Detailed Description

template<typename CALIBRATION>
class gtsam::PinholeBaseK< CALIBRATION >

A pinhole camera class that has a Pose3 and a fixed Calibration.

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.
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	reprojectionError (const Point3 &pw, const Point2 &measured, 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.
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 > Dcamera=boost::none, OptionalJacobian< 1, 6 > Dother=boost::none) const
	Calculate range to a CalibratedCamera.
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.

Standard Constructors
	PinholeBaseK ()
	default constructor
	PinholeBaseK (const Pose3 &pose)
	constructor with pose

Advanced Constructors
	PinholeBaseK (const Vector &v)

Standard Interface
virtual const CALIBRATION &	calibration () const =0
	return calibration

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

◆ _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

pw	is a 3D point or a Unit3 (point at infinity) in world coordinates
Dpose	is the Jacobian w.r.t. pose3
Dpoint	is the Jacobian w.r.t. point3
Dcal	is the Jacobian w.r.t. calibration

◆ calibration()

template<typename CALIBRATION>

virtual const CALIBRATION & gtsam::PinholeBaseK< CALIBRATION >::calibration ( ) const

pure virtual

return calibration

Implemented in 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 >.

◆ 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

camera Other 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

camera Other 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

point 3D 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

pose	Other SO(3) pose

Returns: range (double)

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

/tmp/gtsam-4.2-docs.H5EUbA/src/gtsam/geometry/PinholePose.h

Detailed Description

Transformations and measurement functions

Standard Constructors

Advanced Constructors

Standard Interface

Public Types

Additional Inherited Members

Member Function Documentation

◆ _project()

◆ calibration()

◆ range() [1/4]

◆ range() [2/4]

◆ range() [3/4]

◆ range() [4/4]