Detailed Description

template<class CALIBRATION>
class gtsam::InvDepthCamera3< CALIBRATION >

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

Standard Constructors
	InvDepthCamera3 ()
	default constructor
	InvDepthCamera3 (const Pose3 &pose, const std::shared_ptr< CALIBRATION > &k)
	constructor with pose and calibration

Standard Interface
Pose3 &	pose ()
	return pose
const std::shared_ptr< CALIBRATION > &	calibration () const
	return calibration
void	print (const std::string &s="") const
	print
gtsam::Point2	project (const Vector5 &pw, double rho, OptionalJacobian< 2, 6 > H1={}, OptionalJacobian< 2, 5 > H2={}, OptionalJacobian< 2, 1 > H3={}) const
	project a point from world InvDepth parameterization to the image
std::pair< Vector5, double >	backproject (const gtsam::Point2 &pi, const double depth) const
	backproject a 2-dimensional point to an Inverse Depth landmark useful for point initialization
static gtsam::Point3	invDepthTo3D (const Vector5 &pw, double rho)
	Convert an inverse depth landmark to cartesian Point3.

Member Function Documentation

template<class CALIBRATION>

gtsam::Point3 gtsam::InvDepthCamera3< CALIBRATION >::invDepthTo3D	(	const Vector5 &	pw,
		double	rho )

inlinestatic

Convert an inverse depth landmark to cartesian Point3.

Parameters

pw	first five parameters (x,y,z,theta,phi) of inv depth landmark
inv	inverse depth

template<class CALIBRATION>

gtsam::Point2 gtsam::InvDepthCamera3< CALIBRATION >::project	(	const Vector5 &	pw,
		double	rho,
		OptionalJacobian< 2, 6 >	H1 = {},
		OptionalJacobian< 2, 5 >	H2 = {},
		OptionalJacobian< 2, 1 >	H3 = {} ) const

inline

project a point from world InvDepth parameterization to the image

Parameters

pw	is a point in the world coordinate
H1	is the jacobian w.r.t. [pose3 calibration]
H2	is the jacobian w.r.t. inv_depth_landmark

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

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam_unstable/geometry/InvDepthCamera3.h