22#include <boost/optional.hpp>
48 void print(
const std::string& s =
"")
const override {
54 return Base::equals(p, tol);
61 const typename CAMERA::MeasurementVector& measured,
70 template<
class ARCHIVE>
71 void serialize(ARCHIVE & ar,
const unsigned int version) {
72 ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
Base class to create smart factors on poses or cameras.
Functions for triangulation.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
TriangulationResult triangulateSafe(const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measured, const TriangulationParameters ¶ms)
triangulateSafe: extensive checking of the outcome
Definition triangulation.h:680
A manifold defines a space in which there is a notion of a linear tangent space that can be centered ...
Definition concepts.h:30
A helper that implements the traits interface for GTSAM types.
Definition Testable.h:151
A set of cameras, all with their own calibration.
Definition CameraSet.h:36
PinholeSet: triangulates point and keeps an estimate of it around.
Definition PinholeSet.h:30
TriangulationResult triangulateSafe(const typename CAMERA::MeasurementVector &measured, const TriangulationParameters ¶ms) const
triangulateSafe
Definition PinholeSet.h:60
bool equals(const PinholeSet &p, double tol=1e-9) const
equals
Definition PinholeSet.h:53
virtual ~PinholeSet()
Virtual destructor.
Definition PinholeSet.h:41
void print(const std::string &s="") const override
print
Definition PinholeSet.h:48
friend class boost::serialization::access
Serialization function.
Definition PinholeSet.h:69
Definition triangulation.h:556
TriangulationResult is an optional point, along with the reasons why it is invalid.
Definition triangulation.h:626