gtsam 4.2.0
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Cal3DS2.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
21#pragma once
22
23#include <gtsam/geometry/Cal3DS2_Base.h>
24#include <boost/shared_ptr.hpp>
25
26namespace gtsam {
27
35class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
36 using Base = Cal3DS2_Base;
37
38 public:
39 enum { dimension = 9 };
40
42 using shared_ptr = boost::shared_ptr<Cal3DS2>;
43
46
48 Cal3DS2() = default;
49
50 Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
51 double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5)
52 : Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {}
53
54 ~Cal3DS2() override {}
55
59
60 Cal3DS2(const Vector9& v) : Base(v) {}
61
65
67 GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
68 const Cal3DS2& cal);
69
71 void print(const std::string& s = "") const override;
72
74 bool equals(const Cal3DS2& K, double tol = 10e-9) const;
75
79
81 Cal3DS2 retract(const Vector& d) const;
82
84 Vector localCoordinates(const Cal3DS2& T2) const;
85
87 size_t dim() const override { return Dim(); }
88
90 inline static size_t Dim() { return dimension; }
91
95
97 boost::shared_ptr<Base> clone() const override {
98 return boost::shared_ptr<Base>(new Cal3DS2(*this));
99 }
100
102
103 private:
106
108 friend class boost::serialization::access;
109 template <class Archive>
110 void serialize(Archive& ar, const unsigned int /*version*/) {
111 ar& boost::serialization::make_nvp(
112 "Cal3DS2", boost::serialization::base_object<Cal3DS2_Base>(*this));
113 }
114
116};
117
118template <>
119struct traits<Cal3DS2> : public internal::Manifold<Cal3DS2> {};
120
121template <>
122struct traits<const Cal3DS2> : public internal::Manifold<Cal3DS2> {};
123}
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
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
Calibration of a camera with radial distortion that also supports Lie-group behaviors for optimizatio...
Definition Cal3DS2.h:35
size_t dim() const override
Return dimensions of calibration manifold object.
Definition Cal3DS2.h:87
boost::shared_ptr< Base > clone() const override
Definition Cal3DS2.h:97
static size_t Dim()
Return dimensions of calibration manifold object.
Definition Cal3DS2.h:90
Cal3DS2()=default
Default Constructor with only unit focal length.
Calibration of a camera with radial distortion.
Definition Cal3DS2_Base.h:42