26#include <gtsam/geometry/Cal3DS2_Base.h>
53 enum { dimension = 10 };
56 using shared_ptr = boost::shared_ptr<Cal3Unified>;
64 Cal3Unified(
double fx,
double fy,
double s,
double u0,
double v0,
double k1,
65 double k2,
double p1 = 0.0,
double p2 = 0.0,
double xi = 0.0)
66 :
Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {}
74 Cal3Unified(
const Vector10& v)
75 : Base(v(0), v(1), v(2), v(3), v(4), v(5), v(6), v(7), v(8)), xi_(v(9)) {}
82 GTSAM_EXPORT
friend std::ostream& operator<<(std::ostream& os,
83 const Cal3Unified& cal);
86 void print(
const std::string& s =
"")
const override;
89 bool equals(
const Cal3Unified& K,
double tol = 10e-9)
const;
96 inline double xi()
const {
return xi_; }
99 Vector10 vector()
const;
130 Vector localCoordinates(
const Cal3Unified& T2)
const;
133 size_t dim()
const override {
return Dim(); }
136 inline static size_t Dim() {
return dimension; }
142 friend class boost::serialization::access;
143 template <
class Archive>
144 void serialize(Archive& ar,
const unsigned int ) {
145 ar& boost::serialization::make_nvp(
146 "Cal3Unified", boost::serialization::base_object<Cal3DS2_Base>(*
this));
147 ar& BOOST_SERIALIZATION_NVP(xi_);
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:156
Vector2 Point2
As of GTSAM 4, in order to make GTSAM more lean, it is now possible to just typedef Point2 to Vector2...
Definition: Point2.h:27
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition: concepts.h:30
Both ManifoldTraits and Testable.
Definition: Manifold.h:120
OptionalJacobian is an Eigen::Ref like class that can take be constructed using either a fixed size o...
Definition: OptionalJacobian.h:41
Calibration of a camera with radial distortion.
Definition: Cal3DS2_Base.h:42
Calibration of a omni-directional camera with mirror + lens radial distortion.
Definition: Cal3Unified.h:45
size_t dim() const override
Return dimensions of calibration manifold object.
Definition: Cal3Unified.h:133
Cal3Unified()=default
Default Constructor with only unit focal length.
double xi() const
mirror parameter
Definition: Cal3Unified.h:96
static size_t Dim()
Return dimensions of calibration manifold object.
Definition: Cal3Unified.h:136