Detailed Description

template<typename CALIBRATION>
class gtsam::PinholeBaseK< CALIBRATION >

A pinhole camera class that has a Pose3 and a fixed Calibration.

Inheritance diagram for gtsam::PinholeBaseK< CALIBRATION >:

Standard Constructors
	PinholeBaseK ()
	default constructor
	PinholeBaseK (const Pose3 &pose)
	constructor with pose

Advanced Constructors
	PinholeBaseK (const Vector &v)

Standard Interface
virtual const CALIBRATION &	calibration () const =0
	return calibration

Transformations and measurement functions
std::pair< Point2, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth.
template<class POINT>
Point2	_project (const POINT &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, FixedDimension< POINT >::value > Dpoint, OptionalJacobian< 2, DimK > Dcal) const
	Templated projection of a point (possibly at infinity) from world coordinate to the image.
Point2	project (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const
	project a 3D point from world coordinates into the image
Point2	reprojectionError (const Point3 &pw, const Point2 &measured, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const
	project a 3D point from world coordinates into the image
Point2	project (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}, OptionalJacobian< 2, DimK > Dcal={}) const
	project a point at infinity from world coordinates into the image
Point3	backproject (const Point2 &p, double depth, OptionalJacobian< 3, 6 > Dresult_dpose={}, OptionalJacobian< 3, 2 > Dresult_dp={}, OptionalJacobian< 3, 1 > Dresult_ddepth={}, OptionalJacobian< 3, DimK > Dresult_dcal={}) const
	backproject a 2-dimensional point to a 3-dimensional point at given depth
Unit3	backprojectPointAtInfinity (const Point2 &p) const
	backproject a 2-dimensional point to a 3-dimensional point at infinity
double	range (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 3 > Dpoint={}) const
	Calculate range to a landmark.
double	range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dpose={}) const
	Calculate range to another pose.
double	range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dother={}) const
	Calculate range to a CalibratedCamera.
template<class CalibrationB>
double	range (const PinholeBaseK< CalibrationB > &camera, OptionalJacobian< 1, 6 > Dcamera={}, OptionalJacobian< 1, 6 > Dother={}) const
	Calculate range to a PinholePoseK derived class.

Public Types
typedef CALIBRATION	CalibrationType
Public Types inherited from gtsam::PinholeBase
using	Rotation = Rot3
	Pose Concept requirements.
using	Translation = Point3
using	Measurement = Point2
	Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.
using	MeasurementVector = Point2Vector

Additional Inherited Members
std::pair< Point2, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth.
Point2	project2 (const Point3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 3 > Dpoint={}) const
	Project point into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION.
Point2	project2 (const Unit3 &point, OptionalJacobian< 2, 6 > Dpose={}, OptionalJacobian< 2, 2 > Dpoint={}) const
	Project point at infinity into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION.
	PinholeBase ()
	Default constructor.
	PinholeBase (const Pose3 &pose)
	Constructor with pose.
	PinholeBase (const Vector &v)
virtual	~PinholeBase ()=default
	Default destructor.
bool	equals (const PinholeBase &camera, double tol=1e-9) const
	assert equality up to a tolerance
virtual void	print (const std::string &s="PinholeBase") const
	print
const Pose3 &	pose () const
	return pose, constant version
const Rot3 &	rotation () const
	get rotation
const Point3 &	translation () const
	get translation
const Pose3 &	getPose (OptionalJacobian< 6, 6 > H) const
	return pose, with derivative
static Pose3	LevelPose (const Pose2 &pose2, double height)
	Create a level pose at the given 2D pose and height.
static Pose3	LookatPose (const Point3 &eye, const Point3 &target, const Point3 &upVector)
	Create a camera pose at the given eye position looking at a target point in the scene with the specified up direction vector.
static Point2	Project (const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint={})
	Project from 3D point in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane.
static Point2	Project (const Unit3 &pc, OptionalJacobian< 2, 2 > Dpoint={})
	Project from 3D point at infinity in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane.
static Point3	BackprojectFromCamera (const Point2 &p, const double depth, OptionalJacobian< 3, 2 > Dpoint={}, OptionalJacobian< 3, 1 > Ddepth={})
	backproject a 2-dimensional point to a 3-dimensional point at given depth
static std::pair< size_t, size_t >	TranslationInterval ()
	Return the start and end indices (inclusive) of the translation component of the exponential map parameterization.
static Matrix26	Dpose (const Point2 &pn, double d)
	Calculate Jacobian with respect to pose.
static Matrix23	Dpoint (const Point2 &pn, double d, const Matrix3 &Rt)
	Calculate Jacobian with respect to point.

