gtsam::StereoPoint2 Class Reference

#include <StereoPoint2.h>

Static Public Attributes
constexpr static auto	dimension = 3

Private Attributes
double	uL_
double	uR_
double	v_

Friends
GTSAM_EXPORT friend std::ostream &	operator<< (std::ostream &os, const StereoPoint2 &p)
	Streaming. More...

Standard Constructors
	StereoPoint2 ()
	StereoPoint2 (double uL, double uR, double v)
	StereoPoint2 (const Vector3 &v)
	construct from 3D vector More...

Testable
void	print (const std::string &s="") const
bool	equals (const StereoPoint2 &q, double tol=1e-9) const

Group
StereoPoint2	operator- () const
	inverse More...
StereoPoint2	operator+ (const Vector3 &v) const
	add vector on right More...
StereoPoint2	operator+ (const StereoPoint2 &b) const
	add More...
StereoPoint2	operator- (const StereoPoint2 &b) const
	subtract More...
static StereoPoint2	Identity ()
	identity More...

Standard Interface
bool	operator== (const StereoPoint2 &q) const
	equality More...
double	uL () const
	get uL More...
double	uR () const
	get uR More...
double	v () const
	get v More...
Vector3	vector () const
Point2	point2 () const
Point2	right () const

Deprecated
StereoPoint2	inverse () const
StereoPoint2	compose (const StereoPoint2 &p1) const
StereoPoint2	between (const StereoPoint2 &p2) const
Vector	localCoordinates (const StereoPoint2 &t2) const
StereoPoint2	retract (const Vector &v) const
static Vector	Logmap (const StereoPoint2 &p)
static StereoPoint2	Expmap (const Vector &d)

Detailed Description

A 2D stereo point, v will be same for rectified images

Definition at line 34 of file StereoPoint2.h.

Constructor & Destructor Documentation

StereoPoint2() [1/3]

gtsam::StereoPoint2::StereoPoint2 ( )

inline

default constructor

Definition at line 45 of file StereoPoint2.h.

StereoPoint2() [2/3]

gtsam::StereoPoint2::StereoPoint2 ( double  uL, double  uR, double  v  )

inline

uL and uR represent the x-axis value of left and right frame coordinates respectively. v represents the y coordinate value. The y-axis value should be the same under the stereo constraint.

Definition at line 52 of file StereoPoint2.h.

StereoPoint2() [3/3]

gtsam::StereoPoint2::StereoPoint2 ( const Vector3 &  v )

inlineexplicit

construct from 3D vector

Definition at line 57 of file StereoPoint2.h.

Member Function Documentation

between()

StereoPoint2 gtsam::StereoPoint2::between ( const StereoPoint2 &  p2 ) const

inline

Definition at line 137 of file StereoPoint2.h.

compose()

StereoPoint2 gtsam::StereoPoint2::compose ( const StereoPoint2 &  p1 ) const

inline

Definition at line 136 of file StereoPoint2.h.

equals()

bool gtsam::StereoPoint2::equals ( const StereoPoint2 &  q, double  tol = 1e-9  ) const

inline

equals

Definition at line 68 of file StereoPoint2.h.

Expmap()

static StereoPoint2 gtsam::StereoPoint2::Expmap ( const Vector &  d )

inlinestatic

Definition at line 141 of file StereoPoint2.h.

Identity()

static StereoPoint2 gtsam::StereoPoint2::Identity ( )

inlinestatic

identity

Definition at line 78 of file StereoPoint2.h.

inverse()

StereoPoint2 gtsam::StereoPoint2::inverse ( ) const

inline

Definition at line 135 of file StereoPoint2.h.

localCoordinates()

Vector gtsam::StereoPoint2::localCoordinates ( const StereoPoint2 &  t2 ) const

inline

Definition at line 138 of file StereoPoint2.h.

Logmap()

static Vector gtsam::StereoPoint2::Logmap ( const StereoPoint2 &  p )

inlinestatic

Definition at line 140 of file StereoPoint2.h.

operator+() [1/2]

StereoPoint2 gtsam::StereoPoint2::operator+ ( const StereoPoint2 &  b ) const

inline

add

Definition at line 93 of file StereoPoint2.h.

operator+() [2/2]

StereoPoint2 gtsam::StereoPoint2::operator+ ( const Vector3 &  v ) const

inline

add vector on right

Definition at line 88 of file StereoPoint2.h.

operator-() [1/2]

StereoPoint2 gtsam::StereoPoint2::operator- ( ) const

inline

inverse

Definition at line 83 of file StereoPoint2.h.

operator-() [2/2]

StereoPoint2 gtsam::StereoPoint2::operator- ( const StereoPoint2 &  b ) const

inline

subtract

Definition at line 98 of file StereoPoint2.h.

operator==()

bool gtsam::StereoPoint2::operator== ( const StereoPoint2 &  q ) const

inline

equality

Definition at line 107 of file StereoPoint2.h.

point2()

Point2 gtsam::StereoPoint2::point2 ( ) const

inline

convenient function to get a Point2 from the left image

Definition at line 124 of file StereoPoint2.h.

print()

void gtsam::StereoPoint2::print

(

const std::string &

s = ""

)

const

print

Definition at line 26 of file StereoPoint2.cpp.

retract()

StereoPoint2 gtsam::StereoPoint2::retract ( const Vector &  v ) const

inline

Definition at line 139 of file StereoPoint2.h.

right()

Point2 gtsam::StereoPoint2::right ( ) const

inline

convenient function to get a Point2 from the right image

Definition at line 129 of file StereoPoint2.h.

uL()

double gtsam::StereoPoint2::uL ( ) const

inline

get uL

Definition at line 110 of file StereoPoint2.h.

uR()

double gtsam::StereoPoint2::uR ( ) const

inline

get uR

Definition at line 113 of file StereoPoint2.h.

v()

double gtsam::StereoPoint2::v ( ) const

inline

get v

Definition at line 116 of file StereoPoint2.h.

vector()

Vector3 gtsam::StereoPoint2::vector ( ) const

inline

convert to vector

Definition at line 119 of file StereoPoint2.h.

Friends And Related Function Documentation

operator<<

GTSAM_EXPORT friend std::ostream& operator<< ( std::ostream &  os, const StereoPoint2 &  p  )

friend

Streaming.

Member Data Documentation

dimension

constexpr static auto gtsam::StereoPoint2::dimension = 3

inlinestaticconstexpr

Definition at line 40 of file StereoPoint2.h.

uL_

double gtsam::StereoPoint2::uL_

private

Definition at line 37 of file StereoPoint2.h.

uR_

double gtsam::StereoPoint2::uR_

private

Definition at line 37 of file StereoPoint2.h.

v_

double gtsam::StereoPoint2::v_

private

Definition at line 37 of file StereoPoint2.h.

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

• StereoPoint2.h
• StereoPoint2.cpp