Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add reprojection with fisheye camera model #1678

Merged
merged 2 commits into from
Nov 30, 2023
Merged

Add reprojection with fisheye camera model #1678

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d472362
add ProjectionFactorPPPCal3Fisheye
kkelchte May 4, 2023
8aff7b5
typo
kkelchte May 4, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion gtsam_unstable/gtsam_unstable.i
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -699,6 +699,7 @@ virtual class OdometryFactorBase : gtsam::NoiseModelFactor {

#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
#include <gtsam/geometry/Cal3Fisheye.h>
template<POSE, LANDMARK, CALIBRATION>
virtual class ProjectionFactorPPP : gtsam::NoiseModelFactor {
ProjectionFactorPPP(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
Expand All @@ -717,7 +718,7 @@ virtual class ProjectionFactorPPP : gtsam::NoiseModelFactor {
};
typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCal3_S2;
typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCal3DS2;

typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3Fisheye> ProjectionFactorPPPCal3Fisheye;

#include <gtsam_unstable/slam/ProjectionFactorPPPC.h>
template<POSE, LANDMARK, CALIBRATION>
Expand All @@ -737,6 +738,7 @@ virtual class ProjectionFactorPPPC : gtsam::NoiseModelFactor {
};
typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCCal3_S2;
typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCCal3DS2;
typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3Fisheye> ProjectionFactorPPPCCal3Fisheye;

#include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
virtual class ProjectionFactorRollingShutter : gtsam::NoiseModelFactor {
Expand Down