1 #ifndef _Covariance3Dto2DHomg_hh_
2 #define _Covariance3Dto2DHomg_hh_
4 #include <MathAlgo/UnscentedTransform.hh>
5 #include <Base/Geometry/KMatrix.hh>
6 #include <Base/Geometry/PMatrixBase.hh>
9 class PoseParametrization;
14 template <
class T>
class Matrix;
15 template <
class T>
class Vector;
17 #define D_C3DT2D_COV 0x00000100
64 useHomogenizedPoints_ = h;
84 #endif // _Covariance3Dto2DHomg_hh_
class HomgPoint2D describes a point with 2 degrees of freedom in projective coordinates.
class representing the covariance matrix of a homogenous point 2D
class BIASGeometryBase_EXPORT HomgPoint2DCov
bool useHomogenizedPoints_
normalize or homogenize ???
Projection of 3D points with uncertainties covariances into the 2d image plane taking the camera pose...
void UseHomogenizedPoints(bool h)
class BIASGeometryBase_EXPORT HomgPoint3DCov
Slim class bundeling pose parametrization and associated covariance matrix.
E_ParametrizationType
description of supported parametrization types
class BIASMathBase_EXPORT Matrix
Represents 3d pose transformations, parametrized as Euclidean translation and unit quaternion orienta...
class HomgPoint3D describes a point with 3 degrees of freedom in projective coordinates.
class representing the covariance matrix of a homogenous point 3D
void SetK(const BIAS::KMatrix &K)
K describes the mapping from world coordinates (wcs) to pixel coordinates (pcs).
class BIASMathBase_EXPORT Vector
class BIASGeometryBase_EXPORT HomgPoint2D
class BIASGeometryBase_EXPORT HomgPoint3D