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Geometry

Geometric primitives. More...

## Classes

class | gtsam::Cal3
| Common base class for all calibration models. More...
class | gtsam::Cal3_S2
| The most common 5DOF 3D->2D calibration. More...
class | gtsam::Cal3_S2Stereo
| The most common 5DOF 3D->2D calibration, stereo version. More...
class | gtsam::Cal3Bundler
| Calibration used by Bundler. More...
class | gtsam::Cal3DS2
| Calibration of a camera with radial distortion that also supports Lie-group behaviors for optimization. More...
class | gtsam::Cal3DS2_Base
| Calibration of a camera with radial distortion. More...
class | gtsam::Cal3Fisheye
| Calibration of a fisheye camera. More...
class | gtsam::Cal3Unified
| Calibration of a omni-directional camera with mirror + lens radial distortion. More...
class | gtsam::PinholeBase
| A pinhole camera class that has a Pose3, functions as base class for all pinhole cameras. More...
class | gtsam::CalibratedCamera
| A Calibrated camera class [R|-R't], calibration K=I. More...
class | gtsam::Line3
| A 3D line (R,a,b) : (Rot3,Scalar,Scalar). More...
class | gtsam::PinholeCamera< Calibration >
| A pinhole camera class that has a Pose3 and a Calibration. More...
class | gtsam::PinholeBaseK< CALIBRATION >
| A pinhole camera class that has a Pose3 and a fixed Calibration. More...
class | gtsam::PinholePose< CALIBRATION >
| A pinhole camera class that has a Pose3 and a fixed Calibration. More...
class | gtsam::Pose2
| A 2D pose (Point2,Rot2). More...
class | gtsam::Pose3
| A 3D pose (R,t) : (Rot3,Point3). More...
class | gtsam::Rot2
| Rotation matrix NOTE: the angle theta is in radians unless explicitly stated. More...
class | gtsam::Rot3
| Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIONS is not defined, or as a quaternion if it is defined. More...
class | gtsam::EmptyCal
| Empty calibration. More...
class | gtsam::SphericalCamera
| A spherical camera class that has a Pose3 and measures bearing vectors. More...
class | gtsam::StereoCamera
| A stereo camera class, parameterize by left camera pose and stereo calibration. More...
class | gtsam::StereoPoint2
| A 2D stereo point, v will be same for rectified images. More...

## Namespaces

namespace | gtsam
| Global functions in a separate testing namespace.

## Detailed Description

Geometric primitives.