gtsam  4.1.0
gtsam
gtsam::PinholeBaseK< CALIBRATION > Class Template Referenceabstract
+ Inheritance diagram for gtsam::PinholeBaseK< CALIBRATION >:

Transformations and measurement functions

class boost::serialization::access
 Serialization function.
 
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. 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...
 
template<class CalibrationB >
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

Standard Constructors
 PinholeBaseK ()
 default constructor
 
 PinholeBaseK (const Pose3 &pose)
 constructor with pose
 
Advanced Constructors
 PinholeBaseK (const Vector &v)
 
Standard Interface
virtual ~PinholeBaseK ()
 
virtual const CALIBRATION & calibration () const =0
 return calibration
 
- 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...
 

Public Types

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
 

Additional Inherited Members

- 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
 
- 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

◆ _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
pwis a 3D point or a Unit3 (point at infinity) in world coordinates
Dposeis the Jacobian w.r.t. pose3
Dpointis the Jacobian w.r.t. point3
Dcalis the Jacobian w.r.t. calibration

◆ range() [1/4]

template<typename CALIBRATION >
double gtsam::PinholeBaseK< CALIBRATION >::range ( const CalibratedCamera camera,
OptionalJacobian< 1, 6 >  Dcamera = boost::none,
OptionalJacobian< 1, 6 >  Dother = boost::none 
) const
inline

Calculate range to a CalibratedCamera.

Parameters
cameraOther 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 = boost::none,
OptionalJacobian< 1, 6 >  Dother = boost::none 
) const
inline

Calculate range to a PinholePoseK derived class.

Parameters
cameraOther camera
Returns
range (double)

◆ range() [3/4]

template<typename CALIBRATION >
double gtsam::PinholeBaseK< CALIBRATION >::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() [4/4]

template<typename CALIBRATION >
double gtsam::PinholeBaseK< CALIBRATION >::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 file: