gtsam  4.1.0
gtsam
gtsam::CalibratedCamera Class Reference
+ Inheritance diagram for gtsam::CalibratedCamera:

Manifold

CalibratedCamera retract (const Vector &d) const
 move a cameras pose according to d
 
Vector localCoordinates (const CalibratedCamera &T2) const
 Return canonical coordinate.
 
size_t dim () const
 
static size_t Dim ()
 

Advanced Interface

class boost::serialization::access
 Serialization function.
 

Public Member Functions

Standard Constructors
 CalibratedCamera ()
 default constructor
 
 CalibratedCamera (const Pose3 &pose)
 construct with pose
 
Advanced Constructors
 CalibratedCamera (const Vector &v)
 construct from vector
 
Standard Interface
virtual ~CalibratedCamera ()
 destructor
 
Transformations and measurement functions
Point2 project (const Point3 &point, OptionalJacobian< 2, 6 > Dcamera=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const
 
Point3 backproject (const Point2 &pn, double depth, OptionalJacobian< 3, 6 > Dresult_dpose=boost::none, OptionalJacobian< 3, 2 > Dresult_dp=boost::none, OptionalJacobian< 3, 1 > Dresult_ddepth=boost::none) const
 backproject a 2-dimensional point to a 3-dimensional point at given depth
 
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 > H1=boost::none, OptionalJacobian< 1, 6 > H2=boost::none) const
 Calculate range to another camera. 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 Pose3pose () const
 return pose, constant version
 
const Rot3rotation () const
 get rotation
 
const Point3translation () const
 get translation
 
const Pose3getPose (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 CalibratedCamera Create (const Pose3 &pose, OptionalJacobian< dimension, 6 > H1=boost::none)
 
static CalibratedCamera Level (const Pose2 &pose2, double height)
 Create a level camera at the given 2D pose and height. More...
 
static CalibratedCamera Lookat (const Point3 &eye, const Point3 &target, const Point3 &upVector)
 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::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
 

Public Types

enum  { dimension = 6 }
 
- 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
 

Additional Inherited Members

- 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

◆ Dim()

static size_t gtsam::CalibratedCamera::Dim ( )
inlinestatic

◆ dim()

size_t gtsam::CalibratedCamera::dim ( ) const
inline

◆ Level()

CalibratedCamera gtsam::CalibratedCamera::Level ( const Pose2 pose2,
double  height 
)
static

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

Parameters
pose2specifies the location and viewing direction
heightspecifies the height of the camera (along the positive Z-axis) (theta 0 = looking in direction of positive X axis)

◆ Lookat()

CalibratedCamera gtsam::CalibratedCamera::Lookat ( const Point3 eye,
const Point3 target,
const Point3 upVector 
)
static

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

Parameters
eyespecifies the camera position
targetthe point to look at
upVectorspecifies the camera up direction vector, doesn't need to be on the image plane nor orthogonal to the viewing axis

◆ project()

Point2 gtsam::CalibratedCamera::project ( const Point3 point,
OptionalJacobian< 2, 6 >  Dcamera = boost::none,
OptionalJacobian< 2, 3 >  Dpoint = boost::none 
) const
Deprecated:
Use project2, which is more consistently named across Pinhole cameras

◆ range() [1/3]

double gtsam::CalibratedCamera::range ( const CalibratedCamera camera,
OptionalJacobian< 1, 6 >  H1 = boost::none,
OptionalJacobian< 1, 6 >  H2 = boost::none 
) const
inline

Calculate range to another camera.

Parameters
cameraOther camera
Returns
range (double)

◆ range() [2/3]

double gtsam::CalibratedCamera::range ( const Point3 point,
OptionalJacobian< 1, 6 >  Dcamera = boost::none,
OptionalJacobian< 1, 3 >  Dpoint = boost::none 
) const
inline

Calculate range to a landmark.

Parameters
point3D location of landmark
Returns
range (double)

◆ range() [3/3]

double gtsam::CalibratedCamera::range ( const Pose3 pose,
OptionalJacobian< 1, 6 >  Dcamera = boost::none,
OptionalJacobian< 1, 6 >  Dpose = boost::none 
) const
inline

Calculate range to another pose.

Parameters
poseOther SO(3) pose
Returns
range (double)

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