12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

documenting the point() function

release/4.3a0
akrishnan86 2020-05-07 03:12:57 -04:00
parent cf6a21845c
commit ff037163db
2 changed files with 10 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/geometry/Line3.cpp
View File

@ -78,13 +78,12 @@ Unit3 Line3::project(OptionalJacobian<2, 4> Dline) const {
return l; return l;
} }
Point3 Line3::point(int scale) const { Point3 Line3::point(double distance) const {
// defining "center" of the line to be the point where it // defining "center" of the line to be the point where it
// intercepts rotated XY axis // intersects rotated XY axis
Point3 center(a_, b_, 0); Point3 center(a_, b_, 0);
Point3 rotated_center = R_ * center; Point3 rotated_center = R_ * center;
Point3 direction = (R_.r3()).normalized(); return rotated_center + distance * R_.r3();
return rotated_center + scale * direction;
} }
Line3 transformTo(const Pose3 &wTc, const Line3 &wL, Line3 transformTo(const Pose3 &wTc, const Line3 &wL,

12
gtsam/geometry/Line3.h
View File

@ -84,12 +84,14 @@ public:
Unit3 project(OptionalJacobian<2, 4> Dline = boost::none) const; Unit3 project(OptionalJacobian<2, 4> Dline = boost::none) const;
/** /**
* Returns point on the line that is at a distance "scalestarting from the point where the rotated XY axis * Returns point on the line that is at a certain distance starting from the
* intersects the line, . * point where the rotated XY axis intersects the line.
* @param scale * @param distance (can be positive or negative) - positive is the positive
* @return * 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.
* @return Point on the line
*/ */
Point3 point(int scale = 0) const; Point3 point(double distance = 0) const;
/** /**
* Transform a line from world to camera frame * Transform a line from world to camera frame