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24 using namespace gtsam;
26 #define time timeSingleThreaded
std::shared_ptr< This > shared_ptr
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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)
void insert(Key j, const Vector &value)
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
static Point2 project(const Pose3 &pose, const Unit3 &pointAtInfinity, const Cal3_S2::shared_ptr &cal)
Common expressions for solving geometry/slam/sfm problems.
The most common 5DOF 3D->2D calibration.
gtsam
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autogenerated on Sun Dec 22 2024 04:17:46