farm-ng-core
Public Types | Static Public Member Functions | List of all members
sophus::ProjectionZ1 Struct Reference

#include <projection_z1.h>

Public Types

template<class TPoints , int kRows>
using WithRows = Eigen::Matrix< typename TPoints::Scalar, kRows, TPoints::ColsAtCompileTime >
 

Static Public Member Functions

template<class TDerived >
static auto proj (Eigen::MatrixBase< TDerived > const &points_in_camera) -> WithRows< Eigen::MatrixBase< TDerived >, 2 >
 
template<class TDerived >
static auto unproj (Eigen::MatrixBase< TDerived > const &points_in_cam_canonical, typename TDerived::Scalar extension=static_cast< typename TDerived::Scalar >(1.0)) -> WithRows< Eigen::MatrixBase< TDerived >, 3 >
 
template<class TScalar >
static auto dxProjX (Eigen::Matrix< TScalar, 3, 1 > const &p) -> Eigen::Matrix< TScalar, 2, 3 >
 Returns point derivative of inverse depth point projection: More...
 

Member Typedef Documentation

◆ WithRows

template<class TPoints , int kRows>
using sophus::ProjectionZ1::WithRows = Eigen:: Matrix<typename TPoints::Scalar, kRows, TPoints::ColsAtCompileTime>

Member Function Documentation

◆ dxProjX()

template<class TScalar >
static auto sophus::ProjectionZ1::dxProjX ( Eigen::Matrix< TScalar, 3, 1 > const &  p) -> Eigen::Matrix<TScalar, 2, 3>
inlinestatic

Returns point derivative of inverse depth point projection:

Dx proj(x) with x = (a,b,psi) being an inverse depth point.

◆ proj()

template<class TDerived >
static auto sophus::ProjectionZ1::proj ( Eigen::MatrixBase< TDerived > const &  points_in_camera) -> WithRows<Eigen::MatrixBase<TDerived>, 2>
inlinestatic

◆ unproj()

template<class TDerived >
static auto sophus::ProjectionZ1::unproj ( Eigen::MatrixBase< TDerived > const &  points_in_cam_canonical,
typename TDerived::Scalar  extension = static_cast<typename TDerived::Scalar>(1.0) 
) -> WithRows<Eigen::MatrixBase<TDerived>, 3>
inlinestatic
The documentation for this struct was generated from the following file: