &x2, double delta=1e-5)
static const Point3 pt(1.0, 2.0, 3.0)
def retract(a, np.ndarray xi)
double k1() const
First distortion coefficient.
ofstream os("timeSchurFactors.csv")
Point2 f(const Cal3Fisheye &k, const Point2 &pt)
Provides additional testing facilities for common data structures.
double k4() const
Second tangential distortion coefficient.
Some functions to compute numerical derivatives.
bool assert_stdout_equal(const std::string &expected, const V &actual)
Cal3Fisheye retract(const Vector &d) const
Given delta vector, update calibration.
static Point2 kTestPoint2(2, 3)
double k2() const
Second distortion coefficient.
Calibration of a fisheye camera.
double k3() const
First tangential distortion coefficient.
static Cal3Fisheye K(fx, fy, s, u0, v0, -0.013721808247486035, 0.020727425669427896, -0.012786476702685545, 0.0025242267320687625)
virtual Matrix3 K() const
return calibration matrix K
static size_t Dim()
Return dimensions of calibration manifold object.
Point2 calibrate_(const Cal3Fisheye &k, const Point2 &pt)
double fx() const
focal length x
TEST(SmartFactorBase, Pinhole)
internal::FixedSizeMatrix< Y, X1 >::type numericalDerivative21(const std::function< Y(const X1 &, const X2 &)> &h, const X1 &x1, const X2 &x2, double delta=1e-5)
void Print(const CONTAINER &keys, const string &s, const KeyFormatter &keyFormatter)
Array< int, Dynamic, 1 > v
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
#define GTSAM_CONCEPT_MANIFOLD_INST(T)
**
Point2 uncalibrate(const Point2 &p, OptionalJacobian< 2, 9 > Dcal={}, OptionalJacobian< 2, 2 > Dp={}) const
convert intrinsic coordinates [x_i; y_i] to (distorted) image coordinates [u; v]
Vector localCoordinates(const Cal3Fisheye &T2) const
Given a different calibration, calculate update to obtain it.
double px() const
image center in x
Jet< T, N > sqrt(const Jet< T, N > &f)
Calibration of a fisheye camera.
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:39:46