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backproject

release/4.3a0
dellaert 2015-02-21 11:05:25 +01:00
parent 059ff82beb
commit 05d5bad1a7
1 changed files with 8 additions and 3 deletions
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11
gtsam/geometry/CalibratedCamera.h
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@ -149,9 +149,6 @@ public:
/// Project a point into the image and check depth /// Project a point into the image and check depth
std::pair<Point2, bool> projectSafe(const Point3& pw) const; std::pair<Point2, bool> projectSafe(const Point3& pw) const;
/// backproject a 2-dimensional point to a 3-dimensional point at given depth
static Point3 backproject_from_camera(const Point2& p, const double depth);
/** /**
* Project point into the image * Project point into the image
* Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION * Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION
@ -163,6 +160,9 @@ public:
Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose = Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose =
boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const; boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const;
/// backproject a 2-dimensional point to a 3-dimensional point at given depth
static Point3 backproject_from_camera(const Point2& p, const double depth);
private: private:
/** Serialization function */ /** Serialization function */
@ -274,6 +274,11 @@ public:
OptionalJacobian<2, 6> Dcamera = boost::none, OptionalJacobian<2, 6> Dcamera = boost::none,
OptionalJacobian<2, 3> Dpoint = boost::none) const; OptionalJacobian<2, 3> Dpoint = boost::none) const;
/// backproject a 2-dimensional point to a 3-dimensional point at given depth
Point3 backproject(const Point2& pn, double depth) const {
return pose().transform_from(backproject_from_camera(pn, depth));
}
/** /**
* Calculate range to a landmark * Calculate range to a landmark
* @param point 3D location of landmark * @param point 3D location of landmark