53 double k1_ = 0.0f, k2_ = 0.0f;
54 double k3_ = 0.0f, k4_ = 0.0f;
58 enum { dimension = 9 };
60 using shared_ptr = std::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),
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 std::shared_ptr<Cal3Fisheye>
clone()
const {
178 return std::shared_ptr<Cal3Fisheye>(
new Cal3Fisheye(*
this));
187 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 189 friend class boost::serialization::access;
190 template <
class Archive>
191 void serialize(Archive& ar,
const unsigned int ) {
192 ar& boost::serialization::make_nvp(
193 "Cal3Fisheye", boost::serialization::base_object<Cal3>(*
this));
194 ar& BOOST_SERIALIZATION_NVP(k1_);
195 ar& BOOST_SERIALIZATION_NVP(k2_);
196 ar& BOOST_SERIALIZATION_NVP(k3_);
197 ar& BOOST_SERIALIZATION_NVP(k4_);
Both ManifoldTraits and Testable.
Definition: Manifold.h:117
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
Vector2 Point2
Definition: Point2.h:32
static size_t Dim()
Return dimensions of calibration manifold object.
Definition: Cal3Fisheye.h:160
Vector localCoordinates(const Cal3Fisheye &T2) const
Given a different calibration, calculate update to obtain it.
Definition: Cal3Fisheye.h:168
double k3() const
First tangential distortion coefficient.
Definition: Cal3Fisheye.h:102
Common base class for all calibration models.
Definition: Cal3.h:69
Vector9 vector() const
Return all parameters as a vector.
Vector4 k() const
return distortion parameter vector
Definition: Cal3Fisheye.h:108
Definition: Testable.h:112
size_t dim() const override
Return dimensions of calibration manifold object.
Definition: Cal3Fisheye.h:157
GTSAM_EXPORT void print(const Matrix &A, const std::string &s, std::ostream &stream)
double k2() const
Second distortion coefficient.
Definition: Cal3Fisheye.h:99
Common code for all Calibration models.
Definition: chartTesting.h:28
double k4() const
Second tangential distortion coefficient.
Definition: Cal3Fisheye.h:105
Definition: OptionalJacobian.h:38
double k1() const
First distortion coefficient.
Definition: Cal3Fisheye.h:96
Cal3Fisheye retract(const Vector &d) const
Given delta vector, update calibration.
Definition: Cal3Fisheye.h:163
Calibration of a fisheye camera.
Definition: Cal3Fisheye.h:51
virtual std::shared_ptr< Cal3Fisheye > clone() const
Definition: Cal3Fisheye.h:177