Member Function Documentation

◆ _project()

template<typename CALIBRATION>

template<class POINT>

Point2 gtsam::PinholeBaseK< CALIBRATION >::_project	(	const POINT &	pw,
		OptionalJacobian< 2, 6 >	Dpose,
		OptionalJacobian< 2, FixedDimension< POINT >::value >	Dpoint,
		OptionalJacobian< 2, DimK >	Dcal ) const

inline

Templated projection of a point (possibly at infinity) from world coordinate to the image.

Parameters

pw	is a 3D point or a Unit3 (point at infinity) in world coordinates
Dpose	is the Jacobian w.r.t. pose3
Dpoint	is the Jacobian w.r.t. point3
Dcal	is the Jacobian w.r.t. calibration

◆ calibration()

template<typename CALIBRATION>

virtual const CALIBRATION & gtsam::PinholeBaseK< CALIBRATION >::calibration ( ) const

pure virtual

return calibration

Implemented in gtsam::PinholeCamera< Calibration >, gtsam::PinholeCamera< Cal3_S2 >, gtsam::PinholeCamera< Cal3Bundler >, gtsam::PinholeCamera< CALIBRATION >, gtsam::PinholeCamera< gtsam::Cal3_S2 >, gtsam::PinholeCamera< gtsam::Cal3Bundler >, gtsam::PinholeCamera< gtsam::Cal3DS2 >, gtsam::PinholeCamera< gtsam::Cal3Fisheye >, gtsam::PinholeCamera< gtsam::Cal3Unified >, gtsam::PinholePose< CALIBRATION >, gtsam::PinholePose< gtsam::Cal3_S2 >, gtsam::PinholePose< gtsam::Cal3Bundler >, gtsam::PinholePose< gtsam::Cal3DS2 >, gtsam::PinholePose< gtsam::Cal3Fisheye >, and gtsam::PinholePose< gtsam::Cal3Unified >.

◆ range() [1/4]

template<typename CALIBRATION>

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const CalibratedCamera &	camera,
		OptionalJacobian< 1, 6 >	Dcamera = {},
		OptionalJacobian< 1, 6 >	Dother = {} ) const

inline

Calculate range to a CalibratedCamera.

Parameters

camera Other camera

Returns: range (double)

◆ range() [2/4]

template<typename CALIBRATION>

template<class CalibrationB>

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const PinholeBaseK< CalibrationB > &	camera,
		OptionalJacobian< 1, 6 >	Dcamera = {},
		OptionalJacobian< 1, 6 >	Dother = {} ) const

inline

Calculate range to a PinholePoseK derived class.

Parameters

camera Other camera

Returns: range (double)

◆ range() [3/4]

template<typename CALIBRATION>

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const Point3 &	point,
		OptionalJacobian< 1, 6 >	Dcamera = {},
		OptionalJacobian< 1, 3 >	Dpoint = {} ) const

inline

Calculate range to a landmark.

Parameters

point 3D location of landmark

Returns: range (double)

◆ range() [4/4]

template<typename CALIBRATION>

double gtsam::PinholeBaseK< CALIBRATION >::range	(	const Pose3 &	pose,
		OptionalJacobian< 1, 6 >	Dcamera = {},
		OptionalJacobian< 1, 6 >	Dpose = {} ) const

inline

Calculate range to another pose.

Parameters

pose	Other SO(3) pose

Returns: range (double)

The documentation for this class was generated from the following file:

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/PinholePose.h

Detailed Description

Standard Constructors

Advanced Constructors

Standard Interface

Transformations and measurement functions

Public Types

Additional Inherited Members

Member Function Documentation

◆ _project()

◆ calibration()

◆ range() [1/4]

◆ range() [2/4]

◆ range() [3/4]

◆ range() [4/4]