gtsam::SphericalCamera Class Reference

Detailed Description

A spherical camera class that has a Pose3 and measures bearing vectors.

The camera has an ‘Empty’ calibration and the only 6 dof are the pose

Standard Constructors
	SphericalCamera ()
	Default constructor.
	SphericalCamera (const Pose3 &pose)
	Constructor with pose.
	SphericalCamera (const Pose3 &pose, const EmptyCal::shared_ptr &cal)
	Constructor with empty intrinsics (needed for smart factors).

Advanced Constructors
	SphericalCamera (const Vector &v)
virtual	~SphericalCamera ()=default
	Default destructor.
const EmptyCal::shared_ptr &	sharedCalibration () const
	return shared pointer to calibration
const EmptyCal &	calibration () const
	return calibration

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

Standard Interface
const Pose3 &	pose () const
	return pose, constant version
const Rot3 &	rotation () const
	get rotation
const Point3 &	translation () const
	get translation

Transformations and measurement functions
std::pair< Unit3, bool >	projectSafe (const Point3 &pw) const
	Project a point into the image and check depth.
Unit3	project2 (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const
	Project point into the image (note: there is no CheiralityException for a spherical camera).
Unit3	project2 (const Unit3 &pwu, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 2 > Dpoint=boost::none) const
	Project point into the image (note: there is no CheiralityException for a spherical camera).
Point3	backproject (const Unit3 &p, const double depth) const
	backproject a 2-dimensional point to a 3-dimensional point at given depth
Unit3	backprojectPointAtInfinity (const Unit3 &p) const
	backproject point at infinity
Unit3	project (const Point3 &point, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const
	Project point into the image (note: there is no CheiralityException for a spherical camera).
Vector2	reprojectionError (const Point3 &point, const Unit3 &measured, OptionalJacobian< 2, 6 > Dpose=boost::none, OptionalJacobian< 2, 3 > Dpoint=boost::none) const
	Compute reprojection error for a given 3D point in world coordinates.

Public Member Functions
SphericalCamera	retract (const Vector6 &d) const
	move a cameras according to d
Vector6	localCoordinates (const SphericalCamera &p) const
	return canonical coordinate
Matrix34	cameraProjectionMatrix () const
	for Linear Triangulation
Vector	defaultErrorWhenTriangulatingBehindCamera () const
	for Nonlinear Triangulation
size_t	dim () const

Static Public Member Functions
static SphericalCamera	Identity ()
	for Canonical
static size_t	Dim ()

Public Types
enum	{ dimension = 6 }
using	Measurement = Unit3
using	MeasurementVector = std::vector<Unit3>
using	CalibrationType = EmptyCal

Protected Attributes
EmptyCal::shared_ptr	emptyCal_

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

Member Function Documentation

Dim()

size_t gtsam::SphericalCamera::Dim ( )

inlinestatic

Deprecated

dim()

size_t gtsam::SphericalCamera::dim ( ) const

inline

Deprecated

project()

Unit3 gtsam::SphericalCamera::project	(	const Point3 &	point,
		OptionalJacobian< 2, 6 >	Dpose = boost::none,
		OptionalJacobian< 2, 3 >	Dpoint = boost::none ) const

Project point into the image (note: there is no CheiralityException for a spherical camera).

Parameters

point

3D point in world coordinates

Returns

the intrinsic coordinates of the projected point

project2() [1/2]

Unit3 gtsam::SphericalCamera::project2	(	const Point3 &	pw,
		OptionalJacobian< 2, 6 >	Dpose = boost::none,
		OptionalJacobian< 2, 3 >	Dpoint = boost::none ) const

Project point into the image (note: there is no CheiralityException for a spherical camera).

Parameters

point

3D point in world coordinates

Returns

the intrinsic coordinates of the projected point

project2() [2/2]

Unit3 gtsam::SphericalCamera::project2	(	const Unit3 &	pwu,
		OptionalJacobian< 2, 6 >	Dpose = boost::none,
		OptionalJacobian< 2, 2 >	Dpoint = boost::none ) const

Project point into the image (note: there is no CheiralityException for a spherical camera).

Parameters

point

3D direction in world coordinates

Returns

the intrinsic coordinates of the projected point

reprojectionError()

Vector2 gtsam::SphericalCamera::reprojectionError	(	const Point3 &	point,
		const Unit3 &	measured,
		OptionalJacobian< 2, 6 >	Dpose = boost::none,
		OptionalJacobian< 2, 3 >	Dpoint = boost::none ) const

Compute reprojection error for a given 3D point in world coordinates.

Parameters

point

3D point in world coordinates

Returns

the tangent space error between the projection and the measurement

---

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

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