update gtsam:: namespace in geometry.i
Varun Agrawal
parent
795fbee9c4
commit
ead977df76
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@ -9,7 +9,7 @@ class Point2 {
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// Standard Constructors
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Point2();
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Point2(double x, double y);
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Point2(Vector v);
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Point2(gtsam::Vector v);
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// Testable
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void print(string s = "") const;
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@ -21,7 +21,7 @@ class Point2 {
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// Standard Interface
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double x() const;
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double y() const;
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Vector vector() const;
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gtsam::Vector vector() const;
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double distance(const gtsam::Point2& p2) const;
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double norm() const;
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@ -83,21 +83,21 @@ class StereoPoint2 {
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// Operator Overloads
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gtsam::StereoPoint2 operator-() const;
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// gtsam::StereoPoint2 operator+(Vector b) const; //TODO Mixed types not yet
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// gtsam::StereoPoint2 operator+(gtsam::Vector b) const; //TODO Mixed types not yet
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// supported
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gtsam::StereoPoint2 operator+(const gtsam::StereoPoint2& p2) const;
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gtsam::StereoPoint2 operator-(const gtsam::StereoPoint2& p2) const;
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// Manifold
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gtsam::StereoPoint2 retract(Vector v) const;
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Vector localCoordinates(const gtsam::StereoPoint2& p) const;
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gtsam::StereoPoint2 retract(gtsam::Vector v) const;
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gtsam::Vector localCoordinates(const gtsam::StereoPoint2& p) const;
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// Lie Group
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static gtsam::StereoPoint2 Expmap(Vector v);
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static Vector Logmap(const gtsam::StereoPoint2& p);
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static gtsam::StereoPoint2 Expmap(gtsam::Vector v);
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static gtsam::Vector Logmap(const gtsam::StereoPoint2& p);
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// Standard Interface
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Vector vector() const;
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gtsam::Vector vector() const;
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double uL() const;
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double uR() const;
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double v() const;
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@ -111,7 +111,7 @@ class Point3 {
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// Standard Constructors
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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Point3(gtsam::Vector v);
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// Testable
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void print(string s = "") const;
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@ -121,7 +121,7 @@ class Point3 {
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static gtsam::Point3 Identity();
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// Standard Interface
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Vector vector() const;
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gtsam::Vector vector() const;
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double x() const;
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double y() const;
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double z() const;
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@ -166,15 +166,15 @@ class Rot2 {
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gtsam::Rot2 operator*(const gtsam::Rot2& p2) const;
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// Manifold
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gtsam::Rot2 retract(Vector v) const;
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gtsam::Rot2 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
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Vector localCoordinates(const gtsam::Rot2& p) const;
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Vector localCoordinates(const gtsam::Rot2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
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gtsam::Rot2 retract(gtsam::Vector v) const;
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gtsam::Rot2 retract(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
