gtsam::Line3 Class Reference

#include <Line3.h>

Public Member Functions
double	a () const
double	b () const
bool	equals (const Line3 &l2, double tol=10e-9) const
	Line3 ()
	Line3 (const Rot3 &R, const double a, const double b)
Vector4	localCoordinates (const Line3 &q, OptionalJacobian< 4, 4 > Dp={}, OptionalJacobian< 4, 4 > Dq={}) const
Point3	point (double distance=0) const
void	print (const std::string &s="") const
Unit3	project (OptionalJacobian< 2, 4 > Dline={}) const
Rot3	R () const
Line3	retract (const Vector4 &v, OptionalJacobian< 4, 4 > Dp={}, OptionalJacobian< 4, 4 > Dv={}) const

Static Public Attributes
constexpr static auto	dimension = 4

Private Attributes
double	a_
double	b_
Rot3	R_

Friends
GTSAM_EXPORT friend Line3	transformTo (const Pose3 &wTc, const Line3 &wL, OptionalJacobian< 4, 6 > Dpose, OptionalJacobian< 4, 4 > Dline)

Detailed Description

A 3D line (R,a,b) : (Rot3,Scalar,Scalar)

Definition at line 44 of file Line3.h.

Constructor & Destructor Documentation

Line3() [1/2]

gtsam::Line3::Line3 ( )

inline

Default constructor is the Z axis

Definition at line 53 of file Line3.h.

Line3() [2/2]

gtsam::Line3::Line3 ( const Rot3 &  R, const double  a, const double  b  )

inline

Constructor for general line from (R, a, b)

Definition at line 57 of file Line3.h.

Member Function Documentation

a()

double gtsam::Line3::a ( ) const

inline

Return the x-coordinate of the intersection of the line with the xy plane.

Definition at line 130 of file Line3.h.

b()

double gtsam::Line3::b ( ) const

inline

Return the y-coordinate of the intersection of the line with the xy plane.

Definition at line 137 of file Line3.h.

equals()

bool gtsam::Line3::equals	(	const Line3 &	l2,
		double	tol = 10e-9
	)		const

Check if two lines are equal

Parameters

l2	- line to be compared
tol	: optional tolerance

Returns

boolean - true if lines are equal

Definition at line 55 of file Line3.cpp.

localCoordinates()

Vector4 gtsam::Line3::localCoordinates	(	const Line3 &	q,
		OptionalJacobian< 4, 4 >	Dp = {},
		OptionalJacobian< 4, 4 >	Dq = {}
	)		const

The localCoordinates method is the inverse of retract and finds the difference between two lines in the tangent space. It computes v = q - p where q is an input line, p is this line and v is their difference in the tangent space.

Parameters

q	Line3 on manifold
Dp	OptionalJacobian of localCoordinates with respect to this line
Dq	OptionalJacobian of localCoordinates with respect to this line

Returns

v: difference in the tangent space

Definition at line 27 of file Line3.cpp.

point()

Point3 gtsam::Line3::point

(

double

distance = 0

)

const

Returns point on the line that is at a certain distance starting from the point where the rotated XY axis intersects the line.

Parameters

distance

(can be positive or negative) - positive is the positive direction of the rotated z axis that forms the line. The default value of zero returns the point where the rotated XY axis intersects the line.

Returns

Point on the line

Definition at line 86 of file Line3.cpp.

print()

void gtsam::Line3::print

(

const std::string &

s = ""

)

const

Print R, a, b

Parameters

s	optional starting string

Definition at line 49 of file Line3.cpp.

project()

Unit3 gtsam::Line3::project

(

OptionalJacobian< 2, 4 >

Dline = {}

)

const

Projecting a line to the image plane. Assumes this line is in camera frame.

Parameters

Dline

OptionalJacobian of projected line with respect to this line

Returns

Unit3 - projected line in image plane, in homogenous coordinates. We use Unit3 since it is a manifold with the right dimension.

Definition at line 61 of file Line3.cpp.

R()

Rot3 gtsam::Line3::R ( ) const

inline

Return the rotation of the line.

Definition at line 123 of file Line3.h.

retract()

Line3 gtsam::Line3::retract	(	const Vector4 &	v,
		OptionalJacobian< 4, 4 >	Dp = {},
		OptionalJacobian< 4, 4 >	Dv = {}
	)		const

The retract method maps from the tangent space back to the manifold. The method q = p + v, where p is this line, v is an increment along the tangent space and q is the resulting line. The tangent space for the rotation of a line is only two dimensional - rotation about x and y

Parameters

v	increment in tangent space
Dp	increment of retraction with respect to this line
Dv	Jacobian of retraction with respect to the increment

Returns

q: resulting line after adding the increment and mapping to the manifold

Definition at line 5 of file Line3.cpp.

Friends And Related Function Documentation

transformTo

GTSAM_EXPORT friend Line3 transformTo ( const Pose3 &  wTc, const Line3 &  wL, OptionalJacobian< 4, 6 >  Dpose, OptionalJacobian< 4, 4 >  Dline  )

friend

Transform a line from world to camera frame

Parameters

wTc	- Pose3 of camera in world frame
wL	- Line3 in world frame
Dpose	- OptionalJacobian of transformed line with respect to p
Dline	- OptionalJacobian of transformed line with respect to l

Returns

Transformed line in camera frame

Definition at line 94 of file Line3.cpp.

Member Data Documentation

a_

double gtsam::Line3::a_

private

Definition at line 47 of file Line3.h.

b_

double gtsam::Line3::b_

private

Definition at line 47 of file Line3.h.

dimension

constexpr static auto gtsam::Line3::dimension = 4

inlinestaticconstexpr

Definition at line 50 of file Line3.h.

R_

Rot3 gtsam::Line3::R_

private

Definition at line 46 of file Line3.h.

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The documentation for this class was generated from the following files:

• Line3.h
• Line3.cpp