Camera projection for robot on the floor. Measurement is camera pixels. More...
#include <PlanarProjectionFactor.h>
Inheritance diagram for gtsam::PlanarProjectionFactorBase:
Protected Member Functions | |
| PlanarProjectionFactorBase () | |
| PlanarProjectionFactorBase (const Point2 &measured) | |
| Point2 | predict (const Point3 &landmark, const Pose2 &wTb, const Pose3 &bTc, const Cal3DS2 &calib, OptionalJacobian< 2, 3 > Hlandmark={}, OptionalJacobian< 2, 3 > HwTb={}, OptionalJacobian< 2, 6 > HbTc={}, OptionalJacobian< 2, 9 > Hcalib={}) const |
Protected Attributes | |
| Point2 | measured_ |
Detailed Description
Camera projection for robot on the floor. Measurement is camera pixels.
Definition at line 36 of file PlanarProjectionFactor.h.
Constructor & Destructor Documentation
◆ PlanarProjectionFactorBase() [1/2]
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inlineprotected |
Definition at line 38 of file PlanarProjectionFactor.h.
◆ PlanarProjectionFactorBase() [2/2]
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inlineprotected |
- Parameters
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measured pixels in the camera frame
Definition at line 43 of file PlanarProjectionFactor.h.
Member Function Documentation
◆ predict()
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inlineprotected |
Predict the projection of the landmark in camera pixels.
- Parameters
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landmark point3 of the target wTb "world to body": planar pose2 of vehicle body frame in world frame bTc "body to camera": camera pose in body frame, oriented parallel to pose2 zero i.e. +x calib camera calibration with distortion Hlandmark jacobian HwTb jacobian HbTc jacobian Hcalib jacobian
Definition at line 57 of file PlanarProjectionFactor.h.
Member Data Documentation
◆ measured_
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protected |
Definition at line 99 of file PlanarProjectionFactor.h.
The documentation for this class was generated from the following file: