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gtsam
4.0.0
gtsam
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gtsam
4.0.0
gtsam
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Functions for triangulation. More...
Go to the source code of this file.
Classes | |
| class | gtsam::TriangulationUnderconstrainedException |
| Exception thrown by triangulateDLT when SVD returns rank < 3. More... | |
| class | gtsam::TriangulationCheiralityException |
| Exception thrown by triangulateDLT when landmark is behind one or more of the cameras. More... | |
| struct | gtsam::CameraProjectionMatrix< CALIBRATION > |
| Create a 3*4 camera projection matrix from calibration and pose. More... | |
| struct | gtsam::TriangulationParameters |
| class | gtsam::TriangulationResult |
| TriangulationResult is an optional point, along with the reasons why it is invalid. More... | |
Namespaces | |
| gtsam | |
| Global functions in a separate testing namespace. | |
Functions | |
| Vector4 | gtsam::triangulateHomogeneousDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const Point2Vector &measurements, double rank_tol=1e-9) |
| DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More... | |
| Point3 | gtsam::triangulateDLT (const std::vector< Matrix34, Eigen::aligned_allocator< Matrix34 >> &projection_matrices, const Point2Vector &measurements, double rank_tol=1e-9) |
| DLT triangulation: See Hartley and Zisserman, 2nd Ed., page 312. More... | |
| template<class CALIBRATION > | |
| std::pair< NonlinearFactorGraph, Values > | gtsam::triangulationGraph (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, Key landmarkKey, const Point3 &initialEstimate) |
| Create a factor graph with projection factors from poses and one calibration. More... | |
| template<class CAMERA > | |
| std::pair< NonlinearFactorGraph, Values > | gtsam::triangulationGraph (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, Key landmarkKey, const Point3 &initialEstimate) |
| Create a factor graph with projection factors from pinhole cameras (each camera has a pose and calibration) More... | |
| template<class CALIBRATION > | |
| std::pair< NonlinearFactorGraph, Values > | gtsam::triangulationGraph (const CameraSet< PinholeCamera< CALIBRATION > > &cameras, const Point2Vector &measurements, Key landmarkKey, const Point3 &initialEstimate) |
| PinholeCamera specific version // TODO: (chris) why does this exist? | |
| Point3 | gtsam::optimize (const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey) |
| Optimize for triangulation. More... | |
| template<class CALIBRATION > | |
| Point3 | gtsam::triangulateNonlinear (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, const Point3 &initialEstimate) |
| Given an initial estimate , refine a point using measurements in several cameras. More... | |
| template<class CAMERA > | |
| Point3 | gtsam::triangulateNonlinear (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, const Point3 &initialEstimate) |
| Given an initial estimate , refine a point using measurements in several cameras. More... | |
| template<class CALIBRATION > | |
| Point3 | gtsam::triangulateNonlinear (const CameraSet< PinholeCamera< CALIBRATION > > &cameras, const Point2Vector &measurements, const Point3 &initialEstimate) |
| PinholeCamera specific version // TODO: (chris) why does this exist? | |
| template<class CALIBRATION > | |
| Point3 | gtsam::triangulatePoint3 (const std::vector< Pose3 > &poses, boost::shared_ptr< CALIBRATION > sharedCal, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false) |
| Function to triangulate 3D landmark point from an arbitrary number of poses (at least 2) using the DLT. More... | |
| template<class CAMERA > | |
| Point3 | gtsam::triangulatePoint3 (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measurements, double rank_tol=1e-9, bool optimize=false) |
| Function to triangulate 3D landmark point from an arbitrary number of poses (at least 2) using the DLT. More... | |
| template<class CALIBRATION > | |
| Point3 | gtsam::triangulatePoint3 (const CameraSet< PinholeCamera< CALIBRATION > > &cameras, const Point2Vector &measurements, double rank_tol=1e-9, bool optimize=false) |
| Pinhole-specific version. | |
| template<class CAMERA > | |
| TriangulationResult | gtsam::triangulateSafe (const CameraSet< CAMERA > &cameras, const typename CAMERA::MeasurementVector &measured, const TriangulationParameters ¶ms) |
| triangulateSafe: extensive checking of the outcome | |
Functions for triangulation.
1.8.15 
