Detailed Description

A pinhole camera class that has a Pose3, functions as base class for all pinhole cameras.

Inheritance diagram for gtsam::PinholeBase:

Derivatives
static Matrix26	Dpose (const Point2 &pn, double d)
	Calculate Jacobian with respect to pose.
static Matrix23	Dpoint (const Point2 &pn, double d, const Matrix3 &Rt)
	Calculate Jacobian with respect to point.

Static functions
static Pose3	LevelPose (const Pose2 &pose2, double height)
	Create a level pose at the given 2D pose and height.
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.

Transformations and measurement functions
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.
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.
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
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.
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.

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

Standard Constructors
	PinholeBase ()
	Default constructor.
	PinholeBase (const Pose3 &pose)
	Constructor with pose.

Advanced Constructors
	PinholeBase (const Vector &v)
virtual	~PinholeBase ()=default
	Default destructor.

Testable
bool	equals (const PinholeBase &camera, double tol=1e-9) const
	assert equality up to a tolerance
virtual void	print (const std::string &s="PinholeBase") const
	print

Standard Interface
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

Public Types
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

Friends
class	boost::serialization::access
	Serialization function.

Member Function Documentation

◆ Dpoint()

Matrix23 gtsam::PinholeBase::Dpoint	(	const Point2 &	pn,
		double	d,
		const Matrix3 &	Rt )

staticprotected

Calculate Jacobian with respect to point.

Parameters

pn	projection in normalized coordinates
d	disparity (inverse depth)
Rt	transposed rotation matrix

◆ Dpose()

Matrix26 gtsam::PinholeBase::Dpose	(	const Point2 &	pn,
		double	d )

staticprotected

Calculate Jacobian with respect to pose.

Parameters

pn	projection in normalized coordinates
d	disparity (inverse depth)

◆ LevelPose()

Pose3 gtsam::PinholeBase::LevelPose	(	const Pose2 &	pose2,
		double	height )

static

Create a level pose 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

◆ LookatPose()

Pose3 gtsam::PinholeBase::LookatPose	(	const Point3 &	eye,
		const Point3 &	target,
		const Point3 &	upVector )

static

Create a camera pose 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

◆ print()

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

virtual

print

Reimplemented in gtsam::CalibratedCamera, gtsam::PinholeCamera< Calibration >, gtsam::PinholeCamera< Cal3_S2 >, gtsam::PinholeCamera< Cal3Bundler >, gtsam::PinholeCamera< CALIBRATION >, gtsam::PinholeCamera< gtsam::Cal3_S2 >, gtsam::PinholeCamera< gtsam::Cal3Bundler >, gtsam::PinholeCamera< gtsam::Cal3DS2 >, gtsam::PinholeCamera< gtsam::Cal3Fisheye >, gtsam::PinholeCamera< gtsam::Cal3Unified >, gtsam::PinholePose< CALIBRATION >, and gtsam::PinholePose< Cal3_S2 >.

◆ Project() [1/2]

Point2 gtsam::PinholeBase::Project	(	const Point3 &	pc,
		OptionalJacobian< 2, 3 >	Dpoint = boost::none )

static

Project from 3D point in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane.

Parameters

pc	point in camera coordinates

◆ Project() [2/2]

Point2 gtsam::PinholeBase::Project	(	const Unit3 &	pc,
		OptionalJacobian< 2, 2 >	Dpoint = boost::none )

static

Project from 3D point at infinity in camera coordinates into image Does not throw a CheiralityException, even if pc behind image plane.

Parameters

pc	point in camera coordinates

◆ project2() [1/2]

Point2 gtsam::PinholeBase::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.

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

◆ project2() [2/2]

Point2 gtsam::PinholeBase::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.

Parameters

point 3D point in world coordinates

Returns: the intrinsic coordinates of the projected point

◆ translationInterval()

std::pair< size_t, size_t > gtsam::PinholeBase::translationInterval ( )

inlinestatic

Return the start and end indices (inclusive) of the translation component of the exponential map parameterization.

Returns: a pair of [start, end] indices into the tangent space vector

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

/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/CalibratedCamera.h
/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/CalibratedCamera.cpp

Detailed Description

Derivatives

Static functions

Transformations and measurement functions

Advanced interface

Standard Constructors

Advanced Constructors

Testable

Standard Interface

Public Types

Friends

Member Function Documentation

◆ Dpoint()

◆ Dpose()

◆ LevelPose()

◆ LookatPose()

◆ print()

◆ Project() [1/2]

◆ Project() [2/2]

◆ project2() [1/2]

◆ project2() [2/2]

◆ translationInterval()