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gtsam::Vector localCoordinates(const gtsam::Rot2& p) const;
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gtsam::Vector localCoordinates(const gtsam::Rot2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
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// Lie Group
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static gtsam::Rot2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot2& p);
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Vector logmap(const gtsam::Rot2& p);
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static gtsam::Rot2 Expmap(gtsam::Vector v);
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static gtsam::Vector Logmap(const gtsam::Rot2& p);
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gtsam::Vector logmap(const gtsam::Rot2& p);
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// Group Action on Point2
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gtsam::Point2 rotate(const gtsam::Point2& point) const;
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@ -188,7 +188,7 @@ class Rot2 {
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double degrees() const;
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double c() const;
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double s() const;
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Matrix matrix() const;
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gtsam::Matrix matrix() const;
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// enabling serialization functionality
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void serialize() const;
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@ -198,10 +198,10 @@ class Rot2 {
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class SO3 {
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// Standard Constructors
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SO3();
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SO3(Matrix R);
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static gtsam::SO3 FromMatrix(Matrix R);
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static gtsam::SO3 AxisAngle(const Vector axis, double theta);
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static gtsam::SO3 ClosestTo(const Matrix M);
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SO3(gtsam::Matrix R);
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static gtsam::SO3 FromMatrix(gtsam::Matrix R);
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static gtsam::SO3 AxisAngle(const gtsam::Vector axis, double theta);
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static gtsam::SO3 ClosestTo(const gtsam::Matrix M);
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// Testable
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void print(string s = "") const;
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@ -217,21 +217,21 @@ class SO3 {
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gtsam::SO3 operator*(const gtsam::SO3& R) const;
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// Manifold
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gtsam::SO3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::SO3& R) const;
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static gtsam::SO3 Expmap(Vector v);
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gtsam::SO3 retract(gtsam::Vector v) const;
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gtsam::Vector localCoordinates(const gtsam::SO3& R) const;
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static gtsam::SO3 Expmap(gtsam::Vector v);
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// Other methods
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Vector vec() const;
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Matrix matrix() const;
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gtsam::Vector vec() const;
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gtsam::Matrix matrix() const;
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};
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#include <gtsam/geometry/SO4.h>
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class SO4 {
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// Standard Constructors
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SO4();
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SO4(Matrix R);
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static gtsam::SO4 FromMatrix(Matrix R);
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SO4(gtsam::Matrix R);
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static gtsam::SO4 FromMatrix(gtsam::Matrix R);
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// Testable
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void print(string s = "") const;
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@ -247,21 +247,21 @@ class SO4 {
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gtsam::SO4 operator*(const gtsam::SO4& Q) const;
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// Manifold
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gtsam::SO4 retract(Vector v) const;
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Vector localCoordinates(const gtsam::SO4& Q) const;
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static gtsam::SO4 Expmap(Vector v);
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gtsam::SO4 retract(gtsam::Vector v) const;
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gtsam::Vector localCoordinates(const gtsam::SO4& Q) const;
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static gtsam::SO4 Expmap(gtsam::Vector v);
