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

Moved back to geometry module, fixed doxygen warnings

release/4.3a0
Frank Dellaert 2011-09-07 12:54:01 +00:00
parent 2caa56c0d5
commit 44e43f2393
1 changed files with 32 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

54
gtsam/geometry/projectiveGeometry.h
View File

@ -24,31 +24,36 @@
namespace gtsam {
/**
* 2D Point
* @ingroup tensors
* 2D Point in homogeneous coordinates
* @ingroup geometry
*/
typedef tensors::Tensor1<3> Point2h;
Point2h point2h(double x, double y, double w);
Point2h point2h(double x, double y, double w); ///< create Point2h
/**
* 2D Line
* @ingroup tensors
* 2D Line in homogeneous coordinates
* @ingroup geometry
*/
typedef tensors::Tensor1<3> Line2h;
Line2h line2h(double a, double b, double c);
Line2h line2h(double a, double b, double c); ///< create Line2h
/**
* 2D Point corrrespondence
* @ingroup tensors
* 2D (homegeneous) Point correspondence
* @ingroup geometry
*/
struct Correspondence {
Point2h first, second;
Point2h first; ///< First point
Point2h second; ///< Second point
/// Create a correspondence pair
Correspondence(const Point2h &p1, const Point2h &p2) :
first(p1), second(p2) {
}
/// Swap points
Correspondence swap() const {
return Correspondence(second, first);
}
/// print
void print() {
tensors::Index<3, 'i'> i;
tensors::print(first(i), "first :");
@ -58,25 +63,30 @@ namespace gtsam {
/**
* 2D-2D Homography
* @ingroup tensors
* @ingroup geometry
*/
typedef tensors::Tensor2<3, 3> Homography2;
/**
* Fundamental Matrix
* @ingroup tensors
* @ingroup geometry
*/
typedef tensors::Tensor2<3, 3> FundamentalMatrix;
/**
* Triplet of points
* @ingroup tensors
* Triplet of (homogeneous) 2D points
* @ingroup geometry
*/
struct Triplet {
Point2h first, second, third;
Point2h first; ///< First point
Point2h second; ///< Second point
Point2h third; ///< Third point
/// Create a Triplet correspondence
Triplet(const Point2h &p1, const Point2h &p2, const Point2h &p3) :
first(p1), second(p2), third(p3) {
}
/// print
void print() {
tensors::Index<3, 'i'> i;
tensors::print(first(i), "first :");
@ -87,27 +97,27 @@ namespace gtsam {
/**
* Trifocal Tensor
* @ingroup tensors
* @ingroup geometry
*/
typedef tensors::Tensor3<3, 3, 3> TrifocalTensor;
/**
* 3D Point
* @ingroup tensors
* 3D Point in homogeneous coordinates
* @ingroup geometry
*/
typedef tensors::Tensor1<4> Point3h;
Point3h point3h(double X, double Y, double Z, double W);
Point3h point3h(double X, double Y, double Z, double W); ///< create Point3h
/**
* 3D Plane
* @ingroup tensors
* 3D Plane in homogeneous coordinates
* @ingroup geometry
*/
typedef tensors::Tensor1<4> Plane3h;
Plane3h plane3h(double a, double b, double c, double d);
Plane3h plane3h(double a, double b, double c, double d); ///< create Plane3h
/**
* 3D to 2D projective camera
* @ingroup tensors
* @ingroup geometry
*/
typedef tensors::Tensor2<3, 4> ProjectiveCamera;