Geometry

Geometric primitives. More...

Classes
class	gtsam::Cal3
	Common base class for all calibration models. More...
class	gtsam::Cal3_S2
	The most common 5DOF 3D->2D calibration. More...
class	gtsam::Cal3_S2Stereo
	The most common 5DOF 3D->2D calibration, stereo version. More...
class	gtsam::Cal3Bundler
	Calibration used by Bundler. More...
class	gtsam::Cal3DS2
	Calibration of a camera with radial distortion that also supports Lie-group behaviors for optimization. More...
class	gtsam::Cal3DS2_Base
	Calibration of a camera with radial distortion. More...
class	gtsam::Cal3Fisheye
	Calibration of a fisheye camera. More...
class	gtsam::Cal3Unified
	Calibration of a omni-directional camera with mirror + lens radial distortion. More...
class	gtsam::PinholeBase
	A pinhole camera class that has a Pose3, functions as base class for all pinhole cameras. More...
class	gtsam::CalibratedCamera
	A Calibrated camera class [R|-R't], calibration K=I. More...
class	gtsam::Line3
	A 3D line (R,a,b) : (Rot3,Scalar,Scalar). More...
class	gtsam::PinholeCamera< Calibration >
	A pinhole camera class that has a Pose3 and a Calibration. More...
class	gtsam::PinholeBaseK< CALIBRATION >
	A pinhole camera class that has a Pose3 and a fixed Calibration. More...
class	gtsam::PinholePose< CALIBRATION >
	A pinhole camera class that has a Pose3 and a fixed Calibration. More...
class	gtsam::Pose2
	A 2D pose (Point2,Rot2). More...
class	gtsam::Pose3
	A 3D pose (R,t) : (Rot3,Point3). More...
class	gtsam::Rot2
	Rotation matrix NOTE: the angle theta is in radians unless explicitly stated. More...
class	gtsam::Rot3
	Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion if it is defined. More...
class	gtsam::EmptyCal
	Empty calibration. More...
class	gtsam::SphericalCamera
	A spherical camera class that has a Pose3 and measures bearing vectors. More...
class	gtsam::StereoCamera
	A stereo camera class, parameterize by left camera pose and stereo calibration. More...
class	gtsam::StereoPoint2
	A 2D stereo point, v will be same for rectified images. More...
class	gtsam::InvDepthCamera3< CALIBRATION >
	A pinhole camera class that has a Pose3 and a Calibration. More...
class	gtsam::Pose3Upright
	A 3D Pose with fixed pitch and roll. More...

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Detailed Description

Geometric primitives.