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// Other methods
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Vector vec() const;
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Matrix matrix() const;
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gtsam::Vector vec() const;
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gtsam::Matrix matrix() const;
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};
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#include <gtsam/geometry/SOn.h>
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class SOn {
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// Standard Constructors
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SOn(size_t n);
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static gtsam::SOn FromMatrix(Matrix R);
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static gtsam::SOn Lift(size_t n, Matrix R);
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static gtsam::SOn FromMatrix(gtsam::Matrix R);
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static gtsam::SOn Lift(size_t n, gtsam::Matrix R);
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// Testable
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void print(string s = "") const;
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@ -277,13 +277,13 @@ class SOn {
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gtsam::SOn operator*(const gtsam::SOn& Q) const;
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// Manifold
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gtsam::SOn retract(Vector v) const;
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Vector localCoordinates(const gtsam::SOn& Q) const;
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static gtsam::SOn Expmap(Vector v);
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gtsam::SOn retract(gtsam::Vector v) const;
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gtsam::Vector localCoordinates(const gtsam::SOn& Q) const;
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static gtsam::SOn Expmap(gtsam::Vector v);
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// Other methods
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Vector vec() const;
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Matrix matrix() const;
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gtsam::Vector vec() const;
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gtsam::Matrix matrix() const;
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// enabling serialization functionality
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void serialize() const;
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@ -295,14 +295,14 @@ class Quaternion {
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double x() const;
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double y() const;
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double z() const;
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Vector coeffs() const;
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gtsam::Vector coeffs() const;
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};
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#include <gtsam/geometry/Rot3.h>
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class Rot3 {
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// Standard Constructors and Named Constructors
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Rot3();
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Rot3(Matrix R);
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Rot3(gtsam::Matrix R);
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Rot3(const gtsam::Point3& col1, const gtsam::Point3& col2,
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const gtsam::Point3& col3);
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Rot3(double R11, double R12, double R13, double R21, double R22, double R23,
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@ -313,7 +313,7 @@ class Rot3 {
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static gtsam::Rot3 Ry(double t);
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static gtsam::Rot3 Rz(double t);
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static gtsam::Rot3 RzRyRx(double x, double y, double z);
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static gtsam::Rot3 RzRyRx(Vector xyz);
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static gtsam::Rot3 RzRyRx(gtsam::Vector xyz);
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static gtsam::Rot3 Yaw(
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double t); // positive yaw is to right (as in aircraft heading)
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static gtsam::Rot3 Pitch(
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@ -323,9 +323,9 @@ class Rot3 {
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static gtsam::Rot3 Ypr(double y, double p, double r);
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static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
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static gtsam::Rot3 AxisAngle(const gtsam::Point3& axis, double angle);
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static gtsam::Rot3 Rodrigues(Vector v);
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static gtsam::Rot3 Rodrigues(gtsam::Vector v);
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static gtsam::Rot3 Rodrigues(double wx, double wy, double wz);
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static gtsam::Rot3 ClosestTo(const Matrix M);
