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Add getters to line3
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dwisth committed Jan 14, 2021
1 parent 1b1406b commit e439e11
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21 changes: 21 additions & 0 deletions gtsam/geometry/Line3.h
Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,27 @@ class Line3 {
*/
Point3 point(double distance = 0) const;

/**
* Return the rotation of the line.
*/
inline Rot3 R() const {
return R_;
}

/**
* Return the x-coordinate of the intersection of the line with the xy plane.
*/
inline double a() const {
return a_;
}

/**
* Return the y-coordinate of the intersection of the line with the xy plane.
*/
inline double b() const {
return b_;
}

/**
* Transform a line from world to camera frame
* @param wTc - Pose3 of camera in world frame
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10 changes: 10 additions & 0 deletions gtsam/geometry/tests/testLine3.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,16 @@ GTSAM_CONCEPT_MANIFOLD_INST(Line3)

static const Line3 l(Rot3(), 1, 1);

// Testing getters
TEST(Line3, getMethods) {
const double a = 5, b = 10;
const Rot3 R = Rot3::Expmap(Vector3(0.1, 0.2, 0.3));
const Line3 line(R, a, b);
EXPECT_DOUBLES_EQUAL(a, line.a(), 1e-8);
EXPECT_DOUBLES_EQUAL(b, line.b(), 1e-8);
EXPECT(assert_equal(R, line.R(), 1e-8));
}

// Testing equals function of Line3
TEST(Line3, equals) {
Line3 l_same = l;
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