Detailed Description

Deprecated:: : SimpleCamera for backwards compatability with GTSAM 3.x Use PinholeCameraCal3_S2 instead

Inheritance diagram for gtsam::SimpleCamera:

Public Member Functions
Standard Constructors
	SimpleCamera ()
	default constructor

	SimpleCamera (const Pose3 &pose)
	constructor with pose

	SimpleCamera (const Pose3 &pose, const Cal3_S2 &K)
	constructor with pose and calibration

Advanced Constructors
	SimpleCamera (const Vector &v)
	Init from vector, can be 6D (default calibration) or dim.

	SimpleCamera (const Vector &v, const Vector &K)
	Init from Vector and calibration.

SimpleCamera::shared_ptr	clone () const
	Copy this object as its actual derived type.

Manifold
SimpleCamera	retract (const Vector &d) const
	move a cameras according to d

Public Member Functions inherited from gtsam::PinholeCamera< Calibration >
	PinholeCamera ()
	default constructor

	PinholeCamera (const Pose3 &pose)
	constructor with pose

	PinholeCamera (const Pose3 &pose, const Calibration &K)
	constructor with pose and calibration

	PinholeCamera (const Vector &v)
	Init from vector, can be 6D (default calibration) or dim.

	PinholeCamera (const Vector &v, const Vector &K)
	Init from Vector and calibration.

bool	equals (const Base &camera, double tol=1e-9) const
	assert equality up to a tolerance

void	print (const std::string &s="PinholeCamera") const
	print

virtual	~PinholeCamera ()

const Pose3 &	pose () const
	return pose

const Pose3 &	getPose (OptionalJacobian< 6, dimension > H) const
	return pose, with derivative

const Calibration &	calibration () const
	return calibration

size_t	dim () const

PinholeCamera	retract (const Vector &d) const
	move a cameras according to d

VectorK6	localCoordinates (const PinholeCamera &T2) const
	return canonical coordinate

template<class POINT >
Point2	_project2 (const POINT &pw, OptionalJacobian< 2, dimension > Dcamera, OptionalJacobian< 2, FixedDimension< POINT >::value > Dpoint) const
	Templated projection of a 3D point or a point at infinity into the image. More...

Point2	project2 (const Point3 &pw, OptionalJacobian< 2, dimension > Dcamera=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const
	project a 3D point from world coordinates into the image

Point2	project2 (const Unit3 &pw, OptionalJacobian< 2, dimension > Dcamera=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const
	project a point at infinity from world coordinates into the image

double	range (const Point3 &point, OptionalJacobian< 1, dimension > Dcamera=boost::none, OptionalJacobian< 1, 3 > Dpoint=boost::none) const
	Calculate range to a landmark. More...

double	range (const Pose3 &pose, OptionalJacobian< 1, dimension > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dpose=boost::none) const
	Calculate range to another pose. More...

template<class CalibrationB >
double	range (const PinholeCamera< CalibrationB > &camera, OptionalJacobian< 1, dimension > Dcamera=boost::none, OptionalJacobian< 1, 6+CalibrationB::dimension > Dother=boost::none) const
	Calculate range to another camera. More...

double	range (const CalibratedCamera &camera, OptionalJacobian< 1, dimension > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dother=boost::none) const
	Calculate range to a calibrated camera. More...

Public Member Functions inherited from gtsam::PinholeBaseK< Calibration >
	PinholeBaseK ()
	default constructor

	PinholeBaseK (const Pose3 &pose)
	constructor with pose

	PinholeBaseK (const Vector &v)

virtual	~PinholeBaseK ()

std::pair< Point2, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth.

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. More...

Point2	project (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none, OptionalJacobian< 2, DimK > Dcal=boost::none) const
	project a 3D point from world coordinates into the image

Point2	project (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none, OptionalJacobian< 2, DimK > Dcal=boost::none) const
	project a point at infinity from world coordinates into the image

Point3	backproject (const Point2 &p, double depth, OptionalJacobian< 3, 6 > Dresult_dpose=boost::none, OptionalJacobian< 3, 2 > Dresult_dp=boost::none, OptionalJacobian< 3, 1 > Dresult_ddepth=boost::none, OptionalJacobian< 3, DimK > Dresult_dcal=boost::none) 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=boost::none, OptionalJacobian< 1, 3 > Dpoint=boost::none) const
	Calculate range to a landmark. More...

double	range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dpose=boost::none) const
	Calculate range to another pose. More...

double	range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dother=boost::none) const
	Calculate range to a CalibratedCamera. More...

double	range (const PinholeBaseK< CalibrationB > &camera, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dother=boost::none) const
	Calculate range to a PinholePoseK derived class. More...

