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.