
 Line3 () 
 Default constructor is the Z axis.


 Line3 (const Rot3 &R, const double a, const double b) 
 Constructor for general line from (R, a, b)


Line3  retract (const Vector4 &v, OptionalJacobian< 4, 4 > Dp=boost::none, OptionalJacobian< 4, 4 > Dv=boost::none) const 
 The retract method maps from the tangent space back to the manifold. More...


Vector4  localCoordinates (const Line3 &q, OptionalJacobian< 4, 4 > Dp=boost::none, OptionalJacobian< 4, 4 > Dq=boost::none) const 
 The localCoordinates method is the inverse of retract and finds the difference between two lines in the tangent space. More...


void  print (const std::string &s="") const 
 Print R, a, b. More...


bool  equals (const Line3 &l2, double tol=10e9) const 
 Check if two lines are equal. More...


Unit3  project (OptionalJacobian< 2, 4 > Dline=boost::none) const 
 Projecting a line to the image plane. More...


Point3  point (double distance=0) const 
 Returns point on the line that is at a certain distance starting from the point where the rotated XY axis intersects the line. More...


Rot3  R () const 
 Return the rotation of the line.


double  a () const 
 Return the xcoordinate of the intersection of the line with the xy plane.


double  b () const 
 Return the ycoordinate of the intersection of the line with the xy plane.


◆ equals()
bool gtsam::Line3::equals 
( 
const Line3 & 
l2, 


double 
tol = 10e9 

) 
 const 
Check if two lines are equal.
 Parameters

l2   line to be compared 
tol  : optional tolerance 
 Returns
 boolean  true if lines are equal
◆ localCoordinates()
The localCoordinates method is the inverse of retract and finds the difference between two lines in the tangent space.
It computes v = q  p where q is an input line, p is this line and v is their difference in the tangent space.
 Parameters

 Returns
 v: difference in the tangent space
◆ point()
Point3 gtsam::Line3::point 
( 
double 
distance = 0  ) 
const 
Returns point on the line that is at a certain distance starting from the point where the rotated XY axis intersects the line.
 Parameters

distance  (can be positive or negative)  positive is the positive 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. 
 Returns
 Point on the line
◆ print()
void gtsam::Line3::print 
( 
const std::string & 
s = ""  ) 
const 
Print R, a, b.
 Parameters

s  optional starting string 
◆ project()
Projecting a line to the image plane.
Assumes this line is in camera frame.
 Parameters

 Returns
 Unit3  projected line in image plane, in homogenous coordinates. We use Unit3 since it is a manifold with the right dimension.
◆ retract()
The retract method maps from the tangent space back to the manifold.
The method q = p + v, where p is this line, v is an increment along the tangent space and q is the resulting line. The tangent space for the rotation of a line is only two dimensional  rotation about x and y
 Parameters

v  increment in tangent space 
Dp  increment of retraction with respect to this line 
Dv  Jacobian of retraction with respect to the increment 
 Returns
 q: resulting line after adding the increment and mapping to the manifold
◆ transformTo
Transform a line from world to camera frame.
 Parameters

 Returns
 Transformed line in camera frame
The documentation for this class was generated from the following files:
 /Users/dellaert/git/github/gtsam/geometry/Line3.h
 /Users/dellaert/git/github/gtsam/geometry/Line3.cpp