gtsam 4.1.1
gtsam
gtsam::PinholeCamera< Calibration > Class Template Reference
+ Inheritance diagram for gtsam::PinholeCamera< Calibration >:

Manifold

typedef Eigen::Matrix< double, dimension, 1 > VectorK6
 
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
 
static size_t Dim ()
 
static PinholeCamera identity ()
 for Canonical
 

Transformations and measurement functions

typedef Eigen::Matrix< double, 2, DimK > Matrix2K
 
class boost::serialization::access
 Serialization function.
 
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

Standard Constructors
 PinholeCamera ()
 default constructor
 
 PinholeCamera (const Pose3 &pose)
 constructor with pose
 
 PinholeCamera (const Pose3 &pose, const Calibration &K)
 constructor with pose and calibration
 
Advanced Constructors
 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.
 
Testable
bool equals (const Base &camera, double tol=1e-9) const
 assert equality up to a tolerance
 
void print (const std::string &s="PinholeCamera") const override
 print More...
 
Standard Interface
 ~PinholeCamera () override
 
const Pose3pose () const
 return pose
 
const Pose3getPose (OptionalJacobian< 6, dimension > H) const
 return pose, with derivative
 
const Calibration & calibration () const override
 return calibration 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)
 
virtual ~PinholeBase ()=default
 Default destructor.
 
bool equals (const PinholeBase &camera, double tol=1e-9) const
 assert equality up to a tolerance
 
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 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 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 + DimK }
 
typedef Point2 Measurement
 Some classes template on either PinholeCamera or StereoCamera, and this typedef informs those classes what "project" returns.
 
typedef Point2Vector MeasurementVector
 
- 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
 

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

◆ _project2()

template<typename Calibration >
template<class POINT >
Point2 gtsam::PinholeCamera< Calibration >::_project2 ( const POINT &  pw,
OptionalJacobian< 2, dimension >  Dcamera,
OptionalJacobian< 2, FixedDimension< POINT >::value >  Dpoint 
) const
inline

Templated projection of a 3D point or a point at infinity into the image.

Parameters
pweither a Point3 or a Unit3, in world coordinates

◆ calibration()

template<typename Calibration >
const Calibration & gtsam::PinholeCamera< Calibration >::calibration ( ) const
inlineoverridevirtual

return calibration

Implements gtsam::PinholeBaseK< Calibration >.

◆ Dim()

template<typename Calibration >
static size_t gtsam::PinholeCamera< Calibration >::Dim ( )
inlinestatic

◆ dim()

template<typename Calibration >
size_t gtsam::PinholeCamera< Calibration >::dim ( ) const
inline

◆ Level()

template<typename Calibration >
static PinholeCamera gtsam::PinholeCamera< Calibration >::Level ( const Calibration &  K,
const Pose2 pose2,
double  height 
)
inlinestatic

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

Parameters
Kthe calibration
pose2specifies the location and viewing direction (theta 0 = looking in direction of positive X axis)
heightcamera height

◆ Lookat()

template<typename Calibration >
static PinholeCamera gtsam::PinholeCamera< Calibration >::Lookat ( const Point3 eye,
const Point3 target,
const Point3 upVector,
const Calibration &  K = Calibration() 
)
inlinestatic

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
Koptional calibration parameter

◆ print()

template<typename Calibration >
void gtsam::PinholeCamera< Calibration >::print ( const std::string &  s = "PinholeCamera< Calibration >") const
inlineoverridevirtual

print

Reimplemented from gtsam::PinholeBase.

◆ range() [1/4]

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

Calculate range to a calibrated camera.

Parameters
cameraOther camera
Returns
range (double)

◆ range() [2/4]

template<typename Calibration >
template<class CalibrationB >
double gtsam::PinholeCamera< Calibration >::range ( const PinholeCamera< CalibrationB > &  camera,
OptionalJacobian< 1, dimension >  Dcamera = boost::none,
OptionalJacobian< 1, 6+CalibrationB::dimension >  Dother = boost::none 
) const
inline

Calculate range to another camera.

Parameters
cameraOther camera
Returns
range (double)

◆ range() [3/4]

template<typename Calibration >
double gtsam::PinholeCamera< Calibration >::range ( const Point3 point,
OptionalJacobian< 1, dimension >  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::PinholeCamera< Calibration >::range ( const Pose3 pose,
OptionalJacobian< 1, dimension >  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: