60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
/**
|
|
* @file expressions.h
|
|
* @brief Common expressions for solving geometry/slam/sfm problems
|
|
* @date Oct 1, 2014
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam_unstable/nonlinear/expressions.h>
|
|
#include <gtsam/geometry/Cal3_S2.h>
|
|
#include <gtsam/geometry/PinholeCamera.h>
|
|
|
|
namespace gtsam {
|
|
|
|
// 2D Geometry
|
|
|
|
typedef Expression<Point2> Point2_;
|
|
typedef Expression<Rot2> Rot2_;
|
|
typedef Expression<Pose2> Pose2_;
|
|
|
|
Point2_ transform_to(const Pose2_& x, const Point2_& p) {
|
|
return Point2_(x, &Pose2::transform_to, p);
|
|
}
|
|
|
|
// 3D Geometry
|
|
|
|
typedef Expression<Point3> Point3_;
|
|
typedef Expression<Rot3> Rot3_;
|
|
typedef Expression<Pose3> Pose3_;
|
|
|
|
Point3_ transform_to(const Pose3_& x, const Point3_& p) {
|
|
return Point3_(x, &Pose3::transform_to, p);
|
|
}
|
|
|
|
// Projection
|
|
|
|
typedef Expression<Cal3_S2> Cal3_S2_;
|
|
|
|
Point2_ project(const Point3_& p_cam) {
|
|
return Point2_(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
|
|
}
|
|
|
|
Point2 project6(const Pose3& x, const Point3& p, const Cal3_S2& K,
|
|
OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint, OptionalJacobian<2, 5> Dcal) {
|
|
return PinholeCamera<Cal3_S2>(x, K).project(p, Dpose, Dpoint, Dcal);
|
|
}
|
|
|
|
Point2_ project3(const Pose3_& x, const Point3_& p, const Cal3_S2_& K) {
|
|
return Point2_(project6, x, p, K);
|
|
}
|
|
|
|
template<class CAL>
|
|
Point2_ uncalibrate(const Expression<CAL>& K, const Point2_& xy_hat) {
|
|
return Point2_(K, &CAL::uncalibrate, xy_hat);
|
|
}
|
|
|
|
} // \namespace gtsam
|
|
|