Detailed Description

A Calibrated camera class [R|-R't], calibration K=I.

If calibration is known, it is more computationally efficient to calibrate the measurements rather than try to predict in pixels.

Inheritance diagram for gtsam::CalibratedCamera:

Advanced Interface
class	boost::serialization::access
	Serialization function.

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

Manifold
CalibratedCamera	retract (const Vector &d) const
	move a cameras pose according to d
Vector	localCoordinates (const CalibratedCamera &T2) const
	Return canonical coordinate.
void	print (const std::string &s="CalibratedCamera") const override
	print
size_t	dim () const
static size_t	Dim ()

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.
double	range (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dpose=boost::none) const
	Calculate range to another pose.
double	range (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > H1=boost::none, OptionalJacobian< 1, 6 > H2=boost::none) const
	Calculate range to another camera.

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.
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.

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

Member Function Documentation

◆ Dim()

size_t gtsam::CalibratedCamera::Dim ( )

inlinestatic

Deprecated

◆ dim()

size_t gtsam::CalibratedCamera::dim ( ) const

inline

Deprecated

◆ Level()

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

static

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

Parameters

pose2	specifies the location and viewing direction
height	specifies 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

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::CalibratedCamera::print ( const std::string & s = "CalibratedCamera" ) const

inlineoverridevirtual

print

Reimplemented from gtsam::PinholeBase.

◆ 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

camera Other 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

point 3D 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

pose	Other SO(3) pose

Returns: range (double)

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

Advanced Interface

Standard Constructors

Advanced Constructors

Standard Interface

Manifold

Transformations and measurement functions

Named Constructors

Public Types

Additional Inherited Members

Member Function Documentation

◆ Dim()

◆ dim()

◆ Level()

◆ Lookat()

◆ print()

◆ project()

◆ range() [1/3]

◆ range() [2/3]

◆ range() [3/3]