44 double k1_ = 0.0f, k2_ = 0.0f;
45 double p1_ = 0.0f, p2_ = 0.0f;
49 enum { dimension = 9 };
52 using shared_ptr = std::shared_ptr<Cal3DS2_Base>;
60 Cal3DS2_Base(
double fx,
double fy,
double s,
double u0,
double v0,
double k1,
61 double k2,
double p1 = 0.0,
double p2 = 0.0,
double tol = 1e-5)
62 :
Cal3(fx, fy, s, u0, v0),
76 :
Cal3(v(0), v(1), v(2), v(3), v(4)),
87 GTSAM_EXPORT
friend std::ostream& operator<<(std::ostream& os,
91 void print(
const std::string& s =
"")
const override;
101 inline double k1()
const {
return k1_; }
104 inline double k2()
const {
return k2_; }
107 inline double p1()
const {
return p1_; }
110 inline double p2()
const {
return p2_; }
113 Vector4
k()
const {
return Vector4(k1_, k2_, p1_, p2_); }
116 Vector9 vector()
const;
133 Matrix2 D2d_intrinsic(
const Point2& p)
const;
136 Matrix29 D2d_calibration(
const Point2& p)
const;
139 size_t dim()
const override {
return Dim(); }
142 inline static size_t Dim() {
return dimension; }
149 virtual std::shared_ptr<Cal3DS2_Base>
clone()
const {
150 return std::shared_ptr<Cal3DS2_Base>(
new Cal3DS2_Base(*
this));
159 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 161 friend class boost::serialization::access;
162 template <
class Archive>
163 void serialize(Archive& ar,
const unsigned int ) {
164 ar& boost::serialization::make_nvp(
165 "Cal3DS2_Base", boost::serialization::base_object<Cal3>(*
this));
166 ar& BOOST_SERIALIZATION_NVP(k1_);
167 ar& BOOST_SERIALIZATION_NVP(k2_);
168 ar& BOOST_SERIALIZATION_NVP(p1_);
169 ar& BOOST_SERIALIZATION_NVP(p2_);
170 ar& BOOST_SERIALIZATION_NVP(tol_);
Vector4 k() const
return distortion parameter vector
Definition: Cal3DS2_Base.h:113
static size_t Dim()
return DOF, dimensionality of tangent space
Definition: Cal3DS2_Base.h:142
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
Vector2 Point2
Definition: Point2.h:32
double p2() const
Second tangential distortion coefficient.
Definition: Cal3DS2_Base.h:110
Calibration of a camera with radial distortion.
Definition: Cal3DS2_Base.h:42
size_t dim() const override
return DOF, dimensionality of tangent space
Definition: Cal3DS2_Base.h:139
virtual std::shared_ptr< Cal3DS2_Base > clone() const
Definition: Cal3DS2_Base.h:149
Common base class for all calibration models.
Definition: Cal3.h:69
Definition: Testable.h:112
GTSAM_EXPORT void print(const Matrix &A, const std::string &s, std::ostream &stream)
Common code for all Calibration models.
Definition: chartTesting.h:28
Definition: OptionalJacobian.h:38
double p1() const
First tangential distortion coefficient.
Definition: Cal3DS2_Base.h:107
double k1() const
First distortion coefficient.
Definition: Cal3DS2_Base.h:101
double k2() const
Second distortion coefficient.
Definition: Cal3DS2_Base.h:104