25#include <boost/shared_ptr.hpp>
53 double k1_ = 0.0f, k2_ = 0.0f;
54 double k3_ = 0.0f, k4_ = 0.0f;
58 enum { dimension = 9 };
60 using shared_ptr = boost::shared_ptr<Cal3Fisheye>;
68 Cal3Fisheye(
const double fx,
const double fy,
const double s,
const double u0,
69 const double v0,
const double k1,
const double k2,
70 const double k3,
const double k4,
double tol = 1e-5)
71 :
Cal3(fx, fy, s, u0, v0),
84 explicit Cal3Fisheye(
const Vector9& v)
85 : Cal3(v(0), v(1), v(2), v(3), v(4)),
96 inline double k1()
const {
return k1_; }
99 inline double k2()
const {
return k2_; }
102 inline double k3()
const {
return k3_; }
105 inline double k4()
const {
return k4_; }
108 Vector4
k()
const {
return Vector4(k1_, k2_, k3_, k4_); }
111 Vector9 vector()
const;
114 static double Scaling(
double r);
143 GTSAM_EXPORT
friend std::ostream& operator<<(std::ostream& os,
147 void print(
const std::string& s =
"")
const override;
157 size_t dim()
const override {
return Dim(); }
160 inline static size_t Dim() {
return dimension; }
169 return T2.
vector() - vector();
177 virtual boost::shared_ptr<Cal3Fisheye>
clone()
const {
178 return boost::shared_ptr<Cal3Fisheye>(
new Cal3Fisheye(*
this));
188 friend class boost::serialization::access;
189 template <
class Archive>
190 void serialize(Archive& ar,
const unsigned int ) {
191 ar& boost::serialization::make_nvp(
192 "Cal3Fisheye", boost::serialization::base_object<Cal3>(*
this));
193 ar& BOOST_SERIALIZATION_NVP(k1_);
194 ar& BOOST_SERIALIZATION_NVP(k2_);
195 ar& BOOST_SERIALIZATION_NVP(k3_);
196 ar& BOOST_SERIALIZATION_NVP(k4_);
Common code for all Calibration models.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
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
Template to create a binary predicate.
Definition Testable.h:111
Common base class for all calibration models.
Definition Cal3.h:69
Calibration of a fisheye camera.
Definition Cal3Fisheye.h:51
double k4() const
Second tangential distortion coefficient.
Definition Cal3Fisheye.h:105
double k1() const
First distortion coefficient.
Definition Cal3Fisheye.h:96
double k3() const
First tangential distortion coefficient.
Definition Cal3Fisheye.h:102
Vector localCoordinates(const Cal3Fisheye &T2) const
Given a different calibration, calculate update to obtain it.
Definition Cal3Fisheye.h:168
static size_t Dim()
Return dimensions of calibration manifold object.
Definition Cal3Fisheye.h:160
double k2() const
Second distortion coefficient.
Definition Cal3Fisheye.h:99
size_t dim() const override
Return dimensions of calibration manifold object.
Definition Cal3Fisheye.h:157
Vector9 vector() const
Return all parameters as a vector.
Definition Cal3Fisheye.cpp:28
virtual boost::shared_ptr< Cal3Fisheye > clone() const
Definition Cal3Fisheye.h:177
Vector4 k() const
return distortion parameter vector
Definition Cal3Fisheye.h:108
Cal3Fisheye()=default
Default Constructor with only unit focal length.
Cal3Fisheye retract(const Vector &d) const
Given delta vector, update calibration.
Definition Cal3Fisheye.h:163