PlanarProjectionFactor.h File Reference

for planar smoothing More...

#include <gtsam/base/Testable.h>
#include <gtsam/base/Lie.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/base/numericalDerivative.h>

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Classes
class	gtsam::PlanarProjectionFactor1
	One variable: the pose. Landmark, camera offset, camera calibration are constant. This is intended for localization within a known map. More...
class	gtsam::PlanarProjectionFactor2
	Two unknowns: the pose and the landmark. Camera offset and calibration are constant. This is similar to GeneralSFMFactor, used for SLAM. More...
class	gtsam::PlanarProjectionFactor3
	Three unknowns: the pose, the camera offset, and the camera calibration. Landmark is constant. This is intended to be used for camera calibration. More...
class	gtsam::PlanarProjectionFactorBase
	Camera projection for robot on the floor. Measurement is camera pixels. More...
struct	gtsam::traits< PlanarProjectionFactor1 >
struct	gtsam::traits< PlanarProjectionFactor2 >
struct	gtsam::traits< PlanarProjectionFactor3 >

Namespaces
	gtsam
	traits

Detailed Description

for planar smoothing

ProjectionFactor, but with pose2 (robot on the floor)

This factor is useful for high-school robotics competitions, which run robots on the floor, with use fixed maps and fiducial markers.

See also

https://www.firstinspires.org/

Date

Dec 2, 2024

Author

joel@.nosp@m.truh.nosp@m.er.or.nosp@m.g

Definition in file PlanarProjectionFactor.h.