Public Member Functions inherited from gtsam::PinholeBase
	PinholeBase ()
	default constructor

	PinholeBase (const Pose3 &pose)
	constructor with pose

	PinholeBase (const Vector &v)

bool	equals (const PinholeBase &camera, double tol=1e-9) const
	assert equality up to a tolerance

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

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=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const
	Project point into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION. More...

Point2	project2 (const Unit3 &point, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const
	Project point at infinity into the image Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION. More...

Static Public Member Functions
Named Constructors
static SimpleCamera	Level (const Cal3_S2 &K, const Pose2 &pose2, double height)
	Create a level camera at the given 2D pose and height. More...

static SimpleCamera	Level (const Pose2 &pose2, double height)
	PinholeCamera::level with default calibration.

static SimpleCamera	Lookat (const Point3 &eye, const Point3 &target, const Point3 &upVector, const Cal3_S2 &K=Cal3_S2())
	Create a camera at the given eye position looking at a target point in the scene with the specified up direction vector. More...

Static Public Member Functions inherited from gtsam::PinholeCamera< Calibration >
static PinholeCamera	Level (const Calibration &K, const Pose2 &pose2, double height)
	Create a level camera at the given 2D pose and height. More...

static PinholeCamera	Level (const Pose2 &pose2, double height)
	PinholeCamera::level with default calibration.

static PinholeCamera	Lookat (const Point3 &eye, const Point3 &target, const Point3 &upVector, const Calibration &K=Calibration())
	Create a camera at the given eye position looking at a target point in the scene with the specified up direction vector. More...

static PinholeCamera	Create (const Pose3 &pose, const Calibration &K, OptionalJacobian< dimension, 6 > H1=boost::none, OptionalJacobian< dimension, DimK > H2=boost::none)

static size_t	Dim ()

static PinholeCamera	identity ()
	for Canonical

Static Public Member Functions inherited from gtsam::PinholeBase
static Pose3	LevelPose (const Pose2 &pose2, double height)
	Create a level pose at the given 2D pose and height. More...

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. More...

static std::pair< size_t, size_t >	translationInterval ()
	Return the start and end indices (inclusive) of the translation component of the exponential map parameterization. More...

static Point2	Project (const Point3 &pc, OptionalJacobian< 2, 3 > Dpoint=boost::none)
	Project from 3D point in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane. More...

static Point2	Project (const Unit3 &pc, OptionalJacobian< 2, 2 > Dpoint=boost::none)
	Project from 3D point at infinity in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane. More...

static Point3	BackprojectFromCamera (const Point2 &p, const double depth, OptionalJacobian< 3, 2 > Dpoint=boost::none, OptionalJacobian< 3, 1 > Ddepth=boost::none)
	backproject a 2-dimensional point to a 3-dimensional point at given depth

Additional Inherited Members
Public Types inherited from gtsam::PinholeCamera< Calibration >
enum	{ dimension = 6 + DimK }

typedef Point2	Measurement
	Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.

typedef Point2Vector	MeasurementVector

typedef Eigen::Matrix< double, dimension, 1 >	VectorK6

typedef Eigen::Matrix< double, 2, DimK >	Matrix2K

Public Types inherited from gtsam::PinholeBaseK< Calibration >
typedef Calibration	CalibrationType

Public Types inherited from gtsam::PinholeBase
typedef Rot3	Rotation
	Pose Concept requirements.

typedef Point3	Translation

typedef Point2	Measurement
	Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.

typedef Point2Vector	MeasurementVector

Static Protected Member Functions inherited from gtsam::PinholeBase
static Matrix26	Dpose (const Point2 &pn, double d)
	Calculate Jacobian with respect to pose. More...

static Matrix23	Dpoint (const Point2 &pn, double d, const Matrix3 &Rt)
	Calculate Jacobian with respect to point. More...

Member Function Documentation

◆ Level()

static SimpleCamera gtsam::SimpleCamera::Level	(	const Cal3_S2 &	K,
		const Pose2 &	pose2,
		double	height
	)

inlinestatic

Create a level camera at the given 2D pose and height.

Parameters

K	the calibration
pose2	specifies the location and viewing direction (theta 0 = looking in direction of positive X axis)
height	camera height

◆ Lookat()

static SimpleCamera gtsam::SimpleCamera::Lookat	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector,
		const Cal3_S2 &	K = `Cal3_S2()`
	)

inlinestatic

Create a camera at the given eye position looking at a target point in the scene with the specified up direction vector.

Parameters

eye	specifies the camera position
target	the point to look at
upVector	specifies the camera up direction vector, doesn't need to be on the image plane nor orthogonal to the viewing axis
K	optional calibration parameter

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

/Users/dellaert/git/gtsam/gtsam/geometry/SimpleCamera.h

Detailed Description

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ Level()

◆ Lookat()