36 enum { dimension = 5 };
39 using shared_ptr = std::shared_ptr<Cal3_S2>;
48 Cal3_S2(
double fx,
double fy,
double s,
double u0,
double v0)
49 :
Cal3(fx, fy, s, u0, v0) {}
87 Vector3 calibrate(
const Vector3& p)
const;
94 GTSAM_EXPORT
friend std::ostream& operator<<(std::ostream& os,
98 void print(
const std::string& s =
"Cal3_S2")
const override;
107 if (H1) *H1 = -I_5x5;
109 return Cal3_S2(q.fx_ - fx_, q.
fy_ - fy_, q.
s_ - s_, q.u0_ - u0_,
118 inline static size_t Dim() {
return dimension; }
122 return Cal3_S2(fx_ + d(0), fy_ + d(1), s_ + d(2), u0_ + d(3), v0_ + d(4));
127 return T2.
vector() - vector();
135 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION 136 friend class boost::serialization::access; 138 template <
class Archive>
139 void serialize(Archive& ar,
const unsigned int ) {
140 ar& boost::serialization::make_nvp(
141 "Cal3_S2", boost::serialization::base_object<Cal3>(*
this));
Both ManifoldTraits and Testable.
Definition: Manifold.h:117
Cal3_S2(double fx, double fy, double s, double u0, double v0)
constructor from doubles
Definition: Cal3_S2.h:48
std::string serialize(const T &input)
serializes to a string
Definition: serialization.h:113
Vector2 Point2
Definition: Point2.h:32
Vector5 localCoordinates(const Cal3_S2 &T2) const
Unretraction for the calibration.
Definition: Cal3_S2.h:126
Cal3_S2(const Vector5 &d)
constructor from vector
Definition: Cal3_S2.h:52
Common base class for all calibration models.
Definition: Cal3.h:69
Definition: Testable.h:112
double fy_
focal length
Definition: Cal3.h:71
GTSAM_EXPORT void print(const Matrix &A, const std::string &s, std::ostream &stream)
double s_
skew
Definition: Cal3.h:72
The most common 5DOF 3D->2D calibration.
Definition: Cal3_S2.h:34
Common code for all Calibration models.
double v0_
principal point
Definition: Cal3.h:73
Definition: chartTesting.h:28
Cal3_S2 retract(const Vector &d) const
Given 5-dim tangent vector, create new calibration.
Definition: Cal3_S2.h:121
Definition: OptionalJacobian.h:38
Vector5 vector() const
vectorized form (column-wise)
Definition: Cal3.h:160
static size_t Dim()
return DOF, dimensionality of tangent space
Definition: Cal3_S2.h:118
Cal3_S2(double fov, int w, int h)
Definition: Cal3_S2.h:60
Cal3_S2 between(const Cal3_S2 &q, OptionalJacobian< 5, 5 > H1={}, OptionalJacobian< 5, 5 > H2={}) const
"Between", subtracts calibrations. between(p,q) == compose(inverse(p),q)
Definition: Cal3_S2.h:104