35 enum { dimension = 6 };
38 using shared_ptr = boost::shared_ptr<Cal3_S2Stereo>;
47 Cal3_S2Stereo(
double fx,
double fy,
double s,
double u0,
double v0,
double b)
48 :
Cal3_S2(fx, fy, s, u0, v0), b_(b) {}
52 :
Cal3_S2(d(0), d(1), d(2), d(3), d(4)), b_(d(5)) {}
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; }
132 return Cal3_S2Stereo(fx() + d(0), fy() + d(1), skew() + d(2), px() + d(3),
133 py() + d(4), b_ + d(5));
138 return T2.
vector() - vector();
147 friend class boost::serialization::access;
148 template <
class Archive>
149 void serialize(Archive& ar,
const unsigned int ) {
150 ar& boost::serialization::make_nvp(
151 "Cal3_S2", boost::serialization::base_object<Cal3_S2>(*
this));
152 ar& BOOST_SERIALIZATION_NVP(b_);
The most common 5DOF 3D->2D calibration.
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
Template to create a binary predicate.
Definition: Testable.h:111
virtual Matrix3 K() const
return calibration matrix K
Definition: Cal3.h:167
Vector5 vector() const
vectorized form (column-wise)
Definition: Cal3.h:160
The most common 5DOF 3D->2D calibration.
Definition: Cal3_S2.h:34
Point2 calibrate(const Point2 &p, OptionalJacobian< 2, 5 > Dcal=boost::none, OptionalJacobian< 2, 2 > Dp=boost::none) const
Convert image coordinates uv to intrinsic coordinates xy.
Definition: Cal3_S2.cpp:53
The most common 5DOF 3D->2D calibration, stereo version.
Definition: Cal3_S2Stereo.h:30
Vector6 vector() const
vectorized form (column-wise)
Definition: Cal3_S2Stereo.h:114
Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b)
constructor from doubles
Definition: Cal3_S2Stereo.h:47
Vector6 localCoordinates(const Cal3_S2Stereo &T2) const
Unretraction for the calibration.
Definition: Cal3_S2Stereo.h:137
const Cal3_S2 & calibration() const
return calibration, same for left and right
Definition: Cal3_S2Stereo.h:105
size_t dim() const override
return DOF, dimensionality of tangent space
Definition: Cal3_S2Stereo.h:125
Vector3 calibrate(const Vector3 &p) const
Convert homogeneous image coordinates to intrinsic coordinates.
Definition: Cal3_S2Stereo.h:85
Cal3_S2Stereo retract(const Vector &d) const
Given 6-dim tangent vector, create new calibration.
Definition: Cal3_S2Stereo.h:131
Matrix3 K() const override
return calibration matrix K, same for left and right
Definition: Cal3_S2Stereo.h:108
static size_t Dim()
return DOF, dimensionality of tangent space
Definition: Cal3_S2Stereo.h:128
Cal3_S2Stereo(double fov, int w, int h, double b)
easy constructor; field-of-view in degrees, assumes zero skew
Definition: Cal3_S2Stereo.h:55
double baseline() const
return baseline
Definition: Cal3_S2Stereo.h:111
Cal3_S2Stereo(const Vector6 &d)
constructor from vector
Definition: Cal3_S2Stereo.h:51
Cal3_S2Stereo()=default
default calibration leaves coordinates unchanged