Detailed Description

Camera projection for robot on the floor.

Measurement is camera pixels.

Inheritance diagram for gtsam::PlanarProjectionFactorBase:

Protected Member Functions
	PlanarProjectionFactorBase (const Point2 &measured)
Point2	predict (const Point3 &landmark, const Pose2 &wTb, const Pose3 &bTc, const Cal3DS2 &calib, OptionalJacobian< 2, 3 > Hlandmark={}, OptionalJacobian< 2, 3 > HwTb={}, OptionalJacobian< 2, 6 > HbTc={}, OptionalJacobian< 2, 9 > Hcalib={}) const
	Predict the projection of the landmark in camera pixels.

Protected Attributes
Point2	measured_

Constructor & Destructor Documentation

gtsam::PlanarProjectionFactorBase::PlanarProjectionFactorBase ( const Point2 & measured )

inlineprotected

Parameters

measured pixels in the camera frame

Point2 gtsam::PlanarProjectionFactorBase::predict	(	const Point3 &	landmark,
		const Pose2 &	wTb,
		const Pose3 &	bTc,
		const Cal3DS2 &	calib,
		OptionalJacobian< 2, 3 >	Hlandmark = {},
		OptionalJacobian< 2, 3 >	HwTb = {},
		OptionalJacobian< 2, 6 >	HbTc = {},
		OptionalJacobian< 2, 9 >	Hcalib = {} ) const

inlineprotected

Predict the projection of the landmark in camera pixels.

Parameters

landmark	point3 of the target
wTb	"world to body": planar pose2 of vehicle body frame in world frame
bTc	"body to camera": camera pose in body frame, oriented parallel to pose2 zero i.e. +x
calib	camera calibration with distortion
Hlandmark	jacobian
HwTb	jacobian
HbTc	jacobian
Hcalib	jacobian

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