gtsam  4.1.0
gtsam
gtsam::StereoCamera Class Reference

Manifold

size_t dim () const
 Dimensionality of the tangent space.
 
StereoCamera retract (const Vector &v) const
 Updates a with tangent space delta.
 
Vector6 localCoordinates (const StereoCamera &t2) const
 Local coordinates of manifold neighborhood around current value.
 
static size_t Dim ()
 Dimensionality of the tangent space.
 

Public Member Functions

Standard Constructors
 StereoCamera ()
 Default constructor allocates a calibration!
 
 StereoCamera (const Pose3 &leftCamPose, const Cal3_S2Stereo::shared_ptr K)
 Construct from pose and shared calibration.
 
const Cal3_S2Stereocalibration () const
 Return shared pointer to calibration.
 
Testable
void print (const std::string &s="") const
 print
 
bool equals (const StereoCamera &camera, double tol=1e-9) const
 equals
 
Standard Interface
const Pose3pose () const
 pose
 
double baseline () const
 baseline
 
StereoPoint2 project (const Point3 &point) const
 Project 3D point to StereoPoint2 (uL,uR,v)
 
StereoPoint2 project2 (const Point3 &point, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
 Project 3D point and compute optional derivatives. More...
 
Point3 backproject (const StereoPoint2 &z) const
 back-project a measurement
 
Point3 backproject2 (const StereoPoint2 &z, OptionalJacobian< 3, 6 > H1=boost::none, OptionalJacobian< 3, 3 > H2=boost::none) const
 Back-project the 2D point and compute optional derivatives. More...
 
Deprecated
StereoPoint2 project (const Point3 &point, OptionalJacobian< 3, 6 > H1, OptionalJacobian< 3, 3 > H2=boost::none, OptionalJacobian< 3, 0 > H3=boost::none) const
 Project 3D point and compute optional derivatives. More...
 

Public Types

enum  { dimension = 6 }
 
typedef StereoPoint2 Measurement
 Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.
 
typedef StereoPoint2Vector MeasurementVector
 

Friends

class boost::serialization::access
 

Member Function Documentation

◆ backproject2()

Point3 gtsam::StereoCamera::backproject2 ( const StereoPoint2 z,
OptionalJacobian< 3, 6 >  H1 = boost::none,
OptionalJacobian< 3, 3 >  H2 = boost::none 
) const

Back-project the 2D point and compute optional derivatives.

Parameters
H1derivative with respect to pose
H2derivative with respect to point

◆ project()

StereoPoint2 gtsam::StereoCamera::project ( const Point3 point,
OptionalJacobian< 3, 6 >  H1,
OptionalJacobian< 3, 3 >  H2 = boost::none,
OptionalJacobian< 3, 0 >  H3 = boost::none 
) const

Project 3D point and compute optional derivatives.

Deprecated:
, use project2 - this class has fixed calibration
Parameters
H1derivative with respect to pose
H2derivative with respect to point
H3IGNORED (for calibration)

◆ project2()

StereoPoint2 gtsam::StereoCamera::project2 ( const Point3 point,
OptionalJacobian< 3, 6 >  H1 = boost::none,
OptionalJacobian< 3, 3 >  H2 = boost::none 
) const

Project 3D point and compute optional derivatives.

Parameters
H1derivative with respect to pose
H2derivative with respect to point

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