struct sophus::ProjectionZ1

Overview

#include <projection_z1.h>

struct ProjectionZ1 {
    // typedefs

    using WithRows = Eigen::Matrix<typename TPoints::Scalar, kRows, TPoints::ColsAtCompileTime> ;

    // methods

    template <class TDerived>
    static WithRows<Eigen::MatrixBase<TDerived>, 2> proj(Eigen::MatrixBase<TDerived> const& points_in_camera);

    template <class TDerived>
    static WithRows<Eigen::MatrixBase<TDerived>, 3> unproj(
        Eigen::MatrixBase<TDerived> const& points_in_cam_canonical,
        typename TDerived::Scalar extension = static_cast<typename TDerived::Scalar>(1.0)
        );

    template <class TScalar>
    static Eigen::Matrix<TScalar, 2, 3> dxProjX(Eigen::Matrix<TScalar, 3, 1> const& p);
};

Detailed Documentation

Methods

template <class TScalar>
static Eigen::Matrix<TScalar, 2, 3> dxProjX(Eigen::Matrix<TScalar, 3, 1> const& p)

Returns point derivative of inverse depth point projection:

Dx proj(x) with x = (a,b,psi) being an inverse depth point.