Go to the documentation of this file.
28 using namespace gtsam;
30 #define time timeSingleThreaded
63 std::make_shared<GeneralSFMFactor2<Cal3_S2> >(
z,
model, 1, 2, 3);
70 std::make_shared<ExpressionFactor<Point2> >(
model,
z,
78 std::make_shared<ExpressionFactor<Point2> >(
model,
z,
95 std::make_shared<ExpressionFactor<Point2> >(
model,
z,
103 std::make_shared<ExpressionFactor<Point2> >(
model,
z,
std::shared_ptr< This > shared_ptr
Reprojection of a LANDMARK to a 2D point.
static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
The most common 5DOF 3D->2D calibration.
Pose3 g1(Rot3(), Point3(100.0, 0.0, 300.0))
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
Expression< Point2 > Point2_
double f2(const Vector2 &x)
a general SFM factor with an unknown calibration
Expression< Cal3_S2 > Cal3_S2_
Point2 uncalibrate(const CAL &K, const Point2 &p, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp)
static Point2 project3(const Pose3 &pose, const Point3 &point, const Cal3_S2 &cal)
Line3 transformTo(const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose, OptionalJacobian< 4, 4 > Dline)
Pose3 g2(g1.expmap(h *V1_g1))
gtsam::enable_if_t< needs_eigen_aligned_allocator< T >::value, std::shared_ptr< T > > make_shared(Args &&... args)
void insert(Key j, const Vector &value)
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
Point2 myProject(const Pose3 &pose, const Point3 &point, OptionalJacobian< 2, 6 > H1, OptionalJacobian< 2, 3 > H2)
static Point2 project(const Pose3 &pose, const Unit3 &pointAtInfinity, const Cal3_S2::shared_ptr &cal)
double f3(double x1, double x2)
Common expressions for solving geometry/slam/sfm problems.
std::shared_ptr< Cal3_S2 > fixedK(new Cal3_S2())
The most common 5DOF 3D->2D calibration.
static const CalibratedCamera camera(kDefaultPose)
Point2 project(const Point3 &point, OptionalJacobian< 2, 6 > Dcamera={}, OptionalJacobian< 2, 3 > Dpoint={}) const
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:08:59