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static gtsam::Rot3 ClosestTo(const gtsam::Matrix M);
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// Testable
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void print(string s = "") const;
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@ -341,10 +341,10 @@ class Rot3 {
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gtsam::Rot3 operator*(const gtsam::Rot3& p2) const;
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// Manifold
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// gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both
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// Matrix and Quaternion options
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gtsam::Rot3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Rot3& p) const;
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// gtsam::Rot3 retractCayley(gtsam::Vector v) const; // TODO, does not exist in both
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// gtsam::Matrix and Quaternion options
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gtsam::Rot3 retract(gtsam::Vector v) const;
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gtsam::Vector localCoordinates(const gtsam::Rot3& p) const;
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// Group Action on Point3
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gtsam::Point3 rotate(const gtsam::Point3& p) const;
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@ -358,21 +358,21 @@ class Rot3 {
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gtsam::Unit3 unrotate(const gtsam::Unit3& p) const;
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// Standard Interface
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static gtsam::Rot3 Expmap(Vector v);
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static Vector Logmap(const gtsam::Rot3& p);
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Vector logmap(const gtsam::Rot3& p);
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Matrix matrix() const;
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Matrix transpose() const;
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static gtsam::Rot3 Expmap(gtsam::Vector v);
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static gtsam::Vector Logmap(const gtsam::Rot3& p);
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gtsam::Vector logmap(const gtsam::Rot3& p);
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gtsam::Matrix matrix() const;
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gtsam::Matrix transpose() const;
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gtsam::Point3 column(size_t index) const;
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Vector xyz() const;
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Vector ypr() const;
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Vector rpy() const;
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gtsam::Vector xyz() const;
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gtsam::Vector ypr() const;
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gtsam::Vector rpy() const;
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double roll() const;
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double pitch() const;
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double yaw() const;
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pair<gtsam::Unit3, double> axisAngle() const;
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gtsam::Quaternion toQuaternion() const;
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// Vector quaternion() const; // @deprecated, see https://github.com/borglab/gtsam/pull/1219
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// gtsam::Vector quaternion() const; // @deprecated, see https://github.com/borglab/gtsam/pull/1219
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gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const;
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// enabling serialization functionality
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@ -387,7 +387,7 @@ class Pose2 {
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Pose2(double x, double y, double theta);
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Pose2(double theta, const gtsam::Point2& t);
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Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
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Pose2(Vector v);
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Pose2(gtsam::Vector v);
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static std::optional<gtsam::Pose2> Align(const gtsam::Point2Pairs& abPointPairs);
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static std::optional<gtsam::Pose2> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
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@ -408,32 +408,32 @@ class Pose2 {
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gtsam::Pose2 operator*(const gtsam::Pose2& p2) const;
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// Manifold
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gtsam::Pose2 retract(Vector v) const;
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gtsam::Pose2 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
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Vector localCoordinates(const gtsam::Pose2& p) const;
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Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
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gtsam::Pose2 retract(gtsam::Vector v) const;
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gtsam::Pose2 retract(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
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gtsam::Vector localCoordinates(const gtsam::Pose2& p) const;
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gtsam::Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
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// Lie Group
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static gtsam::Pose2 Expmap(Vector v);
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static Vector Logmap(const gtsam::Pose2& p);
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Vector logmap(const gtsam::Pose2& p);
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Vector logmap(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H);
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static Matrix ExpmapDerivative(Vector v);
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static Matrix LogmapDerivative(const gtsam::Pose2& v);
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Matrix AdjointMap() const;
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Vector Adjoint(Vector xi) const;
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static Matrix adjointMap_(Vector v);
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static Vector adjoint_(Vector xi, Vector y);
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static Vector adjointTranspose(Vector xi, Vector y);
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static Matrix wedge(double vx, double vy, double w);
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static gtsam::Pose2 Expmap(gtsam::Vector v);
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static gtsam::Vector Logmap(const gtsam::Pose2& p);
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gtsam::Vector logmap(const gtsam::Pose2& p);
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gtsam::Vector logmap(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H);
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static gtsam::Matrix ExpmapDerivative(gtsam::Vector v);
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static gtsam::Matrix LogmapDerivative(const gtsam::Pose2& v);
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gtsam::Matrix AdjointMap() const;
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gtsam::Vector Adjoint(gtsam::Vector xi) const;
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static gtsam::Matrix adjointMap_(gtsam::Vector v);
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static gtsam::Vector adjoint_(gtsam::Vector xi, gtsam::Vector y);
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static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y);
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static gtsam::Matrix wedge(double vx, double vy, double w);
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// Group Actions on Point2
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gtsam::Point2 transformFrom(const gtsam::Point2& p) const;
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gtsam::Point2 transformTo(const gtsam::Point2& p) const;
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// Matrix versions
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Matrix transformFrom(const Matrix& points) const;
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Matrix transformTo(const Matrix& points) const;
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// gtsam::Matrix versions
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gtsam::Matrix transformFrom(const gtsam::Matrix& points) const;
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gtsam::Matrix transformTo(const gtsam::Matrix& points) const;
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// Standard Interface
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double x() const;
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@ -445,7 +445,7 @@ class Pose2 {
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gtsam::Point2 translation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
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gtsam::Rot2 rotation() const;
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gtsam::Rot2 rotation(Eigen::Ref<Eigen::MatrixXd> Hself) const;
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Matrix matrix() const;
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gtsam::Matrix matrix() const;
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// enabling serialization functionality
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void serialize() const;
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@ -458,7 +458,7 @@ class Pose3 {
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Pose3(const gtsam::Pose3& other);
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Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
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Pose3(const gtsam::Pose2& pose2);
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Pose3(Matrix mat);
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Pose3(gtsam::Matrix mat);
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static std::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs);
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static std::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
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@ -488,33 +488,33 @@ class Pose3 {
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gtsam::Pose3 operator*(const gtsam::Pose3& pose) const;
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// Manifold
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gtsam::Pose3 retract(Vector v) const;
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gtsam::Pose3 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
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Vector localCoordinates(const gtsam::Pose3& pose) const;
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Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
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gtsam::Pose3 retract(gtsam::Vector v) const;
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gtsam::Pose3 retract(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
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gtsam::Vector localCoordinates(const gtsam::Pose3& pose) const;
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gtsam::Vector localCoordinates(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hxi) const;
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// Lie Group
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static gtsam::Pose3 Expmap(Vector v);
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static gtsam::Pose3 Expmap(Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi);
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static Vector Logmap(const gtsam::Pose3& pose);
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static Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
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gtsam::Pose3 expmap(Vector v);
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Vector logmap(const gtsam::Pose3& pose);
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Matrix AdjointMap() const;
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Vector Adjoint(Vector xi) const;
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Vector Adjoint(Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
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static gtsam::Pose3 Expmap(gtsam::Vector v);
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static gtsam::Pose3 Expmap(gtsam::Vector v, Eigen::Ref<Eigen::MatrixXd> Hxi);
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static gtsam::Vector Logmap(const gtsam::Pose3& pose);
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static gtsam::Vector Logmap(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hpose);
|
||||
gtsam::Pose3 expmap(gtsam::Vector v);
|
||||
gtsam::Vector logmap(const gtsam::Pose3& pose);
|
||||
gtsam::Matrix AdjointMap() const;
|
||||
gtsam::Vector Adjoint(gtsam::Vector xi) const;
|
||||
gtsam::Vector Adjoint(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
|
||||
Eigen::Ref<Eigen::MatrixXd> H_xib) const;
|
||||
Vector AdjointTranspose(Vector xi) const;
|
||||
Vector AdjointTranspose(Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
|
||||
gtsam::Vector AdjointTranspose(gtsam::Vector xi) const;
|
||||
gtsam::Vector AdjointTranspose(gtsam::Vector xi, Eigen::Ref<Eigen::MatrixXd> H_this,
|
||||
Eigen::Ref<Eigen::MatrixXd> H_x) const;
|
||||
static Matrix adjointMap(Vector xi);
|
||||
static Vector adjoint(Vector xi, Vector y);
|
||||
static Matrix adjointMap_(Vector xi);
|
||||
static Vector adjoint_(Vector xi, Vector y);
|
||||
static Vector adjointTranspose(Vector xi, Vector y);
|
||||
static Matrix ExpmapDerivative(Vector xi);
|
||||
static Matrix LogmapDerivative(const gtsam::Pose3& xi);
|
||||
static Matrix wedge(double wx, double wy, double wz, double vx, double vy,
|
||||
static gtsam::Matrix adjointMap(gtsam::Vector xi);
|
||||
static gtsam::Vector adjoint(gtsam::Vector xi, gtsam::Vector y);
|
||||
static gtsam::Matrix adjointMap_(gtsam::Vector xi);
|
||||
static gtsam::Vector adjoint_(gtsam::Vector xi, gtsam::Vector y);
|
||||
static gtsam::Vector adjointTranspose(gtsam::Vector xi, gtsam::Vector y);
|
||||
static gtsam::Matrix ExpmapDerivative(gtsam::Vector xi);
|
||||
static gtsam::Matrix LogmapDerivative(const gtsam::Pose3& xi);
|
||||
static gtsam::Matrix wedge(double wx, double wy, double wz, double vx, double vy,
|
||||
double vz);
|
||||
|
||||
// Group Action on Point3
|
||||
|
|
@ -525,9 +525,9 @@ class Pose3 {
|
|||
gtsam::Point3 transformTo(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> Hself,
|
||||
Eigen::Ref<Eigen::MatrixXd> Hpoint) const;
|
||||
|
||||
// Matrix versions
|
||||
Matrix transformFrom(const Matrix& points) const;
|
||||
Matrix transformTo(const Matrix& points) const;
|
||||
// gtsam::Matrix versions
|
||||
gtsam::Matrix transformFrom(const gtsam::Matrix& points) const;
|
||||
gtsam::Matrix transformTo(const gtsam::Matrix& points) const;
|
||||
|
||||
// Standard Interface
|
||||
gtsam::Rot3 rotation() const;
|
||||
|
|
@ -537,7 +537,7 @@ class Pose3 {
|
|||
double x() const;
|
||||
double y() const;
|
||||
double z() const;
|
||||
Matrix matrix() const;
|
||||
gtsam::Matrix matrix() const;
|
||||
gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose) const;
|
||||
gtsam::Pose3 transformPoseFrom(const gtsam::Pose3& pose, Eigen::Ref<Eigen::MatrixXd> Hself,
|
||||
Eigen::Ref<Eigen::MatrixXd> HaTb) const;
|
||||
|
|
@ -584,9 +584,9 @@ class Unit3 {
|
|||
bool equals(const gtsam::Unit3& pose, double tol) const;
|
||||
|
||||
// Other functionality
|
||||
Matrix basis() const;
|
||||
Matrix basis(Eigen::Ref<Eigen::MatrixXd> H) const;
|
||||
Matrix skew() const;
|
||||
gtsam::Matrix basis() const;
|
||||
gtsam::Matrix basis(Eigen::Ref<Eigen::MatrixXd> H) const;
|
||||
gtsam::Matrix skew() const;
|
||||
gtsam::Point3 point3() const;
|
||||
