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81 return pose.rotation(
H);
85 return pose.translation(
H);
143 template <
class CAMERA,
class POINT>
146 return camera.project2(
p, Dcam, Dpoint);
150 template <
class CAMERA,
class POINT>
152 return Point2_(internal::project4<CAMERA, POINT>, camera_, p_);
157 template <
class CALIBRATION,
class POINT>
165 template <
class CALIBRATION,
class POINT>
168 return Point2_(internal::project6<CALIBRATION, POINT>,
x,
p,
K);
171 template <
class CALIBRATION>
176 template <
class CALIBRATION>
191 template <
typename T>
Rot3 rotation(const Pose3 &pose, OptionalJacobian< 3, 6 > H)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set set xzeroaxis lt lw set x2zeroaxis lt lw set yzeroaxis lt lw set y2zeroaxis lt lw set tics in set ticslevel set tics set mxtics default set mytics default set mx2tics default set my2tics default set xtics border mirror norotate autofreq set ytics border mirror norotate autofreq set ztics border nomirror norotate autofreq set nox2tics set noy2tics set timestamp bottom norotate set rrange[*:*] noreverse nowriteback set trange[*:*] noreverse nowriteback set urange[*:*] noreverse nowriteback set vrange[*:*] noreverse nowriteback set xlabel matrix size set x2label set timefmt d m y n H
gtsam::Expression< typename gtsam::traits< T >::TangentVector > logmap(const gtsam::Expression< T > &x1, const gtsam::Expression< T > &x2)
logmap
Point2_ project3(const Pose3_ &x, const Expression< POINT > &p, const Expression< CALIBRATION > &K)
Point3_ translation(const Pose3_ &pose)
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
Expression< T > between(const Expression< T > &t1, const Expression< T > &t2)
Expression< double > Double_
Point3 transformTo(const Point3 &point, OptionalJacobian< 3, 6 > Hself={}, OptionalJacobian< 3, 3 > Hpoint={}) const
takes point in world coordinates and transforms it to Pose coordinates
The most common 5DOF 3D->2D calibration.
Point3_ p_cam(x, &Pose3::transformTo, p)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
Point3 point3(OptionalJacobian< 3, 2 > H={}) const
Return unit-norm Point3.
Expression< Point2 > Point2_
Point3_ point3(const Unit3_ &v)
Point2 project4(const CAMERA &camera, const POINT &p, OptionalJacobian< 2, CAMERA::dimension > Dcam, OptionalJacobian< 2, FixedDimension< POINT >::value > Dpoint)
Expression< Cal3_S2 > Cal3_S2_
Expression< Pose2 > Pose2_
Point3 unrotate(const Point3 &p, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
rotate point from world to rotated frame
Point2 project(const Point3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const
project a 3D point from world coordinates into the image
Expression< Line3 > Line3_
Point2 uncalibrate(const CAL &K, const Point2 &p, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp)
Double_ range(const Point2_ &p, const Point2_ &q)
Point2_ project2(const Expression< CAMERA > &camera_, const Expression< POINT > &p_)
Expression< OrientedPlane3 > OrientedPlane3_
Pose3 transformPoseTo(const Pose3 &wTb, OptionalJacobian< 6, 6 > Hself={}, OptionalJacobian< 6, 6 > HwTb={}) const
Expression< Unit3 > Unit3_
Point3_ transformFrom(const Pose3_ &x, const Point3_ &p)
static void normalize(Signature::Row &row)
Common expressions, both linear and non-linear.
Point3_ unrotate(const Rot3_ &x, const Point3_ &p)
Point3_ rotate(const Rot3_ &x, const Point3_ &p)
Point3 rotate(const Point3 &p, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
Point3 cross(const Point3 &p, const Point3 &q, OptionalJacobian< 3, 3 > H1, OptionalJacobian< 3, 3 > H2)
cross product
EIGEN_DEVICE_FUNC const Scalar & q
Line3 transformTo(const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose, OptionalJacobian< 4, 4 > Dline)
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
double distance(OptionalJacobian< 1, 3 > H={}) const
Return the perpendicular distance to the origin.
Unit3 normal(OptionalJacobian< 2, 3 > H={}) const
Return the normal.
double dot(const V1 &a, const V2 &b)
Base class for all pinhole cameras.
Unit3_ normal(const OrientedPlane3_ &p)
Point2_ uncalibrate(const Expression< CALIBRATION > &K, const Point2_ &xy_hat)
Point2 transformTo(const Point2 &point, OptionalJacobian< 2, 3 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const
static Point2 Project(const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint={})
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Pose3_ getPose(const Expression< PinholeCamera< CALIBRATION > > &cam)
Expression< Point3 > Point3_
4 dimensional manifold of 3D lines
Rot3_ rotation(const Pose3_ &pose)
Point3 translation(const Pose3 &pose, OptionalJacobian< 3, 6 > H)
Point3 transformFrom(const Point3 &point, OptionalJacobian< 3, 6 > Hself={}, OptionalJacobian< 3, 3 > Hpoint={}) const
takes point in Pose coordinates and transforms it to world coordinates
Array< int, Dynamic, 1 > v
Expression< Pose3 > Pose3_
Point2 project6(const Pose3 &x, const POINT &p, const CALIBRATION &K, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 3 > Dpoint, OptionalJacobian< 2, CALIBRATION::dimension > Dcal)
Double_ distance(const OrientedPlane3_ &p)
Give fixed size dimension of a type, fails at compile time if dynamic.
Expression< Cal3Bundler > Cal3Bundler_
Represents a 3D point on a unit sphere.
static const CalibratedCamera camera(kDefaultPose)
Pose3_ transformPoseTo(const Pose3_ &p, const Pose3_ &q)
Point2_ project(const Point3_ &p_cam)
Expression version of PinholeBase::Project.
Calibration used by Bundler.
Pose3 x2(Rot3::Ypr(0.0, 0.0, 0.0), l2)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:31