gtsam::Point3 point3(Eigen::Ref<Eigen::MatrixXd> H) const;
|
||||
|
||||
|
|
@ -602,8 +602,8 @@ class Unit3 {
|
|||
// Manifold
|
||||
static size_t Dim();
|
||||
size_t dim() const;
|
||||
gtsam::Unit3 retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Unit3& s) const;
|
||||
gtsam::Unit3 retract(gtsam::Vector v) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::Unit3& s) const;
|
||||
gtsam::Unit3 FromPoint3(const gtsam::Point3& point) const;
|
||||
gtsam::Unit3 FromPoint3(const gtsam::Point3& point, Eigen::Ref<Eigen::MatrixXd> H) const;
|
||||
|
||||
|
|
@ -632,14 +632,14 @@ class EssentialMatrix {
|
|||
// Manifold
|
||||
static size_t Dim();
|
||||
size_t dim() const;
|
||||
gtsam::EssentialMatrix retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::EssentialMatrix& s) const;
|
||||
gtsam::EssentialMatrix retract(gtsam::Vector v) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::EssentialMatrix& s) const;
|
||||
|
||||
// Other methods:
|
||||
gtsam::Rot3 rotation() const;
|
||||
gtsam::Unit3 direction() const;
|
||||
Matrix matrix() const;
|
||||
double error(Vector vA, Vector vB);
|
||||
gtsam::Matrix matrix() const;
|
||||
double error(gtsam::Vector vA, gtsam::Vector vB);
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Cal3_S2.h>
|
||||
|
|
@ -647,7 +647,7 @@ class Cal3_S2 {
|
|||
// Standard Constructors
|
||||
Cal3_S2();
|
||||
Cal3_S2(double fx, double fy, double s, double u0, double v0);
|
||||
Cal3_S2(Vector v);
|
||||
Cal3_S2(gtsam::Vector v);
|
||||
Cal3_S2(double fov, int w, int h);
|
||||
|
||||
// Testable
|
||||
|
|
@ -657,8 +657,8 @@ class Cal3_S2 {
|
|||
// Manifold
|
||||
static size_t Dim();
|
||||
size_t dim() const;
|
||||
gtsam::Cal3_S2 retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Cal3_S2& c) const;
|
||||
gtsam::Cal3_S2 retract(gtsam::Vector v) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::Cal3_S2& c) const;
|
||||
|
||||
// Action on Point2
|
||||
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
|
||||
|
|
@ -677,9 +677,9 @@ class Cal3_S2 {
|
|||
double px() const;
|
||||
double py() const;
|
||||
gtsam::Point2 principalPoint() const;
|
||||
Vector vector() const;
|
||||
Matrix K() const;
|
||||
Matrix inverse() const;
|
||||
gtsam::Vector vector() const;
|
||||
gtsam::Matrix K() const;
|
||||
gtsam::Matrix inverse() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -701,9 +701,9 @@ virtual class Cal3DS2_Base {
|
|||
double py() const;
|
||||
double k1() const;
|
||||
double k2() const;
|
||||
Matrix K() const;
|
||||
Vector k() const;
|
||||
Vector vector() const;
|
||||
gtsam::Matrix K() const;
|
||||
gtsam::Vector k() const;
|
||||
gtsam::Vector vector() const;
|
||||
|
||||
// Action on Point2
|
||||
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
|
||||
|
|
@ -727,7 +727,7 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
|
|||
double k2);
|
||||
Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
|
||||
double k2, double p1, double p2);
|
||||
Cal3DS2(Vector v);
|
||||
Cal3DS2(gtsam::Vector v);
|
||||
|
||||
// Testable
|
||||
bool equals(const gtsam::Cal3DS2& rhs, double tol) const;
|
||||
|
|
@ -735,8 +735,8 @@ virtual class Cal3DS2 : gtsam::Cal3DS2_Base {
|
|||
// Manifold
|
||||
size_t dim() const;
|
||||
static size_t Dim();
|
||||
gtsam::Cal3DS2 retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Cal3DS2& c) const;
|
||||
gtsam::Cal3DS2 retract(gtsam::Vector v) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::Cal3DS2& c) const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -750,7 +750,7 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
|
|||
double k2);
|
||||
Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
|
||||
double k2, double p1, double p2, double xi);
|
||||
Cal3Unified(Vector v);
|
||||
Cal3Unified(gtsam::Vector v);
|
||||
|
||||
// Testable
|
||||
bool equals(const gtsam::Cal3Unified& rhs, double tol) const;
|
||||
|
|
@ -763,8 +763,8 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
|
|||
// Manifold
|
||||
size_t dim() const;
|
||||
static size_t Dim();
|
||||
gtsam::Cal3Unified retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Cal3Unified& c) const;
|
||||
gtsam::Cal3Unified retract(gtsam::Vector v) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::Cal3Unified& c) const;
|
||||
|
||||
// Action on Point2
|
||||
// Note: the signature of this functions differ from the functions
|
||||
|
|
@ -788,7 +788,7 @@ class Cal3Fisheye {
|
|||
Cal3Fisheye();
|
||||
Cal3Fisheye(double fx, double fy, double s, double u0, double v0, double k1,
|
||||
double k2, double k3, double k4, double tol = 1e-5);
|
||||
Cal3Fisheye(Vector v);
|
||||
Cal3Fisheye(gtsam::Vector v);
|
||||
|
||||
// Testable
|
||||
void print(string s = "Cal3Fisheye") const;
|
||||
|
|
@ -797,8 +797,8 @@ class Cal3Fisheye {
|
|||
// Manifold
|
||||
static size_t Dim();
|
||||
size_t dim() const;
|
||||
gtsam::Cal3Fisheye retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Cal3Fisheye& c) const;
|
||||
gtsam::Cal3Fisheye retract(gtsam::Vector v) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::Cal3Fisheye& c) const;
|
||||
|
||||
// Action on Point2
|
||||
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
|
||||
|
|
@ -821,10 +821,10 @@ class Cal3Fisheye {
|
|||
double px() const;
|
||||
double py() const;
|
||||
gtsam::Point2 principalPoint() const;
|
||||
Vector vector() const;
|
||||
Vector k() const;
|
||||
Matrix K() const;
|
||||
Matrix inverse() const;
|
||||
gtsam::Vector vector() const;
|
||||
gtsam::Vector k() const;
|
||||
gtsam::Matrix K() const;
|
||||
gtsam::Matrix inverse() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -835,13 +835,13 @@ class Cal3_S2Stereo {
|
|||
// Standard Constructors
|
||||
Cal3_S2Stereo();
|
||||
Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);
|
||||
Cal3_S2Stereo(Vector v);
|
||||
Cal3_S2Stereo(gtsam::Vector v);
|
||||
|
||||
// Manifold
|
||||
static size_t Dim();
|
||||
size_t dim() const;
|
||||
gtsam::Cal3_S2Stereo retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Cal3_S2Stereo& c) const;
|
||||
gtsam::Cal3_S2Stereo retract(gtsam::Vector v) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::Cal3_S2Stereo& c) const;
|
||||
|
||||
// Testable
|
||||
void print(string s = "") const;
|
||||
|
|
@ -853,11 +853,11 @@ class Cal3_S2Stereo {
|
|||
double skew() const;
|
||||
double px() const;
|
||||
double py() const;
|
||||
Matrix K() const;
|
||||
gtsam::Matrix K() const;
|
||||
gtsam::Point2 principalPoint() const;
|
||||
double baseline() const;
|
||||
Vector6 vector() const;
|
||||
Matrix inverse() const;
|
||||
gtsam::Matrix inverse() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Cal3Bundler.h>
|
||||
|
|
@ -875,8 +875,8 @@ class Cal3Bundler {
|
|||
// Manifold
|
||||
static size_t Dim();
|
||||
size_t dim() const;
|
||||
gtsam::Cal3Bundler retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Cal3Bundler& c) const;
|
||||
gtsam::Cal3Bundler retract(gtsam::Vector v) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::Cal3Bundler& c) const;
|
||||
|
||||
// Action on Point2
|
||||
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
|
||||
|
|
@ -895,9 +895,9 @@ class Cal3Bundler {
|
|||
double k2() const;
|
||||
double px() const;
|
||||
double py() const;
|
||||
Vector vector() const;
|
||||
Vector k() const;
|
||||
Matrix K() const;
|
||||
gtsam::Vector vector() const;
|
||||
gtsam::Vector k() const;
|
||||
gtsam::Matrix K() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -908,7 +908,7 @@ class CalibratedCamera {
|
|||
// Standard Constructors and Named Constructors
|
||||
CalibratedCamera();
|
||||
CalibratedCamera(const gtsam::Pose3& pose);
|
||||
CalibratedCamera(Vector v);
|
||||
CalibratedCamera(gtsam::Vector v);
|
||||
static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2,
|
||||
double height);
|
||||
|
||||
|
|
@ -919,8 +919,8 @@ class CalibratedCamera {
|
|||
// Manifold
|
||||
static size_t Dim();
|
||||
size_t dim() const;
|
||||
gtsam::CalibratedCamera retract(Vector d) const;
|
||||
Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
|
||||
gtsam::CalibratedCamera retract(gtsam::Vector d) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
|
||||
|
||||
// Action on Point3
|
||||
gtsam::Point2 project(const gtsam::Point3& point) const;
|
||||
|
|
@ -972,8 +972,8 @@ class PinholeCamera {
|
|||
CALIBRATION calibration() const;
|
||||
|
||||
// Manifold
|
||||
This retract(Vector d) const;
|
||||
Vector localCoordinates(const This& T2) const;
|
||||
This retract(gtsam::Vector d) const;
|
||||
gtsam::Vector localCoordinates(const This& T2) const;
|
||||
size_t dim() const;
|
||||
static size_t Dim();
|
||||
|
||||
|
|
@ -1039,8 +1039,8 @@ class PinholePose {
|
|||
CALIBRATION calibration() const;
|
||||
|
||||
// Manifold
|
||||
This retract(Vector d) const;
|
||||
Vector localCoordinates(const This& T2) const;
|
||||
This retract(gtsam::Vector d) const;
|
||||
gtsam::Vector localCoordinates(const This& T2) const;
|
||||
size_t dim() const;
|
||||
static size_t Dim();
|
||||
|
||||
|
|
@ -1081,8 +1081,8 @@ class Similarity2 {
|
|||
Similarity2();
|
||||
Similarity2(double s);
|
||||
Similarity2(const gtsam::Rot2& R, const gtsam::Point2& t, double s);
|
||||
Similarity2(const Matrix& R, const Vector& t, double s);
|
||||
Similarity2(const Matrix& T);
|
||||
Similarity2(const gtsam::Matrix& R, const gtsam::Vector& t, double s);
|
||||
Similarity2(const gtsam::Matrix& T);
|
||||
|
||||
gtsam::Point2 transformFrom(const gtsam::Point2& p) const;
|
||||
gtsam::Pose2 transformFrom(const gtsam::Pose2& T);
|
||||
|
|
@ -1093,7 +1093,7 @@ class Similarity2 {
|
|||
// Standard Interface
|
||||
bool equals(const gtsam::Similarity2& sim, double tol) const;
|
||||
void print(const std::string& s = "") const;
|
||||
Matrix matrix() const;
|
||||
gtsam::Matrix matrix() const;
|
||||
gtsam::Rot2& rotation();
|
||||
gtsam::Point2& translation();
|
||||
double scale() const;
|
||||
|
|
@ -1105,8 +1105,8 @@ class Similarity3 {
|
|||
Similarity3();
|
||||
Similarity3(double s);
|
||||
Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s);
|
||||
Similarity3(const Matrix& R, const Vector& t, double s);
|
||||
Similarity3(const Matrix& T);
|
||||
Similarity3(const gtsam::Matrix& R, const gtsam::Vector& t, double s);
|
||||
Similarity3(const gtsam::Matrix& T);
|
||||
|
||||
gtsam::Point3 transformFrom(const gtsam::Point3& p) const;
|
||||
gtsam::Pose3 transformFrom(const gtsam::Pose3& T);
|
||||
|
|
@ -1117,7 +1117,7 @@ class Similarity3 {
|
|||
// Standard Interface
|
||||
bool equals(const gtsam::Similarity3& sim, double tol) const;
|
||||
void print(const std::string& s = "") const;
|
||||
Matrix matrix() const;
|
||||
gtsam::Matrix matrix() const;
|
||||
gtsam::Rot3& rotation();
|
||||
gtsam::Point3& translation();
|
||||
double scale() const;
|
||||
|
|
@ -1148,8 +1148,8 @@ class StereoCamera {
|
|||
gtsam::Cal3_S2Stereo calibration() const;
|
||||
|
||||
// Manifold
|
||||
gtsam::StereoCamera retract(Vector d) const;
|
||||
Vector localCoordinates(const gtsam::StereoCamera& T2) const;
|
||||
gtsam::StereoCamera retract(gtsam::Vector d) const;
|
||||
gtsam::Vector localCoordinates(const gtsam::StereoCamera& T2) const;
|
||||
size_t dim() const;
|
||||
static size_t Dim();
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue